WO2016194104A1 - Dispositif d'aide à la conduite prudente, procédé de commande, programme et support de mémoire - Google Patents

Dispositif d'aide à la conduite prudente, procédé de commande, programme et support de mémoire Download PDF

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Publication number
WO2016194104A1
WO2016194104A1 PCT/JP2015/065765 JP2015065765W WO2016194104A1 WO 2016194104 A1 WO2016194104 A1 WO 2016194104A1 JP 2015065765 W JP2015065765 W JP 2015065765W WO 2016194104 A1 WO2016194104 A1 WO 2016194104A1
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WIPO (PCT)
Prior art keywords
driver
head
unit
warning
orientation
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PCT/JP2015/065765
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English (en)
Japanese (ja)
Inventor
榎本　清
吉和 竹内
禎司 鈴木
矢野　健一郎
真武 下平
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パイオニア株式会社
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Priority to PCT/JP2015/065765 priority Critical patent/WO2016194104A1/fr
Publication of WO2016194104A1 publication Critical patent/WO2016194104A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a technology that supports safe driving.
  • Patent Literature 1 discloses a technique for detecting a driver's line-of-sight direction by analyzing an image of a driver's head image taken by a camera that images a vehicle interior.
  • Patent Document 1 when detecting the driver's line-of-sight direction based on a photographed image of the driver's head, a high-resolution camera is required, which increases the cost of introducing the system. In addition, recognition by a captured image of the camera is easily affected by fluctuations in external light while the vehicle is running, and there is a possibility that the accuracy of line-of-sight detection is reduced.
  • the present invention has been made in order to solve the above-described problems, and is a safe driving support apparatus that can suitably suppress the cost for realizing it while accurately detecting the driver's line-of-sight direction.
  • the main purpose is to provide
  • the invention described in claim is a safe driving support device, which is attached to a driver's head of a moving body, and detects data about the head orientation from a detection unit that detects the orientation of the driver's head. And determining whether the driver is facing the traveling direction of the moving body based on the difference between the traveling direction of the moving body and the head direction of the driver indicated by the data And a warning unit that gives a warning to the driver when the determination unit determines that the driver is not facing the traveling direction of the moving body.
  • the invention described in claim is a safe driving support device, which is attached to a driver's head of a moving body, and detects data about the head orientation from a detection unit that detects the orientation of the driver's head.
  • a detection unit that detects the orientation of the driver's head.
  • the invention described in claim is a control method executed by the safe driving support device, which is mounted on a driver's head of a moving body, and detects the head from the detection unit that detects the orientation of the driver's head.
  • the driver determines the traveling direction of the moving body based on the difference between the acquisition step of acquiring data related to the direction of the part, the traveling direction of the moving body, and the orientation of the head of the driver indicated by the data.
  • the invention described in claim is a program executed by a computer, which is mounted on a driver's head of a moving body and relates to the orientation of the head from a detection unit that detects the orientation of the driver's head. Whether the driver is facing the traveling direction of the moving body based on the difference between the acquisition unit for acquiring data, the traveling direction of the moving body, and the orientation of the driver's head indicated by the data
  • the determination unit is configured to cause the computer to function as a warning unit that warns the driver when the determination unit determines that the driver is not facing the traveling direction of the moving body. .
  • a safe driving support device is mounted on a driver's head of a moving body and relates to the orientation of the head from a detection unit that detects the orientation of the driver's head. Whether the driver is facing the traveling direction of the moving body based on the difference between the acquisition unit for acquiring data, the traveling direction of the moving body, and the orientation of the driver's head indicated by the data A determination unit that determines, and a warning unit that warns the driver when the determination unit determines that the driver is not facing the traveling direction of the moving body.
  • the safe driving support device includes an acquisition unit, a determination unit, and a warning unit.
  • the acquisition unit is attached to the driver's head and acquires data related to the head direction from a detection unit that detects the direction of the driver's head.
  • the determination unit determines whether the driver is facing the traveling direction of the moving body based on the difference between the traveling direction of the moving body and the orientation of the driver's head indicated by the acquired data.
  • the warning unit warns the driver when the determination unit determines that the driver is not facing the traveling direction of the moving body.
  • the safe driving support device appropriately recognizes the orientation of the driver's head based on the output of the detection unit attached to the driver's head, and accurately determines the presence or absence of side-view driving. be able to. Then, the safe driving support device can give a warning when driving aside and can preferably promote safe driving.
