WO2018168048A1

WO2018168048A1 - Degree of concentration determination device, degree of concentration determination method, and program for determining degree of concentration

Info

Publication number: WO2018168048A1
Application number: PCT/JP2017/038561
Authority: WO
Inventors: 相澤　知禎; 啓菅原; 岡地　一喜; 充恵鵜野; 光司滝沢
Original assignee: オムロン株式会社
Priority date: 2017-03-14
Filing date: 2017-10-25
Publication date: 2018-09-20
Also published as: JP2018149942A

Abstract

Driving safety and driving comfort are both taken into consideration. A degree of concentration determination device comprises: a monitoring data acquisition unit that acquires monitoring data from a sensor for monitoring a driver of a vehicle; a degree of concentration estimation unit that estimates a degree of concentration of the driver from the monitoring data; a standard comparison unit that compares the driving degree of concentration with a standard for an automatic driving mode when the driving mode of the vehicle is the automatic driving mode, and compares the driving degree of concentration with a standard for a manual driving mode when the driving mode of the vehicle is the manual driving mode; and a signal output unit that outputs an instruction signal instructing to execute assistance for the driver after the elapse of a first time when, during the automatic driving mode, the driving degree of concentration does not meet the standard for the automatic driving mode, and outputs the instruction signal after the elapse of a second time, which is shorter than the first time, when, during the manual driving mode, the driving degree of concentration does not meet the standard for the manual driving mode.

Description

Concentration determination device, concentration determination method, and program for concentration determination

The present invention relates to, for example, a concentration level determination device that determines the concentration level of a vehicle driver, a concentration level determination method, and a program for determining the concentration level.

In recent years, as a driving mode of a vehicle, in addition to a manual driving mode in which the vehicle is driven based on a driving operation of the driver, an automatic driving mode in which the vehicle is driven along a predetermined route without depending on the driving operation of the driver. Development is underway.

Development of a technique for detecting a driver's attention behavior while driving and warning the driver is also underway (see Japanese Patent Application Laid-Open No. 2014-181020).

The driver is required to drive safely, but the driving concentration required by the driver varies depending on the situation where the driver is placed. If the vehicle constantly monitors the driver's driving concentration according to strict standards and issues a warning when the driving concentration falls below this criterion, driving safety is maintained. However, depending on the situation where the driver is placed, the vehicle frequently issues a warning. In this case, the driver's driving comfort is impaired.

The present invention has been made paying attention to the above circumstances. A concentration level determination device, a concentration level determination method, and a program for determining the concentration level, which can take into account both driving safety and driving comfort. It is something to be offered.

In order to solve the above-described problem, a first aspect of the present invention includes a monitoring data acquisition unit that acquires monitoring data from a sensor that monitors a driver of a vehicle, and estimates the driving concentration of the driver from the monitoring data. A concentration level estimation unit that compares the driving concentration level with a reference for the automatic driving mode when the driving mode of the vehicle is the automatic driving mode, and the driving concentration level when the driving mode is the manual driving mode. A reference comparison unit for comparing the vehicle driver with a reference for the manual operation mode, and execution of support for the driver after a first time when the driving concentration does not satisfy the reference for the automatic operation mode in the automatic operation mode. When the manual operation mode does not satisfy the standard for the manual operation mode, a second signal shorter than the first time is output. A concentration determination apparatus and a signal output section for outputting the command signal after the lapse between.

According to a second aspect of the present invention, in the concentration degree determination apparatus according to the first aspect, the concentration degree estimation unit estimates the driving concentration degree using at least one of the driver's drowsiness and a side look as an index. It is a thing.

According to a third aspect of the present invention, in the concentration determination apparatus according to the first aspect, the signal output unit determines the length of the first time and the second according to an index for estimating the driving concentration. At least one of the lengths of time is changed.

According to a fourth aspect of the present invention, in the concentration determination apparatus according to the first aspect, the signal output unit determines that the operation concentration does not satisfy the criterion for the automatic operation mode in the automatic operation mode. Even when the driving concentration degree satisfies the criterion for the automatic operation mode within the first time, the instruction signal is not output, and the driving concentration degree in the manual operation mode is Even if it is determined that the standard for the manual operation mode is not satisfied, the instruction signal is not output if the driving concentration satisfies the standard for the manual operation mode within the second time period. That is, at least one of the above is performed.

According to a fifth aspect of the present invention, there is provided a monitoring data obtaining process for obtaining monitoring data from a sensor for monitoring a driver of the vehicle, a concentration degree estimating process for estimating the driving concentration degree of the driver from the monitoring data, When the driving mode of the vehicle is the automatic driving mode, the driving concentration is compared with the reference for the automatic driving mode, and when the driving mode is the manual driving mode, the driving concentration is compared with the reference for the manual driving mode. A reference comparison process for comparing and outputting an instruction signal instructing execution of assistance to the driver after a first time when the driving concentration does not satisfy the standard for automatic driving in the automatic driving mode; In the manual operation mode, when the driving concentration does not satisfy the standard for the manual operation mode, the instruction signal is output after a second time shorter than the first time. A concentration determination method and a power signal output process.

A sixth aspect of the present invention is a program for determining a degree of concentration that causes a computer to function the processing of each unit provided in the concentration degree determining apparatus according to any one of the first to fifth aspects.

According to the first aspect of the present invention, the concentration degree determination device can output an instruction signal earlier in the manual operation mode because the urgency of the warning is higher than in the automatic operation mode. The driver can recognize the decrease in the driving concentration in the manual driving mode and increase the driving concentration by the warning based on the instruction signal earlier than in the automatic driving mode. Therefore, driving safety is maintained regardless of the driving mode.
Furthermore, according to the first aspect, in the automatic operation mode, the concentration degree determination device can output the instruction signal after a lapse of the first time longer than the second time. The concentration determination device can reduce the output of an excessive instruction signal in the automatic operation mode when the instruction signal does not need to be output due to an event that occurs before the first time elapses. Since the driver does not receive an excessive warning in the automatic operation mode, the driver can comfortably keep the state concentrated on the driving regardless of the driving mode. Therefore, driving comfort is maintained regardless of the driving mode.
That is, according to the first aspect, the concentration degree determination device can take into consideration both driving safety and driving comfort.

According to the second aspect of the present invention, the concentration determination device determines whether or not the driver is in a state suitable for driving by using an index having a large influence on driving safety regardless of the driving mode such as sleepiness or looking aside. Can be monitored. Thereby, the driver | operator can maintain the state concentrated on driving | operating irrespective of the driving mode.

According to the third aspect of the present invention, the concentration degree determination device is configured to display the instruction signal at a speed according to the urgent level of warning for each index in at least one of the automatic operation mode and the manual operation mode. Can be output. Since the driver can receive a warning at an appropriate timing, the driver can appropriately maintain a state suitable for the driving mode.

According to the fourth aspect of the present invention, the concentration degree determination device can stop outputting the instruction signal that is no longer necessary in at least one of the automatic operation mode and the manual operation mode. The concentration determination device can reduce the output of excessive instruction signals. Since the driver does not receive an excessive warning, the driver can keep a comfortable state of driving. Even if the concentration determination device stops outputting the instruction signal, the driving concentration is recovered to satisfy the standard. Therefore, driving safety is maintained.