  • the safe driving support apparatus further includes a speed acquisition unit that acquires the speed of the moving body, and the warning unit includes a traveling direction of the moving body by the driver by the determination unit. Whether the warning is to be performed is determined based on the determination result of whether or not the user is facing and the speed acquired by the speed acquisition unit. In general, depending on the speed of the vehicle, there is a case where there is no problem in safety even if the driver temporarily turns his eyes from the traveling direction. Therefore, according to this aspect, the safe driving support device can execute a warning for a sideward driving at an appropriate timing.
  • the safe driving support device further includes a distance acquisition unit that acquires a distance between the mobile body and another mobile body that is present in front of the mobile body, and the warning The unit determines whether or not to perform the warning based on a determination result of whether or not the driver is facing the traveling direction of the moving body by the determination unit and the distance acquired by the distance acquisition unit.
  • the safe driving support device can execute a warning for a sideward driving at an appropriate timing.
  • the acquisition unit receives data related to the orientation of the head from a terminal that is attached to the driver's head and includes the detection unit and the communication unit.
  • the safe driving support device can preferably acquire data on the orientation of the driver's head from the wearable terminal.
  • the acquisition unit transmits information on the warning to the terminal when the determination unit determines that the driver is not facing the traveling direction of the moving body. To do.
  • the driver's wearing terminal can suitably warn the driver of looking aside.
  • the safe driving support device further includes a sound output unit that outputs sound, and a display unit that is installed so as to be visible to the driver, and the warning unit includes the warning unit, The warning is executed by causing the sound output unit and / or the display unit to output information for calling attention.
  • the safe driving support device can suitably execute a warning for a sideward driving.
  • the safe driving support device is mounted on the head of a driver of a moving body, and data relating to the orientation of the head is detected from a detection unit that detects the orientation of the driver's head.
  • a detection unit that detects the orientation of the driver's head.
  • the data And a determination unit that determines whether the driver is checking the surroundings of the moving body based on the orientation of the driver's head indicated by the driver, and the driver does not check the surroundings of the moving body
  • a warning unit that warns the driver when the determination unit determines.
  • the safe driving support device suitably executes a warning when visual confirmation of safety is not performed by detecting the orientation of the driver's head when the mobile object is turned left or right. be able to.
  • a control method executed by the safe driving support apparatus is mounted on a driver's head of a moving body, and the head is detected from a detection unit that detects the orientation of the driver's head.
  • the driver determines the traveling direction of the moving body based on the difference between the acquisition step of acquiring data related to the direction of the part, the traveling direction of the moving body, and the orientation of the head of the driver indicated by the data.
  • a program executed by a computer relates to the orientation of the head from a detection unit that is mounted on the head of the driver of the moving body and detects the orientation of the driver's head. Whether the driver is facing the traveling direction of the moving body based on the difference between the acquisition unit for acquiring data, the traveling direction of the moving body, and the orientation of the driver's head indicated by the data
  • the computer functions as a determination unit for determining and a warning unit for warning the driver when the determination unit determines that the driver is not facing the traveling direction of the moving body.
  • the computer can detect the aside driving based on the orientation of the driver's head, and can accurately execute the warning for the aside driving.
  • the program is stored in a storage medium.
  • FIG. 1 is a schematic diagram of a safe driving support system according to the first embodiment.
  • the safe driving support system includes a glasses-type terminal 1 and a navigation device 2 that are mounted on the head of a vehicle occupant such as a driver (driver).
  • the eyeglass-type terminal 1 and the navigation device 2 perform data communication by wireless or wired (wireless in FIG. 1).
  • the spectacle-type terminal 1 is a spectacle-type wearable terminal that can be worn on the head, such as a smart glass, and includes measurement data (also referred to as “head-direction measurement data Dh”) related to the head orientation of the wearer. 2 to send.
  • the eyeglass-type terminal 1 may be a monocular type in which one of the left and right eyes is a display target, or may be a binocular type (including a head mounted display) in which both the left and right eyes are a display target.
  • the glasses-type terminal 1 may be a terminal manufactured exclusively for the safe driving support system or a general-purpose terminal in which a program for conforming to the safe driving support system is installed.
  • the navigation device 2 is a stationary in-vehicle device or a portable terminal such as a PND (Portable Navigation Device) or a smartphone, and performs route guidance to a destination designated by the user.