According to the fifth aspect of the present invention, the concentration determination method can obtain the same effect as that of the first aspect described above. That is, the concentration degree determination method can take into account both driving safety and driving comfort.

According to the sixth aspect of the present invention, the program for determining the concentration degree can obtain the same effect as that of the first aspect described above. That is, the program for determining the degree of concentration can take into account both driving safety and driving comfort.

FIG. 1 is a diagram illustrating an overall configuration of a vehicle including a concentration degree determination device according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of the concentration degree determination apparatus according to an embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of the state detection unit according to an embodiment of the present invention. FIG. 4 is a flowchart showing a procedure of concentration level determination by the concentration level determination apparatus shown in FIG.

Embodiments according to the present invention will be described below with reference to the drawings.
[One Embodiment]
(Constitution)
FIG. 1 is a diagram showing an overall configuration of a vehicle 1 including a concentration degree determination device 2 according to an embodiment of the present invention. The concentration determination device 2 is mounted on a vehicle 1 such as a passenger car. The configuration of the concentration determination device 2 will be described later. The vehicle 1 may be, for example, any one of an automobile, a bus, a truck, a train, and the like, or a vehicle on which a driver (hereinafter also referred to as a driver) other than these rides.

The vehicle 1 includes, as basic equipment, a power unit 3 including a power source and a transmission, a steering device 4 equipped with a steering wheel 5, and further includes a manual operation mode and an automatic operation mode as operation modes. . An engine and / or a motor is used as the power source.

The manual driving mode is a mode in which the vehicle 1 is driven mainly by a driver's manual driving operation, for example. In the manual driving mode, for example, an operation mode for driving the vehicle 1 based only on the driving operation of the driver and an operation for performing driving operation support control for supporting the driving operation of the driver while mainly driving the driving operation of the driver. Mode is included.

The driving operation support control assists the steering torque so that the driver's steering becomes an appropriate steering amount based on the curvature of the curve when the vehicle 1 is traveling on the curve, for example. The driving operation support control includes control for assisting a driver's accelerator operation (for example, operation of an accelerator pedal) or brake operation (for example, operation of a brake pedal), manual steering (manual operation of steering), and manual speed adjustment (speed). Adjustment manual operation) is also included. In manual steering, the vehicle 1 is steered mainly by the driver's operation of the steering wheel 5. In the manual speed adjustment, the speed of the vehicle 1 is adjusted mainly by the driver's accelerator operation or brake operation.

It should be noted that the driving operation support control does not include control for forcibly intervening in the driving operation of the driver to automatically drive the vehicle 1. That is, in the manual driving mode, the driving operation of the driver is reflected in the driving of the vehicle 1 within a preset allowable range, but the driving of the vehicle 1 is compulsory under certain conditions (for example, lane departure of the vehicle 1). Interventive control is not included.

On the other hand, the automatic operation mode is a mode for realizing an operation state in which the vehicle 1 is automatically driven along the road on which the vehicle 1 is traveling, for example. The automatic driving mode includes, for example, a driving state in which the vehicle 1 is automatically driven toward a preset destination without driving by the driver. In the automatic driving mode, it is not always necessary to automatically control all of the vehicle 1, and the driving state in which the driving operation of the driver is reflected in the traveling of the vehicle 1 within a preset allowable range is also included in the automatic driving mode. That is, the automatic driving mode includes control for forcibly intervening in the traveling of the vehicle 1 under certain conditions, while reflecting the driving operation of the driver in the traveling of the vehicle 1 within a preset allowable range.

The vehicle 1 further includes an outside camera 6, a steering sensor 7, an accelerator pedal sensor 8, a brake pedal sensor 9, a GPS receiver 10, a gyro sensor 11, a vehicle speed sensor 12, a navigation device 13, an automatic An operation control device 14, a driver camera 15, and an audio output device 16 are provided.

The outside camera 6 is installed at an arbitrary position of the vehicle 1 so that the outside of the vehicle 1 can be photographed. Although one vehicle exterior camera 6 is shown in FIG. 1, the vehicle 1 may include a plurality of vehicle exterior cameras that capture different directions. The outside camera 6 continuously captures the driving environment in the vicinity of the vehicle 1. The vehicle exterior camera 6 is activated in response to the start of operation of the vehicle 1 and continuously captures the outside of the vehicle 1. The vehicle exterior camera 6 outputs the captured image (hereinafter also referred to as vehicle exterior image data) to the concentration degree determination device 2 and the automatic driving control device 14.

The steering sensor 7 detects a steering angle. The steering sensor 7 outputs the detection result to the automatic driving control device 14.
The accelerator pedal sensor 8 detects an operation amount of the accelerator pedal. The accelerator pedal sensor 8 outputs the detection result to the automatic operation control device 14.
The brake pedal sensor 9 detects the operation amount of the brake pedal. The brake pedal sensor 9 outputs the detection result to the automatic operation control device 14.
The GPS receiver 10 receives current position information of the vehicle 1. The GPS receiver 10 outputs the current position information to the concentration determination device 2, the navigation device 13, and the automatic operation control device 14.
The gyro sensor 11 detects the behavior of the vehicle 1. The gyro sensor 11 outputs the detection result to the automatic operation control device 14.
The vehicle speed sensor 12 detects the speed of the vehicle 1. The vehicle speed sensor 12 outputs the detection result to the automatic driving control device 14.

The navigation device 13 is an example of a video display device that includes a display 131 that displays video. The navigation device 13 stores map information. The navigation device 13 extracts route information from the current position to the destination by using information on the destination input by the driver or the like, map information, and current position information from the GPS receiver 10. The navigation device 13 displays route information on the display 131. The navigation device 13 can also display information other than route information on the display 131.
The navigation device 13 outputs the route information to the concentration degree determination device 2 and the automatic driving control device 14.

The route information described above may include not only information on the route from the current position to the destination, but also information on the road environment from the current position to the destination.
Some examples of information about the road environment will be described.
The information on the road environment may include information on the type of road that passes from the current position to the destination. The types of roads are classified into, for example, roads in which human traffic is restricted or roads in which human traffic is not restricted. The road where the passage of people is restricted is, for example, an expressway. A highway refers to a highway national highway and a motorway. The road where the passage of people is not restricted is, for example, a general road. A general road refers to a road other than a highway.

The information on the road environment may include information on the speed limit of the road that passes from the current position to the destination.
The information regarding the road environment may include position information of an installation on the road passing from the current position to the destination. The installed object is, for example, a sign, but may be an object installed on the road.
The information regarding the road environment may include position information of a building near the road passing from the current position to the destination.
Note that the route information may include information other than the above example as information on the road environment.

The configuration of the automatic operation control device 14 will be described.
The automatic operation control device 14 automatically controls traveling of the vehicle 1 when the operation mode is the automatic operation mode.
The automatic driving control device 14 includes an outside image data from the outside camera 6, a detection result from the steering sensor 7, a detection result from the accelerator pedal sensor 8, a detection result from the brake pedal sensor 9, and a GPS receiver 10. Current position information, a detection result from the gyro sensor 11, a detection result from the vehicle speed sensor 12, and route information from the navigation device 13 are acquired. For example, the automatic driving control device 14 automatically controls the travel of the vehicle 1 based on these information and traffic information acquired by road-to-vehicle communication.