  • the navigation device 2 recognizes the traveling direction of the vehicle based on the head direction measurement data Dh received from the glasses-type terminal 1. Then, the navigation device 2 determines whether or not the driver is looking aside, based on the head direction measurement data Dh received after recognizing the traveling direction of the vehicle. Is output.
  • the glasses-type terminal 1 mainly includes a control unit 11, a communication unit 12, a sensor unit 13, an output unit 14, and a storage unit 15.
  • the communication unit 12 performs data communication with the navigation device 2 based on the control of the control unit 11.
  • the communication unit 12 transmits head direction measurement data Dh to the navigation device 2 based on the control of the control unit 11.
  • the sensor unit 13 includes an acceleration sensor 130, a gyro sensor 131, and a contact sensor 132.
  • the acceleration sensor 130 is, for example, a three-axis acceleration sensor, and generates a detection signal corresponding to the movement, posture (tilt), and vibration of the wearer's head.
  • the gyro sensor 14 When the wearer's head rotates, the gyro sensor 14 generates a detection signal indicating the angular velocity of the rotation.
  • the contact sensor 132 detects the user's wearing state on the glasses-type terminal 1 by detecting contact with the glasses-type terminal 1.
  • the sensor unit 13 is an example of the “detection unit” in the present invention.
  • the output unit 14 is, for example, a display or a speaker, and performs display or audio output based on the control of the control unit 11.
  • the storage unit 15 stores a program for controlling the operation of the glasses-type terminal 1 and holds information necessary for the operation of the glasses-type terminal 1.
  • the control unit 11 of the glasses-type terminal 1 includes a CPU (not shown) and performs various controls on each component in the glasses-type terminal 1.
  • the control unit 11 detects that the glasses-type terminal 1 is moving by a vehicle based on outputs from the sensor units 13 such as the acceleration sensor 130 and the gyro sensor 131. And the control part 11 transmits the detection signal which the acceleration sensor 130, the gyro sensor 131 grade
  • the navigation apparatus 2 mainly includes a control unit 21, a positioning unit 22, a display unit 23 such as a display, a sound output unit 24 such as a speaker, an input unit 25, and a storage unit 26. And a communication unit 27.
  • the positioning unit 22 is a self-supporting positioning device such as a gyro sensor or a distance sensor, a GPS receiver, or the like, and performs positioning such as the current location and traveling direction of the vehicle. Based on the control of the control unit 21, the display unit 23 and the sound output unit 24 output information for route guidance, a warning for a sideward driving, and the like.
  • the input unit 25 is a button, switch, touch panel, voice input device, or the like, and supplies input information to the control unit 21.
  • the communication unit 27 receives head orientation measurement data Dh transmitted from the glasses-type terminal 1 based on the control of the control unit 21.
  • the storage unit 26 stores a program for controlling the operation of the navigation device 2 and holds information necessary for the operation of the navigation device 2.
  • the control unit 21 includes a CPU (not shown) and performs various controls on each component in the navigation device 2.
  • the control unit 21 performs an aside driving warning process, which is a process for warning the aside driving.
  • the control unit 21 receives the acceleration sensor 130 and the gyro included in the head direction measurement data Dh when the head direction measurement data Dh is received from the glasses-type terminal 1 worn by the driver at the start of driving. Based on the output value of the sensor 131 or the like, the traveling direction of the vehicle is estimated. Further, the control unit 21 determines whether or not the driver is driving aside based on the difference between the head direction measurement data Dh received after the estimation of the traveling direction of the vehicle and the estimated traveling direction of the vehicle.
  • the control unit 21 is an example of an “acquisition unit”, “determination unit”, “warning unit”, and “computer” that executes a program in the present invention.
  • FIG. 2 is a flowchart showing a procedure of the aside driving warning process.
  • the glasses-type terminal 1 worn by the driver determines whether or not the vehicle has been detected (step S201).
  • the glasses-type terminal 1 first recognizes that the wearer is a driver based on, for example, an input to an input unit (not shown) by the wearer. Further, the glasses-type terminal 1 recognizes the start of traveling of the vehicle based on output signals of the sensor unit 13 such as the acceleration sensor 130 and the gyro sensor 131. And when the spectacles type terminal 1 detects driving
  • the glasses-type terminal 1 repeatedly executes transmission of the head orientation measurement data Dh to the navigation device 2 until it is determined that the vehicle has stopped (steps S202 and S203).