Automatic control includes, for example, automatic steering (automatic steering operation) and automatic speed adjustment (automatic driving of speed). Automatic steering is an operating state in which the steering device 4 is automatically controlled. Automatic steering includes LKAS (Lane Keeping Assist System). For example, the LKAS automatically controls the steering device 4 so that the vehicle 1 does not deviate from the traveling lane even when the driver does not perform the steering operation. Note that the steering operation of the driver may be reflected in the steering of the vehicle 1 within a range (allowable range) in which the vehicle 1 does not deviate from the travel lane even during execution of LKAS. Note that automatic steering is not limited to LKAS.

Automatic speed adjustment is an operating state in which the speed of the vehicle 1 is automatically controlled. Automatic speed adjustment includes ACC (Adaptive Cruise Control). For example, when there is no preceding vehicle ahead of the vehicle 1, ACC performs constant speed control that causes the vehicle 1 to travel at a constant speed at a preset speed, and when the preceding vehicle exists ahead of the vehicle 1. Is a follow-up control that adjusts the vehicle speed of the vehicle 1 in accordance with the inter-vehicle distance from the preceding vehicle. The automatic operation control device 14 decelerates the vehicle 1 according to the driver's brake operation (for example, operation of the brake pedal) even when ACC is being executed. Further, the automatic driving control device 14 can operate the driver's accelerator operation (for example, accelerator) up to a preset maximum permissible speed (for example, the maximum speed legally determined on the traveling road) even when ACC is being executed. The vehicle 1 can be accelerated according to the pedal operation. The automatic speed adjustment is not limited to ACC but also includes CC (Cruise Control).

The configuration of the driver camera 15 will be described.
The driver camera 15 is installed, for example, at a position that is in front of the driver as on a dashboard. The driver camera 15 is an example of a sensor that monitors a driver. The driver camera 15 is activated in response to the start of driving of the vehicle 1 and continuously captures a predetermined range including the driver's face. The driver camera 15 outputs the captured image (hereinafter referred to as driver image data) to the concentration degree determination device 2. Driver image data is an example of monitoring data used to detect the state of the driver. The driver's condition is, for example, driver's forward gaze, drowsiness, looking aside, putting on and taking off clothes, telephone operation, leaning on the window / armrest, driving disturbance by passengers and pets, onset of illness, backwards, kneeling, eating and drinking , Smoking, dizziness, abnormal behavior, car navigation / audio operation, attachment / detachment of glasses / sunglasses, photography, and a degree of recognition of a subject (a degree of recognition of a subject). The degree of object recognition is an index of how much the driver has recognized the object (for example, visually), and is the degree to which the driver is conscious by confirming the object (for example, visually). The state of the driver may include an index other than the index exemplified here.

The audio output device 16 includes a speaker 161. The audio output device 16 outputs various information as audio.

A configuration of the above-described concentration degree determination device 2 will be described.
The concentration level determination device 2 estimates the driver's concentration level based on the above-described driver state, and determines whether or not the driver is in a state suitable for driving the vehicle 1. The driving concentration degree is a degree suitable for the driver to drive the vehicle 1. As the driving concentration increases, the driver becomes more suitable for driving the vehicle 1. Conversely, as the degree of driving concentration decreases, the driver becomes more unsuitable for driving the vehicle 1.

FIG. 2 is a block diagram illustrating a configuration of the concentration determination device 2 as an example.
The concentration degree determination device 2 includes an input / output interface unit 21, a storage unit 22, and a control unit 23.

The input / output interface unit 21 connects the outside camera 6, the GPS receiver 10, the navigation device 13, the automatic driving control device 14, the driver camera 15, and the audio output device 16 to the control unit 23.

The configuration of the storage unit 22 will be described.
The storage unit 22 is a non-volatile memory that can be written and read at any time, such as a solid state drive (SSD) and a hard disk drive (HDD). The storage unit 22 includes a driver image data storage unit 221, a vehicle exterior image data storage unit 222, and a concentration level table storage unit 223.

The driver image data storage unit 221 stores driver image data that the control unit 23 acquires from the driver camera 15.
The vehicle exterior image data storage unit 222 stores vehicle exterior image data that the control unit 23 acquires from the vehicle exterior camera 6.

The concentration level table storage unit 223 stores a concentration level table used by the control unit 23 to estimate the driving concentration level. The concentration degree table associates the state of the driver with a plurality of levels corresponding to the degree of driving concentration for each index. The plurality of levels are divided into, for example, three levels of level 1, level 2, and level 3, but the present invention is not limited to this. Here, an example is described in which the driving concentration is set to be lower as the level number is larger, but the present invention is not limited to this. It may be set such that the driving concentration increases as the level number increases.

The information managed in the concentration level table will be described with an example of looking aside.
In the concentration level table, the driver's state is associated with each of level 1, level 2, and level 3 as follows for the side-view as an index. Level 1 is associated with, for example, the state of a driver who is looking at a direction tilted at an angle in the range of 0 degrees or more and less than the first angle with respect to the traveling direction of the vehicle 1. That is, Level 1 is a state in which the driver is not looking aside and driving concentration is high. Level 2 is associated with, for example, the state of the driver who is looking at a direction tilted at an angle in the range of the first angle and less than the second angle with respect to the traveling direction of the vehicle 1. That is, Level 2 is a state in which the driver is looking aside and has a lower driving concentration than Level 1. Level 3 is associated with, for example, the state of the driver who is looking at a direction inclined at an angle equal to or greater than the second angle with respect to the traveling direction of the vehicle 1. That is, Level 3 is a state in which the driver is looking aside and the driving concentration is lower than Level 2. Here, the information managed in the concentration level table has been described by taking a side look as an example, but the same applies to other indexes.

The configuration of the control unit 23 will be described.
The control unit 23 includes a processor 231 and a memory 232.
The processor 231 is, for example, a CPU (Central Processing Unit) that constitutes a computer. The configuration of each unit included in the processor 231 will be described later. Note that although one processor 231 is shown in FIG. 2, the control unit 23 may include one or more processors.
The memory 232 includes a program that causes the processor 231 to perform processing of each unit included in the processor 231. The program can also be referred to as an instruction for operating the processor 231. The program is stored in the storage unit 22 and is read from the storage unit 22 to the memory 232. The program in the memory 232 is read by the processor 231. One embodiment may be realized by a program.

The configuration of each unit included in the processor 231 will be described.
The processor 231 includes a monitoring data acquisition unit 2311, a vehicle exterior image data acquisition unit 2312, a route information acquisition unit 2313, a current position information acquisition unit 2314, a state detection unit 2315, a concentration degree estimation unit 2316, and a reference comparison unit. 2317 and a signal output unit 2318. Each unit may be distributed among one or more processors.

The monitoring data acquisition unit 2311 acquires driver image data from the driver camera 15 via the input / output interface unit 21. The monitoring data acquisition unit 2311 stores the driver image data in the driver image data storage unit 221.
The vehicle exterior image data acquisition unit 2312 acquires vehicle exterior image data from the vehicle exterior camera 6 via the input / output interface unit 21. The vehicle exterior image data acquisition unit 2312 stores the vehicle exterior image data in the vehicle exterior image data storage unit 222.