  • the eyeglass-type terminal 1 recognizes the stop of the vehicle based on the output signals of the sensor units 13 such as the acceleration sensor 130 and the gyro sensor 131, similarly to the detection of the start of traveling of the vehicle in step S201.
  • the navigation device 2 receives head direction measurement data Dh from the glasses-type terminal 1 after the vehicle starts to travel (step S101). In this case, the navigation device 2 determines whether the traveling direction of the vehicle has been estimated based on the head orientation measurement data Dh (step S102). A method of estimating the traveling direction of the vehicle based on the head orientation measurement data Dh will be described in detail in the section “(3) Method of estimating traveling direction”.
  • step S103 when the advancing direction of a vehicle can be estimated based on head direction measurement data Dh (step S102; Yes).
  • step S102 the navigation device 2 cannot estimate the traveling direction of the vehicle based on the head orientation measurement data Dh (step S102; No), that is, the acceleration sensor 130 and the gyro sensor 131 necessary for estimating the traveling direction of the vehicle.
  • step S101 head direction measurement data Dh is received from the glasses-type terminal 1 and accumulated again, and the vehicle traveling direction estimation process is continued.
  • the navigation device 2 After estimating the traveling direction of the vehicle, the navigation device 2 receives head direction measurement data Dh from the glasses-type terminal 1 (step S103), and from the estimated traveling direction of the vehicle based on the received head direction measurement data Dh. It is determined whether or not the head is deviated (step S104). In this case, first, the navigation device 2 recognizes the three-dimensional orientation of the head based on the outputs of the acceleration sensor 130 and the gyro sensor 131 included in the head orientation measurement data Dh received in step S103. Then, the navigation device 2 determines that the head direction deviates from the estimated traveling direction of the vehicle when the recognized head direction and the traveling direction of the vehicle estimated in step S102 are separated by a predetermined angle or more. to decide.
  • the above-mentioned predetermined angle is a threshold value for determining whether or not the driver is looking aside, and is set in advance to a predetermined appropriate value based on experiments or the like.
  • the above-mentioned predetermined angle is an angle difference between the traveling direction of the vehicle and the direction of the head of the driver, which occurs when the driver views the scenery outside the vehicle, Confirmed the angle difference between the vehicle traveling direction and the head direction of the driver, and the interior of the passenger compartment (for example, passenger seat, rear seat, driver's feet, etc.) It is set in consideration of the angle difference between the traveling direction of the vehicle and the direction of the driver's head.
  • step S104 determines that the head direction has deviated from the estimated traveling direction of the vehicle (step S104; Yes).
  • the process proceeds to step S105.
  • the navigation device 2 determines that the head direction is not deviated from the estimated traveling direction of the vehicle (step S104; No)
  • the navigation device 2 determines that the armpit driving is not performed. Therefore, in this case, after confirming that the vehicle is not stopped in step S110, the navigation device 2 continues to receive head direction measurement data Dh and determine whether or not there is a side-view driving in step S103.
  • step S105 the navigation device 2 determines whether or not the vehicle is turning right or left (step S105).
  • the navigation device 2 recognizes a right or left turn of the vehicle based on the output of the positioning unit 22 such as a gyro sensor, for example.
  • the navigation device 2 makes a right or left turn in the guidance route based on the current position measured by the positioning unit 22 and the guidance route information.
  • the navigation device 2 recognizes the right / left turn of the vehicle by receiving the information of the blinker from the vehicle control unit (ECU: Electronic Control Unit) by using a protocol such as CAN (Controller Area Network). To do.
  • ECU Electronic Control Unit
  • step S105 When the navigation device 2 determines that the vehicle is turning right or left (step S105; Yes), the process returns to step S101, and the traveling direction of the vehicle is estimated again.
  • the traveling direction of the vehicle changes due to a left or right turn, the traveling direction of the vehicle estimated in step S102 deviates from the actual traveling direction of the vehicle. Therefore, when the navigation device 2 determines that the vehicle is turning right or left, the navigation device 2 re-estimates the traveling direction of the vehicle.
  • the navigation device 2 may estimate the traveling direction of the vehicle again based on the head direction measurement data Dh received after the vehicle turns right and left.
  • the navigation device 2 is a case where the direction of the driver's head deviates from the traveling direction of the vehicle (step S104; Yes), and determines that the vehicle is not turning right or left (step S105; No). It is determined that the side-view driving has been performed, and a warning is given (step S106). In this case, the control unit 21 of the navigation device 2 outputs, for example, a warning that the user should concentrate on driving by the display unit 23 and / or the sound output unit 24.
  • the navigation device 2 receives the head direction measurement data Dh from the glasses-type terminal 1 again (step S107), and recognizes the head direction of the driver recognized based on the traveling direction of the vehicle and the received head direction measurement data Dh.
  • step S108 It is determined whether or not the directions are substantially the same.
  • the navigation device 2 determines the vehicle traveling direction and the driver's head when the traveling direction of the vehicle and the orientation of the driver's head are within a predetermined angle difference. It is determined that the direction is substantially the same.
  • the navigation device 2 substantially matches the direction of travel of the vehicle and the orientation of the driver's head recognized based on the received head orientation measurement data Dh (step S108; Yes)
  • the side-view driving has already been performed. It is determined that it is not, and the warning is stopped (step S109).
  • step S108 when the navigation device 2 has a different traveling direction from the direction of the driver's head recognized based on the received head direction measurement data Dh (step S108; No), the side-view driving is not improved. In step S106, the warning for the side-view driving is continued.
  • step S110 the navigation device 2 determines whether or not the vehicle has stopped (step S110). And if the navigation apparatus 2 judges that the vehicle has stopped (step S110; Yes), the process of a flowchart is complete
  • control unit 21 of the navigation device 2 receives head direction measurement data Dh including the output value of the sensor unit 13 such as the acceleration sensor 130 and / or the gyro sensor 131 for a predetermined time width from the glasses-type terminal 1,
  • the three-dimensional orientation of the driver's head at each measurement point in a period corresponding to a predetermined time width is calculated based on a known measurement technique.
  • the control unit 21 specifies the direction with the highest frequency from the calculated directions of the driver's head at each measurement time, and estimates the specified direction as the traveling direction of the vehicle.
  • the control unit 21 may perform frequency counting by regarding directions within a predetermined angle difference as the same direction.
  • the control unit 21 determines the traveling direction of the vehicle when the output value of the sensor unit 13 for a predetermined time width is not accumulated, or when the traveling distance of the vehicle from the start of traveling is less than the predetermined distance. It is determined that the output value of the sensor unit 13 necessary for estimation is not accumulated, and the head-oriented measurement data Dh is continuously received from the glasses-type terminal 1.
  • the control unit 21 may set the timing for estimating the traveling direction of the vehicle based on the head direction measurement data Dh so as to exclude immediately after the start of traveling of the vehicle.
  • the control unit 21 estimates the traveling direction of the vehicle based on the head orientation measurement data Dh received after a predetermined time has elapsed after the start of driving and / or after traveling for a predetermined distance after starting the driving.
  • the vehicle immediately after the start of traveling, the vehicle needs to travel in a parking lot in order to get on the roadway. At that time, the vehicle may be bent several times or the driver may frequently change the direction of the head for safety confirmation.
  • the control unit 21 can suitably estimate the traveling direction of the vehicle after entering the roadway.
  • the control unit 21 of the navigation device 2 measures the head orientation from the glasses-type terminal 1 that is mounted on the driver's head and detects the orientation of the driver's head.
  • Data Dh is acquired by the communication unit 27.
  • the control unit 21 determines the driver's direction indicated by the head direction measurement data Dh acquired after the estimated traveling direction of the vehicle and the estimated traveling direction of the vehicle. It is determined whether the driver is facing the traveling direction of the vehicle based on the difference from the head direction.
  • the control unit 21 outputs a warning by the display unit 23 and / or the sound output unit 24.
  • the navigation device 2 can detect the aside driving based on the orientation of the driver's head, and can accurately execute the warning for the aside driving.
  • the safe driving support system has a glasses-type terminal 1 that can be worn on the driver's head.
  • the direction of the driver's head can be measured by the output of the sensor unit 13 of the spectacle-type terminal 1.
  • it can be suitably determined whether the driver is facing the traveling direction of the vehicle, which is the direction to be visually recognized. For example, when looking at scenery outside the vehicle that is not in the traveling direction of the vehicle, facing down to operate a mobile phone, etc., or checking the interior of the passenger compartment, the driver must be facing in the traveling direction. It can be determined only by the orientation of the head.
  • Arm-wearable wearable devices are also widely available on the market, but it is difficult to determine whether the driver is facing the direction of travel of the vehicle compared to the direction of the head, and the processing is complicated. It is possible to become.
  • the navigation device 2 determines the presence or absence of visual safety confirmation before the vehicle makes a right or left turn, and alerts if the safety confirmation is not performed.