The route information acquisition unit 2313 acquires route information from the navigation device 13 via the input / output interface unit 21. The route information acquisition unit 2313 outputs the route information to the state detection unit 2315.
The current position information acquisition unit 2314 acquires current position information from the GPS receiver 10 via the input / output interface unit 21. The current position information acquisition unit 2314 outputs the current position information to the state detection unit 2315.

The state detection unit 2315 detects the state of the driver from the driver image data stored in the driver image data storage unit 221. In addition to the driver image data, the state detection unit 2315 detects, for example, the above-described object recognition degree as the driver's state using at least one of image data outside the vehicle, route information, and current position information. Also good. An example of detection of the driver's state by the state detection unit 2315 will be described later. Note that the state detection unit 2315 may acquire the driver image data from the monitoring data acquisition unit 2311 without using the driver image data storage unit 221. In this case, the storage unit 22 may not include the driver image data storage unit 221.
The state detection unit 2315 outputs the driver's state to the concentration degree estimation unit 2316.

The concentration level estimation unit 2316 estimates the driver's driving concentration level based on the driver's state detected by the state detection unit 2315. Note that since the driver's state is detected from the driver image data as described above, the concentration degree estimation unit 2316 can estimate the driver's driving concentration degree from the driver image data.

The concentration degree estimation unit 2316 estimates the driving concentration degree based on one or more indicators included in the driver's state. The concentration degree estimation unit 2316 may estimate the driving concentration degree corresponding to each of the plurality of indices, for example. The concentration level estimation unit 2316 estimates, for example, the driving concentration level using sleepiness as an index, and also estimates the driving concentration level using a side look as an index. The concentration degree estimation unit 2316 may estimate a single driving concentration degree based on a plurality of indices, for example. In this case, the concentration degree estimation unit 2316 may estimate a single driving concentration degree by appropriately weighting each index. The weight set for each index may be arbitrarily changed.

In one example, the concentration degree estimation unit 2316 can estimate the driving concentration degree by a numerical value such as a ratio. The numerical value estimated by the concentration degree estimation unit 2316 may increase as the driving concentration degree increases, or may decrease as the driving concentration degree increases.

In another example, the concentration degree estimation unit 2316 refers to the concentration degree table stored in the concentration degree table storage unit 223 and estimates the level of driving concentration corresponding to the driver's state from a plurality of levels. be able to. Note that when the concentration level estimation unit 2316 estimates the driving concentration level numerically, the storage unit 22 may not include the concentration level table storage unit 223.

The estimation of the driving concentration by the concentration estimating unit 2316 may be performed using an AI (Artificial Intelligence) function such as machine learning or deep learning. In this case, the concentration degree estimation unit 2316 can estimate the state of the driver with high accuracy by using the past estimation result for estimation of the current driving concentration degree, for example.

A configuration of the reference comparison unit 2317 will be described.
The reference comparison unit 2317 determines whether the operation mode is the automatic operation mode or the manual operation mode in order to compare the operation concentration degree estimated by the concentration degree estimation unit 2316 with the reference. For example, the reference comparison unit 2317 determines whether the operation mode is the automatic operation mode or the manual operation mode as follows. The concentration degree determination device 2 may receive a signal from the automatic operation control device 14 when the operation mode is switched from the manual operation mode to the automatic operation mode. The concentration degree determination device 2 may receive a signal from the automatic operation control device 14 when the operation mode is switched from the automatic operation mode to the manual operation mode. The signal output unit 2319 can determine whether the operation mode is the automatic operation mode or the manual operation mode based on the signal from the automatic operation control device 14.

The reference comparison unit 2317 compares the driving concentration level estimated by the concentration level estimation unit 2316 with the reference. The reference comparison unit 2317 compares the driving concentration degree estimated by the concentration degree estimation unit 2316 with the reference for the automatic driving mode when the driving mode is the automatic driving mode. For example, the reference comparison unit 2317 compares the driving concentration estimated by the concentration estimation unit 2316 with the reference value for the automatic driving mode or the reference level for the automatic driving mode, which is the reference for the automatic driving mode. If the driving concentration is equal to or higher than the reference value for the automatic driving mode or the reference level for the automatic driving mode, the reference comparison unit 2317 determines that the driving concentration satisfies the reference for the automatic driving mode.

The reference comparison unit 2317 compares the driving concentration degree estimated by the concentration degree estimating unit 2316 with the reference for the manual driving mode when the operation mode is the manual operation mode. For example, the reference comparison unit 2317 compares the driving concentration estimated by the concentration estimation unit 2316 with a reference value for manual operation mode or a reference level for manual operation mode, which is a reference for the manual operation mode. If the driving concentration is equal to or higher than the reference value for the manual operation mode or the reference level for the manual operation mode, the reference comparison unit 2317 determines that the driving concentration satisfies the standard for the manual operation mode.

It should be noted that the standard for the automatic operation mode and the standard for the manual operation mode described above may be a common standard or different standards.

When the concentration level estimation unit 2316 estimates the driving concentration level for each of the plurality of indicators, the reference comparison unit 2317 may compare the driving concentration level for each of the plurality of indexes with the reference. When the concentration level estimation unit 2316 estimates a single driving concentration level based on a plurality of indices, the reference comparison unit 2317 compares the single driving concentration level with a reference. The reference comparison unit 2317 outputs the comparison result to the signal output unit 2318. Note that the reference may be arbitrarily changed.

As an example, the comparison between the driving concentration degree estimated by the numerical value by the reference comparison unit 2317 and the reference will be described.
First, the case where the numerical value estimated by the concentration degree estimation unit 2316 increases as the driving concentration degree increases will be described. The reference value is a numerical value A. If the numerical value estimated by the concentration degree estimation unit 2316 is smaller than the numerical value A, which is the reference value, the reference comparison unit 2317 determines that the driving concentration degree estimated by the concentration degree estimation unit 2316 is lower than the reference value.

Next, a case where the numerical value estimated by the concentration degree estimation unit 2316 becomes smaller as the driving concentration degree becomes higher will be described. If the numerical value estimated by the concentration degree estimation unit 2316 is larger than the numerical value A that is the reference value, the reference comparison unit 2317 determines that the driving concentration degree estimated by the concentration degree estimation unit 2316 is lower than the reference value.

As another example, a comparison between the driving concentration degree estimated by the level by the reference comparison unit 2317 and the reference will be described.
The reference level is level B extracted from a plurality of levels. When a driving concentration degree lower than the reference level level B is assigned to the level estimated by the concentration degree estimating unit 2316, the reference comparing unit 2317 indicates that the driving concentration degree estimated by the concentration degree estimating unit 2316 is the reference level. Judged to be lower than the level.

Here, as described above, an example in which the concentration level table associates the state of the driver with the three levels of Level 1, Level 2, and Level 3 for each index will be specifically described. For example, the reference level is level 1. The reference comparison unit 2317 determines that level 2 or level 3 estimated by the concentration degree estimation unit 2316 is lower than level 1, which is the reference level. On the other hand, the reference comparison unit 2317 determines that the level 1 estimated by the concentration degree estimation unit 2316 is not lower than the level 1 that is the reference level.

The signal output unit 2318 outputs a signal to each unit via the input / output interface unit 21. Hereinafter, examples of some signals output from the signal output unit 2318 will be described.

The signal output unit 2318 determines, based on the comparison result from the reference comparison unit 2317, whether or not to output an instruction signal instructing execution of assistance to the driver to the assistance providing device. In the automatic driving mode, the signal output unit 2318 outputs an instruction signal to the driver after the first time elapses when the driving concentration estimated by the concentration estimating unit 2316 does not satisfy the criteria for the automatic driving mode. . On the other hand, in the manual operation mode, the signal output unit 2318 has a second time passage shorter than the first time when the driving concentration estimated by the concentration estimating unit 2316 does not satisfy the standard for the manual driving mode. An instruction signal is output later. When receiving the instruction signal from the signal output unit 2318, the support providing device executes predetermined support for the driver. The support providing device is, for example, the navigation device 13 or the audio output device 16.

For example, the signal output unit 2318 may start counting the first time or the second time from the time point when the reference comparison unit 2317 determines that the driving concentration does not satisfy the standard. For example, the signal output unit 2318 may start counting the first time or the second time from the time when the comparison result indicating that the driving concentration does not satisfy the standard is received from the standard comparison unit 2317. Note that the timing at which the signal output unit 2318 starts counting the first time or the second time is not limited to these, and may be from any point in time.
Note that the lengths of the first time and the second time are not limited. For example, the first time may be about 4 to 10 seconds, and the second time may be about 1 to 2 seconds.

The signal output unit 2318 outputs an instruction signal to at least one of the navigation device 13 and the audio output device 16, for example. Based on the instruction signal, the navigation device 13 displays a warning on the display 131 as an image or video that gives a warning to the driver. The voice output device 16 outputs a warning for giving a warning to the driver from the speaker 161 based on the instruction signal. The warning is not limited to a specific output mode as long as it is a content that warns the driver that the degree of driving concentration is low or that it is necessary to concentrate on driving. The driver recognizes from the warning that the driver is not in a state suitable for driving the vehicle 1 and can concentrate on driving the vehicle 1 again. The signal output unit 2318 may output the instruction signal to a support providing device other than the navigation device 13 and the voice output device 16. For example, the signal output unit 2318 may output an instruction signal to a support providing device that gives an external stimulus such as vibration to the driver. The support for the driver may be any output content that acts on the driver based on the driving concentration level, and includes various types of support for improving the driving concentration level in addition to warnings, alerts, and information provision.

The signal output unit 2318 can output an instruction signal when one or more of the driving concentration degrees estimated from the plurality of indices do not satisfy the standard. The signal output unit 2318 may output an instruction signal when a predetermined number or more of driving concentration levels estimated from a plurality of indices do not satisfy the standard. The signal output unit 2318 may output an instruction signal when a single driving concentration degree estimated based on a plurality of indices does not satisfy the standard.

The signal output unit 2318 may output a switching signal for switching the operation mode to the automatic operation control device 14.

Next, an example of detection of the driver's state using the driver image data by the state detection unit 2315 will be described. Note that the method for detecting the driver's state is not limited to the example described here.
FIG. 3 is a block diagram illustrating a configuration of the state detection unit 2315. As an example, the state detection unit 2315 includes a local state detection unit 23151, a global state detection unit 23152, and a driver state detection unit 23153.

The local state detection unit 23151 detects the state of at least one of the organs included in the driver's face in the driver image data. The organs included in the face are, for example, the eyes, mouth, nose and ears, but other organs may be used. When the local state detection unit 23151 detects an eye state, the local state detection unit 23151 detects, for example, a driver's eye open / closed degree, a line-of-sight direction, a face direction, and the like. Local state detection unit 23151 outputs a detection result (hereinafter also referred to as local information) to driver state detection unit 23153.

The global state detection unit 23152 detects at least one of the global states of the driver in the driver image data. The global state is, for example, the movement and posture of the driver, but may be other than these. The global state detection unit 23152 outputs a detection result (hereinafter also referred to as global information) to the driver state detection unit 23153.

The driver state detection unit 23153 detects the above-described driver state using the local information from the local state detection unit 23151 and the global information from the global state detection unit 23152.
Thus, the state detection unit 2315 can detect various driver states by combining local information and global information, for example.

Next, some detection examples of the degree of object recognition by the state detection unit 2315 will be described. The state detection unit 2315 can detect the degree of object recognition using the monitoring data and the position information of the object.

As an example, the state detection unit 2315 can detect the degree of object recognition by the driver's vision using the image data outside the vehicle in addition to the driver image data as follows. The state detection unit 2315 extracts a target for detecting the degree of object recognition from the image data outside the vehicle. The target is, for example, an installation such as a sign or a building, but is not particularly limited as long as the driver may confirm (for example, visually) and be aware of it. The state detection unit 2315 detects the driver's line of sight and face orientation from the driver image data captured at substantially the same timing as when the image data outside the vehicle from which the target was extracted was captured. The driver's line of sight and face orientation are detected by the local state detection unit 23151 as described above. The state detection unit 2315 detects the degree of object recognition using at least one of the driver's line of sight and face orientation and the position information of the object. It can be said that the degree of object recognition increases as the driver's line of sight and face direction face the object.

The state detection unit 2315 describes several examples for detecting the level of object recognition.
In one embodiment, the state detection unit 2315 has a high degree of object recognition on condition that at least one of the driver's line of sight and face orientation is in a state that matches the position of the object for a predetermined time. It may be detected. On the other hand, when at least one of the driver's line of sight and face orientation is directed to the target position but passes without recognizing the target, the state detection unit 2315 detects that the degree of target recognition is low. May be. The state detection unit 2315 may detect the degree of object recognition in accordance with the length of time that the driver stays in a state where at least one of the driver's line of sight and face orientation matches the target position.

In another embodiment, the state detection unit 2315 may estimate the degree of object recognition based on the presence or absence of a specific driving operation or a driver's action that is assumed to result from the driver's recognition of the object. For example, when the driver recognizes that a pedestrian is present near the pedestrian crossing in front of the vehicle 1, it is assumed that the driver performs a deceleration operation. Therefore, when the concentration determination device 2 detects that a pedestrian is present near the pedestrian crossing in front of the vehicle 1, the state detection unit 2315 detects the driver's deceleration operation, and the degree of object recognition is You may detect that it is high. On the other hand, when the concentration determination device 2 detects that a pedestrian is present near the pedestrian crossing in front of the vehicle 1, the state detection unit 2315 detects the driver's deceleration operation even after a predetermined time has elapsed. If not, it may be detected that the degree of object recognition is low. For example, depending on the length of time from when the concentration determination device 2 detects a target pedestrian until the driver's deceleration operation is detected, the state detection unit 2315 may detect the target recognition degree. Good.

As another example, the state detection unit 2315 can detect the degree of object recognition using route information and current position information in addition to driver image data as follows.
The state detection unit 2315 refers to the route information and the current position information and extracts a target located in the vicinity of the vehicle 1. As described above, the target is, for example, an installation such as a sign or a building, but is not particularly limited as long as the driver may confirm (for example, visually) and recognize it. The state detection unit 2315 detects the driver's line of sight and the direction of the face from the driver image data captured at substantially the same timing as when the vehicle 1 passes through the vicinity of the target. The state detection unit 2315 detects the degree of object recognition using at least one of the driver's line of sight and face orientation and the position information of the object.