  • the navigation device 2 recognizes the presence or absence of safety confirmation by determining whether or not the direction of the driver's head has deviated from the estimated traveling direction of the vehicle at the timing immediately before the right or left turn.
  • FIG. 3 is a flowchart showing a safety confirmation alerting process when turning left or right in the second embodiment. Note that steps S211 to S213 executed by the glasses-type terminal 1 in the flowchart of FIG. 3 are the same as steps S201 to S203 executed by the glasses-type terminal 1 in the flowchart of FIG.
  • the navigation apparatus 2 estimates the traveling direction of the vehicle based on the received head orientation measurement data Dh. Then, when the traveling direction of the vehicle can be estimated (step S112; Yes), the navigation device 2 determines whether or not the vehicle is approaching the right / left turn point (step S113). In this case, for example, when the guidance route is set, the navigation device 2 is based on the current position measured by the positioning unit 22 and the information on the guidance route, immediately before the right or left turn point in the guidance route. When the vehicle is located, it is determined that the vehicle is approaching the right / left turn point. In another example, the navigation device 2 recognizes that the vehicle is approaching the right-left turn point by receiving the blinker information from the control unit of the vehicle by a protocol such as CAN.
  • a protocol such as CAN.
  • step S113 determines that the vehicle has reached the right or left turn point
  • step S114 the head orientation measurement data Dh is received from the glasses-type terminal 1
  • step S115 it is determined whether or not a visual safety check is performed.
  • the navigation device 2 determines that the head orientation recognized based on the head orientation measurement data Dh received in step S114 is more than a predetermined angle away from the traveling direction of the vehicle estimated in step S112.
  • step S115 judges that visual safety checks have been performed.
  • navigation apparatus 2 judges that warning is not required when visual safety check is performed (Step S115; Yes), and advances processing to Step S117.
  • Step S115 when the navigation device 2 determines that visual safety confirmation has not been performed (step S115; No), the display unit 23 and / or the sound output unit 24 outputs a warning prompting visual safety confirmation (Step S116). Thereafter, in Step S117, when the navigation device 2 determines that the vehicle has stopped (Step S117; Yes), the process of the flowchart is terminated, and when it is determined that the vehicle has not stopped (Step S117; No), The process returns to step S111.
  • the control unit 21 of the navigation device 2 measures the head orientation from the glasses-type terminal 1 that is attached to the driver's head and detects the orientation of the driver's head.
  • Data Dh is acquired by the communication unit 27.
  • the control unit 21 detects that the vehicle turns right or left, the driver checks the surroundings of the vehicle based on the direction of the driver's head indicated by the head direction measurement data Dh. Determine whether or not.
  • the control part 21 outputs a warning by the display part 23 or / and the sound output part 24, when it judges that the driver
  • the navigation apparatus 2 can favorably promote safe driving by suitably promoting visual safety confirmation before making a right or left turn.
  • the control unit 21 is an example of the “right / left turn detection unit” in the present invention.
  • control unit 21 of the navigation device 2 may determine whether or not to issue a warning by further taking into consideration the speed of the vehicle, the inter-vehicle distance from the preceding vehicle, and / or the type of travel location. Good.
  • the control unit 21 recognizes the speed of the vehicle based on the vehicle speed pulse measured by the positioning unit 22 immediately before step S106 in FIG. 2, and executes a warning in step S106 if the speed is equal to or lower than a predetermined speed. You don't have to. That is, in this case, the control unit 21 warns only when the driver's head is deviated from the traveling direction of the vehicle and the vehicle speed is higher than a predetermined speed.
  • the above-mentioned predetermined speed is set based on experiments or the like at a speed that is recognized as dangerous even when the driver is temporarily looking aside.
  • control unit 21 is in a state where the direction of the driver's head is deviated from the traveling direction of the vehicle for a predetermined time or longer. A warning should be output regardless of the recognized vehicle speed. That is, in this case, the control unit 21 delays the warning timing according to the speed of the vehicle.
  • the control unit 21 is an example of the “speed acquisition unit” in the present invention.
  • control unit 21 calculates the inter-vehicle distance from the preceding vehicle based on the output of the camera, lidar, radar, or the like included in the positioning unit 22, and when the calculated inter-vehicle distance is longer than a predetermined distance, You may stop or delay the warning for aside driving.