As another example, the state detection unit 2315 may obtain the target position and the timing at which the vehicle 1 passes near the target through road-to-vehicle communication. In this case, the state detection unit 2315 detects the driver's line of sight and face direction from the driver image data captured at substantially the same timing as the vehicle 1 passes through the vicinity of the target. The state detection unit 2315 detects the degree of object recognition using at least one of the driver's line of sight and face orientation and the position information of the object.

As another example, the state detection unit 2315 may use an image or video displayed on the display 131 of the navigation device 13 as a target. In this case, the state detection unit 2315 detects the driver's line of sight and face direction from the driver image data captured at substantially the same timing as when the image or video is displayed on the display 131. The state detection unit 2315 detects the degree of object recognition using at least one of the driver's line of sight and face orientation and the position information of the object.

As described above, when the state detection unit 2315 uses at least the monitoring data and the target position information, the state detection unit 2315 can appropriately detect the driver's state using the degree of object recognition as an index.
Note that the state detection unit 2315 may use an object located in the vicinity of the front, rear, left, or right of the vehicle 1. The state detection unit 2315 preferably uses an object located near the left side or the right side rather than the front side of the vehicle 1. If the object is located on the front side of the vehicle 1, the driver's line of sight and face do not move much. On the other hand, if the object is located near the left side or right side of the vehicle 1, the driver's line of sight and face move to the left or right side. Therefore, the state detection unit 2315 can appropriately detect the target recognition degree.

(Operation)
Next, the operation of the concentration determination device 2 configured as described above will be described. FIG. 4 is a flowchart showing a procedure as an example of concentration level determination by the concentration level determination device 2.

The monitoring data acquisition unit 2311 acquires monitoring data from a sensor that monitors the driver of the vehicle 1 (step S101). In step S <b> 101, the monitoring data acquisition unit 2311 acquires driver image data from the driver camera 15 via, for example, the input / output interface unit 21. Note that the interval at which the monitoring data acquisition unit 2311 acquires the monitoring data may be the same as or shorter than the interval at which the state detection unit 2315 detects the driver's state.

Next, the state detection unit 2315 detects the driver's state from the monitoring data (step S102). In step S102, the state detection unit 2315 detects the state of the driver from the driver image data, for example. The state detection unit 2315 can detect the state of the driver at a predetermined interval, for example. The state detection unit 2315 may detect the state of the driver at the same interval in the automatic operation mode and the manual operation mode, or may detect the state of the driver at different intervals. The state detection unit 2315 may detect the state of the driver at an arbitrary timing.

Next, the concentration degree estimation unit 2316 estimates the driver's driving concentration degree from the monitoring data (step S103). In step 103, the concentration degree estimation unit 2316 estimates the driving concentration degree based on the state of the driver detected from the driver image data by the state detection unit 2315, for example.

The reference comparison unit 2317 determines whether or not the operation mode of the vehicle 1 is the automatic operation mode (step S104). When the operation mode is the automatic operation mode (step S104, Yes), the reference comparison unit 2317 compares the operation concentration level with the reference for the automatic operation mode (step S105). When the driving concentration satisfies the criteria for the automatic driving mode (step S105, Yes), the processing of the concentration determining device 2 may transition from step S105 to step S101. When the driving concentration does not satisfy the criteria for the automatic driving mode (No at Step S105), the signal output unit 2318 selects the first time as the time until the instruction signal is output (Step S106).

The signal output unit 2318 starts counting the first time and determines whether or not the first time has elapsed (step S107). For example, when the reference comparison unit 2317 determines that the driving concentration degree for each of the plurality of indices does not satisfy the criterion for the automatic operation mode, the signal output unit 2318 starts counting the first time for each index. Can do. For example, when the reference comparison unit 2317 determines that the driving concentration level for each of the plurality of indices does not satisfy the criterion for the automatic operation mode at different timings, the signal output unit 2318 has the first timing at a different timing for each index. Time counting can be started. When the first time has not elapsed (No at Step S107), the signal output unit 2318 continues to count the first time and continues to monitor the elapse of the first time.

When the first time has elapsed (step S107, Yes), the signal output unit 2318 outputs an instruction signal (step S108). That is, in step S108, the signal output unit 2318 outputs an instruction signal after the first time has elapsed when the driving concentration does not satisfy the criteria for the automatic driving mode in the automatic driving mode.

When the operation mode is not the automatic operation mode (No at Step S104), the reference comparison unit 2317 compares the operation concentration with the reference for the manual operation mode (Step S109). Here, the case where the operation mode is not the automatic operation mode corresponds to the case where the operation mode is the manual operation mode. When the driving concentration degree satisfies the criteria for the manual operation mode (step S109, Yes), the processing of the concentration degree determination device 2 may transition from step S109 to step S101. When the driving concentration does not satisfy the standard for the manual operation mode (No at Step S109), the signal output unit 2318 selects the second time as the time until the instruction signal is output (Step S110).

The signal output unit 2318 starts counting the second time and determines whether or not the second time has elapsed (step S111). For example, when the reference comparison unit 2317 determines that the driving concentration degree for each of the plurality of indicators does not satisfy the criterion for the manual operation mode, the signal output unit 2318 starts counting the second time for each indicator. Can do. For example, when the reference comparison unit 2317 determines that the driving concentration level for each of the plurality of indices does not satisfy the standard for the manual operation mode at different timings, the signal output unit 2318 causes the second timing at different timings for each index. Time counting can be started. When the second time has not elapsed (step S111, No), the signal output unit 2318 continues to count the second time and continues to monitor the elapse of the second time.

If the second time has elapsed (step S111, Yes), the signal output unit 2318 outputs an instruction signal (step S108). That is, in step S108, the signal output unit 2318 outputs an instruction signal after the second time has elapsed when the driving concentration does not satisfy the standard for the manual operation mode in the manual operation mode.

Note that the index by which the concentration estimation unit 2316 estimates the driving concentration in step S103 is not particularly limited. You may make it estimate. Drowsiness and looking aside are indicators that have a large impact on driving safety. The concentration degree determination device 2 can monitor whether or not the driver is in a state suitable for driving using an index that has a large influence on driving safety regardless of the driving mode. As a result, the driver can maintain a more concentrated state of driving regardless of the driving mode.

(effect)
As described above in detail, in the embodiment of the present invention, the concentration degree determination device 2 outputs an instruction signal earlier because the emergency degree of warning is higher in the manual operation mode than in the automatic operation mode. Can do.
The effect will be explained from the viewpoint of driving safety.
A case where the operation mode is the manual operation mode will be described. If the vehicle 1 does not give a warning early, the driver cannot immediately notice a decrease in his driving concentration. Therefore, when the driving concentration degree in the manual operation mode does not satisfy the standard for the manual operation mode, it can be said that the urgency of the warning is higher than that in the automatic operation mode.

The case where the operation mode is the automatic operation mode will be described. Even if the vehicle 1 does not give a warning early, the vehicle 1 is automatically controlled, so that the possibility of a decrease in driving safety is low. Therefore, when the driving concentration level in the automatic driving mode does not satisfy the criteria for the automatic driving mode, it can be said that the urgency of the warning is lower than that in the manual driving mode.

Thus, the driver can recognize the decrease in the driving concentration in the manual driving mode and increase the driving concentration by the warning based on the instruction signal earlier than in the automatic driving mode. Therefore, driving safety is maintained regardless of the driving mode.

Furthermore, the concentration determination device 2 can output an instruction signal after a lapse of a first time longer than the second time in the automatic operation mode.
The effect will be described in terms of driving comfort.
A case where the operation mode is the manual operation mode will be described. Since the driver has to operate the vehicle 1 himself, he recognizes that a decrease in driving concentration causes an accident. Therefore, even if the vehicle 1 frequently issues warnings, it is unlikely that the driver will receive an excessive warning.

The case where the operation mode is the automatic operation mode will be described. If the vehicle 1 issues a warning frequently, the driver is frequently warned even though the vehicle 1 is automatically controlled. The driver is likely to recognize that he is overwarned. However, the concentration determination device 2 may not need to output an instruction signal depending on an event that occurs before the first time associated with the automatic operation mode, for example.

For example, when the vehicle 1 arrives at the destination before the first time elapses, the concentration determination device 2 does not need to output an instruction signal. In another example, when the driver inputs a warning stop in the automatic driving mode, the concentration degree determination device 2 does not need to output an instruction signal. In another example, the concentration determination device 2 does not need to output an instruction signal when the driving concentration reaches the standard before the first time elapses. Here, some examples of events have been described, but the present invention is not limited to these examples.

As described above, the concentration determination device 2 can reduce the output of excessive instruction signals in the automatic operation mode. Since the driver does not receive an excessive warning in the automatic operation mode, the driver can comfortably keep the state concentrated on the driving regardless of the driving mode. Therefore, driving comfort is maintained regardless of the driving mode.

Therefore, according to one embodiment, the concentration determination device 2 can take into account both driving safety and driving comfort.

[Other Embodiments]
Hereinafter, some other embodiments will be described.
First, the signal output unit 2318 monitors whether or not the instruction signal needs to be output according to the degree of driving concentration after the first time has elapsed until the first time has elapsed. Also good.

In one example, even if it is determined that the driving concentration does not satisfy the criterion for the automatic driving mode in the automatic driving mode, the signal output unit 2318 has the driving concentration for the automatic driving mode within the first time. If the above criteria are satisfied (recovered), the instruction signal may not be output. The signal output unit 2318 may be configured not to output the instruction signal when the driving concentration satisfies the standard for the automatic driving mode within the first time. For example, the signal output unit 2318 may stop outputting the instruction signal by stopping counting the first time. For example, the signal output unit 2318 may directly stop outputting the instruction signal. The signal output unit 2318 detects that the driving concentration satisfies the standard for the automatic operation mode within the first time based on the comparison result from the reference comparison unit 2317, for example, during the process of step S107 in FIG. May be. Note that when the signal output unit 2318 stops outputting the instruction signal, the processing of the concentration determination device 2 may transition from step S107 to step S101 in FIG.

For example, car navigation / audio operation is a driver's state that can occur in the automatic driving mode. However, the car navigation / audio operation is a temporary operation by the driver. The driving concentration level for car navigation and audio operation is likely to meet the standard immediately even if it does not meet the standard temporarily. Therefore, the warning regarding the car navigation / audio operation is unnecessary for the driver.

According to this example, the concentration degree determination device 2 can stop outputting the instruction signal that is no longer necessary. The concentration degree determination device 2 can reduce the output of excessive instruction signals in the automatic operation mode. Since the driver does not receive an excessive warning in the automatic driving mode, the driver can keep a comfortable state of driving. Even if the concentration determination device 2 stops outputting the instruction signal, the driving concentration is recovered to satisfy the standard for the automatic operation mode. Therefore, the driving safety in the automatic driving mode is maintained.

In another example, the signal output unit 2318 may output the instruction signal after elapse of the first time when the driving concentration does not satisfy the criteria for the automatic driving mode continuously during the first time. Good. For example, during the process of step S107 of FIG. 4, the signal output unit 2318 continues during the first time based on the comparison result from the reference comparison unit 2317, and the driving concentration does not satisfy the criterion for the automatic operation mode. You may detect that.

According to this example, the concentration determination device 2 can output a necessary instruction signal after the first time has elapsed. In order to maintain driving safety, the driver needs to keep the driving concentration level in the automatic driving mode so as to satisfy the standard for the automatic driving mode. The driver can recognize the decrease in the driving concentration level by the warning and increase the driving concentration level. Therefore, the driving safety in the automatic driving mode is maintained. Further, the warning is necessary for a driver whose driving concentration does not satisfy the criteria for the automatic driving mode continuously during the first time. Since the driver does not receive an excessive warning in the automatic driving mode, the driver can keep a comfortable state of driving.

Next, the signal output unit 2318 monitors whether or not the instruction signal needs to be output in accordance with the degree of driving concentration after the second time has elapsed since the second time was started. May be.

In one example, even if it is determined that the driving concentration does not satisfy the standard for the manual driving mode in the manual driving mode, the signal output unit 2318 has the driving concentration for the manual driving mode within the second time. If the above criteria are satisfied (recovered), the instruction signal may not be output. Note that the signal output unit 2318 may be configured not to output an instruction signal when the driving concentration satisfies the standard for the manual operation mode within the second time. For example, the signal output unit 2318 may stop outputting the instruction signal by stopping counting the second time. For example, the signal output unit 2318 may directly stop outputting the instruction signal. The signal output unit 2318 detects that the driving concentration satisfies the standard for the manual operation mode within the second time period based on the comparison result from the reference comparison unit 2317, for example, during the process of step S111 in FIG. May be. Note that, when the signal output unit 2318 stops outputting the instruction signal, the processing of the concentration determination apparatus 2 may transition from step S111 to step S101 in FIG.

For example, attaching / detaching glasses / sunglasses is a driver's condition that can occur in the manual operation mode. However, the attachment / detachment of the glasses / sunglasses is a temporary operation by the driver. It is highly likely that the driving concentration for attaching / detaching glasses / sunglasses will soon meet the standard even if it does not meet the standard temporarily. Therefore, the warning regarding the attachment / detachment of the glasses / sunglasses is unnecessary for the driver.

According to this example, the concentration degree determination device 2 can stop outputting the instruction signal that is no longer necessary. The concentration determination device 2 can reduce the output of excessive instruction signals in the manual operation mode. Since the driver does not receive an excessive warning in the manual driving mode, the driver can keep a comfortable state of driving. Even when the concentration determination device 2 stops outputting the instruction signal, the operation concentration is recovered to satisfy the standard for the manual operation mode. Therefore, the safety of operation in the manual operation mode is maintained.

In another example, the signal output unit 2318 may output an instruction signal after elapse of the second time when the driving concentration does not satisfy the standard for the manual operation mode continuously during the second time. Good. For example, during the process of step S111 in FIG. 4, the signal output unit 2318 continues during the second time based on the comparison result from the reference comparison unit 2317, and the driving concentration does not satisfy the standard for the manual operation mode. You may detect that.