  • the predetermined distance is set based on experiments or the like, for example, as an inter-vehicle distance from a preceding vehicle that is recognized as dangerous even when the driver is temporarily looking aside. Also by this, the control part 21 can suppress suitably outputting an unnecessary warning and making a driver troublesome.
  • the control unit 21 is an example of the “distance acquisition unit” in the present invention.
  • the control unit 21 recognizes the type of travel location corresponding to the current location of the vehicle based on the current location measured by the GPS receiver or the like and map data, and according to the recognized type of travel location. You may stop or delay the warning for aside driving.
  • the types of travel locations correspond to, for example, general roads, highways, intersections, parking lots, and the like.
  • the control unit 21 outputs a warning when a state where the driver's head is deviated from the traveling direction of the vehicle continues for a predetermined time or more, and the predetermined time is Decide according to the type.
  • Modification 2 In the first embodiment, when the control unit 21 of the navigation device 2 detects a state that is determined not to be a side look driving, it is a case where the driver's head is deviated from the traveling direction of the vehicle. However, the warning need not be executed.
  • control unit 21 determines that the vehicle is about to turn right or left, the control unit 21 does not issue a warning regardless of the driver's head orientation recognized from the head orientation measurement data Dh. Thereby, when a driver changes the direction of the face for safety confirmation, it can suppress suitably performing unnecessary warning.
  • the determination as to whether or not the vehicle is about to turn right or left is performed, for example, in the same manner as in step S113 in FIG. 3 of the second embodiment.
  • control unit 21 determines that the shift lever of the vehicle is in the reverse position based on information received from the control unit of the vehicle by CAN or the like, it is recognized from the head orientation measurement data Dh.
  • the warning is not executed regardless of the direction of the driver's head.
  • the shift lever of the vehicle is in the reverse position, it is predicted that the driver will change the face direction for safety confirmation. Therefore, also in this example, it is possible to suitably suppress an unnecessary warning when the driver changes the face direction for safety confirmation.
  • control unit 21 determines that the glasses-type terminal 1 has been removed from the driver based on the output of the contact sensor 132 or the like, it does not execute a warning.
  • the glasses-type terminal 1 is removed from the driver, the head orientation of the driver cannot be estimated from the head-direction measurement data Dh received from the glasses-type terminal 1. Therefore, even in this example, it is possible to suitably suppress unnecessary warnings.
  • the navigation device 2 may receive the head orientation measurement data Dh and the like via a communication unit (not shown) under the control of the control unit of the vehicle (also referred to as “vehicle communication unit”).
  • vehicle communication unit also referred to as “vehicle communication unit”.
  • the glasses-type terminal 1 and the vehicle communication unit, and the navigation device 2 and the vehicle communication unit each establish communication, and the vehicle communication unit uses the head-direction measurement data Dh received from the glasses-type terminal 1 as the navigation device. Forward to 2.
  • the glasses-type terminal 1 may transmit the head orientation measurement data Dh based on a transmission request for the head orientation measurement data Dh from the navigation device 2.
  • the navigation device 2 transmits a transmission request for the head-direction measurement data Dh to the glasses-type terminal 1 when the vehicle travel is detected based on the output of the positioning unit 22. Then, head direction measurement data Dh is received in step S101 of FIG.
  • the navigation device 2 makes a transmission request for the head-direction measurement data Dh to the glasses-type terminal 1 every time the process proceeds to step S101, step S103, and step S107.
  • the navigation device 2 receives the head orientation measurement data Dh by transmitting a transmission request for the head orientation measurement data Dh to the glasses-type terminal 1 in step S111 and step S114. .
  • the safe driving support system may be configured only by the glasses-type terminal 1, and the glasses-type terminal 1 may execute the processing of the navigation device 2 according to the first and second embodiments.
  • FIG. 4 is an example of a flowchart showing a processing procedure when the glasses-type terminal 1 executes the processing of the navigation device 2 of the first embodiment.
  • control unit 11 of the eyeglass-type terminal 1 determines whether or not the vehicle has been detected in step S301, as in step S201 in FIG. In step S302, the output of the sensor unit 13 is acquired. Thereafter, the control unit 11 executes the processing executed by the navigation device 2 in steps S102 to S110 in FIG. 2 instead of the navigation device 2 in steps S303 to S311. In this case, in step S ⁇ b> 307, the control unit 11 outputs a predetermined warning for the aside operation by the output unit 14.
  • the glasses-type terminal 1 may execute the processing of the navigation device 2 according to the second embodiment.