According to this example, the concentration determination device 2 can output a necessary instruction signal after the second time has elapsed. In order to maintain driving safety, the driver needs to keep the driving concentration so as to satisfy the standard for the manual driving mode even in the manual driving mode. The driver can recognize the decrease in the driving concentration level by the warning and increase the driving concentration level. Therefore, the safety of operation in the manual operation mode is maintained. Further, the warning is necessary for a driver who continues during the second time and whose driving concentration does not satisfy the standard for the manual driving mode. Since the driver does not receive an excessive warning in the manual driving mode, the driver can keep a comfortable state of driving.

Next, the length of the second time selected in step S110 of FIG. 4 may be a fixed value or a variable value regardless of the index for estimating the driving concentration. When the length of the second time is a fluctuation value, the signal output unit 2318 may change the length of the second time according to an index for estimating the driving concentration, for example. For example, the signal output unit 2318 may refer to a table in which each index stored in the storage unit 22 is associated with the length of the second time.

Here, the urgent level of warning differs depending on the index for estimating the driving concentration. For example, drowsiness is an index that is more urgent for warning than wearing / removing glasses / sunglasses. Depending on the degree of sleepiness, sleepiness is more likely to affect the safety of driving in the manual operation mode than when glasses or sunglasses are attached or detached. Therefore, when the driving concentration level with drowsiness as an index is lower than the standard for manual driving mode, the concentration level determination device 2 has a driving concentration level with eyeglass / sunglass attachment / detachment as an index as a standard for manual driving mode. It is preferable to output the instruction signal earlier than the lower case.

According to this example, the concentration degree determination device 2 can output the instruction signal at a speed according to the urgent level of warning for each index. Since the driver can receive a warning at an appropriate timing, the driver can appropriately maintain a state suitable for manual driving.

Even if the length of the first time selected in step S106 is a fixed value regardless of the index for estimating the driving concentration, the driving concentration is set for the same reason as the second time described above. It may be a fluctuation value corresponding to the estimated index. When the length of the first time is a variation value, the signal output unit 2318 may change the length of the first time according to an index for estimating the driving concentration, for example. For example, the signal output unit 2318 may refer to a table in which each index stored in the storage unit 22 is associated with the length of the first time.

Next, in the one embodiment, the concentration determination device 2 detects the driver's state by using the driver image data captured by the driver camera 15 as monitoring data, and estimates the driving concentration. However, the monitoring data is not limited to the driver image data. The monitoring data may be, for example, biological data obtained by a biological sensor that monitors the driver of the vehicle 1. The biological sensor is, for example, a pulse wave sensor or a heart rate sensor. The biological sensor is not limited to these as long as it can monitor the driver. Note that the biological sensor may be a contact sensor or a non-contact sensor. The concentration degree determination device 2 can detect the state of the driver from the biological data. The state of the driver detected from the biological data is an index such as a pulse wave or a heartbeat.
Furthermore, the monitoring data may be, for example, data obtained by a sensor that measures the strength of the driver's steering wheel 5 installed on the steering wheel 5.

In short, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine the component covering different embodiment suitably.

In addition, the above-described embodiment may be realized by a storage medium such as a ROM (Read Only Memory) that stores a program that causes the processor 231 to perform processing of each unit included in the processor 231.

A part or all of the above embodiment can be described as in the following supplementary notes, but is not limited to the following.
(Appendix 1)
Obtain monitoring data from sensors that monitor the driver of the vehicle,
Estimating the driving concentration of the driver from the monitoring data,
When the driving mode of the vehicle is an automatic driving mode, the driving concentration is compared with a reference for an automatic driving mode, and when the driving mode is a manual driving mode, the driving concentration is a reference for a manual driving mode. Compared to
In the automatic driving mode, when the driving concentration does not satisfy the criteria for the automatic driving mode, an instruction signal is output to instruct execution of assistance to the driver after a first time has elapsed, and in the manual driving mode, A processor configured to output the instruction signal after elapse of a second time shorter than the first time when the driving concentration does not satisfy the standard for the manual operation mode;
A memory for storing instructions for operating the processor;
A concentration determination device comprising:
(Appendix 2)
A monitoring data acquisition process for acquiring monitoring data from a sensor for monitoring a driver of the vehicle using at least one processor;
Using the at least one processor to estimate the driver's concentration of concentration from the monitoring data;
Using the at least one processor, the driving concentration is compared with a reference for an automatic driving mode when the driving mode of the vehicle is an automatic driving mode, and the driving is performed when the driving mode is a manual driving mode. A reference comparison process in which the degree of concentration is compared with the reference for the manual operation mode;
Using the at least one processor, an instruction signal instructing execution of assistance to the driver after a first time when the driving concentration does not satisfy the criteria for the automatic driving mode in the automatic driving mode. A signal output process of outputting the instruction signal after a second time shorter than the first time when the driving concentration does not satisfy the standard for the manual driving mode in the manual driving mode;
Concentration determination method comprising:

Claims

A monitoring data acquisition unit that acquires monitoring data from a sensor that monitors the driver of the vehicle;
A concentration estimation unit that estimates the driver's concentration of driving from the monitoring data;
When the driving mode of the vehicle is an automatic driving mode, the driving concentration is compared with a reference for an automatic driving mode, and when the driving mode is a manual driving mode, the driving concentration is a reference for a manual driving mode. A reference comparison unit to compare with,
In the automatic driving mode, when the driving concentration does not satisfy the criteria for the automatic driving mode, an instruction signal is output to instruct execution of assistance to the driver after a first time has elapsed, and in the manual driving mode, the instruction signal is output. A signal output unit that outputs the instruction signal after a lapse of a second time shorter than the first time when the driving concentration does not satisfy the standard for the manual operation mode;
A concentration determination device comprising:
The concentration level determination apparatus according to claim 1, wherein the concentration level estimation unit estimates the driving concentration level using at least one of the driver's drowsiness and a side look as an index.
The signal output unit changes at least one of the length of the first time and the length of the second time according to an index for estimating the driving concentration degree. Concentration determination device.
Even if it is determined that the driving concentration does not satisfy the criterion for the automatic driving mode in the automatic driving mode, the signal output unit determines that the driving concentration is within the first time. Even if it is determined that the instruction signal is not output when the operation mode criterion is satisfied, and that the operation concentration level does not satisfy the manual operation mode criterion in the manual operation mode, 4. The apparatus according to claim 1, wherein at least one of not outputting the instruction signal is performed when the driving concentration satisfies the standard for the manual operation mode within the second time. 5. 4. Degree of concentration determination device according to.
A monitoring data acquisition process for acquiring monitoring data from a sensor for monitoring a vehicle driver;
A concentration estimation process for estimating the driver's concentration of driving from the monitoring data;
When the driving mode of the vehicle is an automatic driving mode, the driving concentration is compared with a reference for an automatic driving mode, and when the driving mode is a manual driving mode, the driving concentration is a reference for a manual driving mode. A reference comparison process to compare with,
In the automatic driving mode, when the driving concentration does not satisfy the criteria for the automatic driving mode, an instruction signal is output to instruct execution of assistance to the driver after a first time has elapsed, and in the manual driving mode, A signal output process of outputting the instruction signal after elapse of a second time shorter than the first time when the driving concentration does not satisfy the standard for the manual operation mode;
Concentration determination method comprising:
A program for determining a degree of concentration that causes a computer to function the processing of each unit included in the concentration level determination apparatus according to any one of claims 1 to 4.