  • the control unit 11 detects the travel of the vehicle and acquires the output of the sensor unit 13, and then executes steps S112 to S117 of FIG.
  • the spectacles-type terminal 1 can suitably execute a warning prompting visual confirmation according to the second embodiment.
  • control unit 11 is an example of the “acquisition unit”, “right / left turn detection unit”, “determination unit”, “warning unit”, and “computer” that executes a program in the present invention.
  • the navigation device 2 may cause the spectacles-type terminal 1 to execute a warning for the aside driving according to the first embodiment and a warning at the time of turning right or left according to the second embodiment.
  • the control unit 21 of the navigation device 2 determines that a predetermined warning should be executed in step S106 of FIG. 2 or step S116 of FIG. 3, the control unit 21 transmits a control signal instructing the warning to the glasses-type terminal 1.
  • the spectacles-type terminal 1 receives the above-described control signal, the spectacle-type terminal 1 issues a predetermined warning by the output unit 14 based on the control signal.
  • the navigation device 2 may be an in-vehicle device (for example, a drive recorder) for uses other than route guidance.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon la présente invention, une unité de commande (21) d'un dispositif de navigation (2) acquiert, par l'intermédiaire d'une unité de communication (27), des données de mesure d'orientation de tête (Dh) à partir d'un terminal de type lunettes (1) qui est monté sur la tête d'un conducteur et détecte l'orientation de la tête du conducteur. L'unité de commande (21) estime la direction de déplacement du véhicule à partir des données de mesure d'orientation de tête (Dh), et ensuite, sur la base d'une différence entre la direction estimée de déplacement du véhicule et l'orientation de la tête du conducteur indiquée par les données de mesure d'orientation de tête (Dh) acquises après l'estimation de la direction de déplacement du véhicule, détermine si le conducteur est orienté dans la direction de déplacement du véhicule. S'il est déterminé que le conducteur n'est pas orienté dans la direction de déplacement du véhicule, l'unité de commande (21) effectue une sortie d'une alerte par une unité d'affichage (23) et/ou une unité de sortie sonore (24).
PCT/JP2015/065765 2015-06-01 2015-06-01 Dispositif d'aide à la conduite prudente, procédé de commande, programme et support de mémoire WO2016194104A1 (fr)

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Cited By (1)

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WO2018198833A1 (fr) * 2017-04-27 2018-11-01 京セラ株式会社 Dispositif, procédé et programme de commande

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JP2002219968A (ja) * 2001-01-29 2002-08-06 Nissan Motor Co Ltd 脇見運転および居眠り運転警報装置
JP2007230314A (ja) * 2006-02-28 2007-09-13 Nissan Motor Co Ltd 映像提示装置及び映像提示方法
JP2007280352A (ja) * 2006-03-17 2007-10-25 Toyota Motor Corp 視線方向判定装置
WO2013051306A1 (fr) * 2011-10-06 2013-04-11 本田技研工業株式会社 Dispositif de détection de conduite visuellement distraite
JP2014115859A (ja) * 2012-12-11 2014-06-26 Mitsubishi Motors Corp 脇見判定装置
JP2015096946A (ja) * 2013-10-10 2015-05-21 パナソニックＩｐマネジメント株式会社 表示制御装置、表示制御プログラム、および表示制御方法

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JP2002219968A (ja) * 2001-01-29 2002-08-06 Nissan Motor Co Ltd 脇見運転および居眠り運転警報装置
JP2007230314A (ja) * 2006-02-28 2007-09-13 Nissan Motor Co Ltd 映像提示装置及び映像提示方法
JP2007280352A (ja) * 2006-03-17 2007-10-25 Toyota Motor Corp 視線方向判定装置
WO2013051306A1 (fr) * 2011-10-06 2013-04-11 本田技研工業株式会社 Dispositif de détection de conduite visuellement distraite
JP2014115859A (ja) * 2012-12-11 2014-06-26 Mitsubishi Motors Corp 脇見判定装置
JP2015096946A (ja) * 2013-10-10 2015-05-21 パナソニックＩｐマネジメント株式会社 表示制御装置、表示制御プログラム、および表示制御方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018198833A1 (fr) * 2017-04-27 2018-11-01 京セラ株式会社 Dispositif, procédé et programme de commande
JP2018185766A (ja) * 2017-04-27 2018-11-22 京セラ株式会社 制御装置、方法、およびプログラム

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