WO2020013035A1 - 異常判定装置 - Google Patents

異常判定装置 Download PDF

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Publication number
WO2020013035A1
WO2020013035A1 PCT/JP2019/026326 JP2019026326W WO2020013035A1 WO 2020013035 A1 WO2020013035 A1 WO 2020013035A1 JP 2019026326 W JP2019026326 W JP 2019026326W WO 2020013035 A1 WO2020013035 A1 WO 2020013035A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
person
determination device
abnormality determination
operable range
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/026326
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English (en)
French (fr)
Japanese (ja)
Inventor
寛 森本
幸泰 吉村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to DE112019003500.2T priority Critical patent/DE112019003500B4/de
Publication of WO2020013035A1 publication Critical patent/WO2020013035A1/ja
Priority to US17/142,765 priority patent/US11625927B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
    • A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to an abnormality determination device.
  • Patent Literature 1 discloses a vehicle control device that executes an appropriate process for safety when an abnormal condition occurs in which a driver of a vehicle interferes with driving.
  • this vehicle control device when it is determined that the driver is in a drowsiness state or a driving impossible state based on the driver's face information and driver state monitoring information detected in the captured image captured by the camera, the vehicle decelerates. Execute vehicle control such as stopping.
  • various states can be considered as the abnormal state of the driver.
  • the vehicle control device that determines an abnormal state of the driver based on information only of the driver as described above cannot detect an abnormal state that does not appear in the driver's face information or the like. Has been found that the determination of the abnormal state of the above is not sufficient.
  • One aspect of the present disclosure is to enable detection of an abnormal state of a driver that cannot be detected by information of the driver alone.
  • an abnormality determination device mounted on a vehicle, and includes an identification unit, a person determination unit, and an abnormality processing unit.
  • the identification unit is configured to identify a person in a captured image obtained from a camera that captures an area including a driver's seat of the vehicle.
  • the person determination unit is configured to determine whether or not a person other than the driver of the vehicle exists in the operable range set as the operable range of the steering of the vehicle based on the identification result by the identification unit.
  • the abnormality processing unit executes an abnormality process on the assumption that the driver of the vehicle is in an abnormal state when the person determination unit determines that a person other than the driver exists in the operable range.
  • FIG. 2 is a block diagram illustrating a configuration of an abnormality determination system.
  • 5 is a flowchart of an abnormality determination process according to the first embodiment.
  • FIG. 7 is a diagram illustrating a setting range set around a steering in a two-dimensional captured image.
  • 5 is a timing chart illustrating an example in which a driver is determined to be in an abnormal state. It is a flowchart of the abnormality determination processing of the second embodiment.
  • An abnormality determination system 100 shown in FIG. 1 is a system mounted on a vehicle such as a bus that carries a large number of passengers, for example, a camera 1, an abnormality determination device 2, an HMI (Human Machine Interface) 3, and a vehicle control. Device 4.
  • a vehicle such as a bus that carries a large number of passengers, for example, a camera 1, an abnormality determination device 2, an HMI (Human Machine Interface) 3, and a vehicle control. Device 4.
  • the camera 1 is an imaging device that can image a range including a driver's seat of the vehicle, and is provided at, for example, a plurality of locations in front of a driver of the vehicle.
  • the camera 1 outputs a signal representing the captured image to the abnormality determination device 2.
  • the abnormality determination device 2 Based on the captured image obtained from the camera 1, the abnormality determination device 2 can specify the three-dimensional position of a person or the like included in the captured image.
  • the abnormality determination device 2 is mainly configured by a known microcomputer having a CPU 21, a ROM 22, a RAM 23, a flash memory 24, and the like.
  • the CPU 21 executes a program stored in a ROM 22, which is a non-transitional substantive recording medium.
  • a method corresponding to the program is executed.
  • the abnormality determination device 2 executes an abnormality determination process illustrated in FIG. 2 described below according to the program.
  • the abnormality determination device 2 outputs a signal indicating the result of the abnormality determination process to the HMI 3 and the vehicle control device 4.
  • the abnormality determination device 2 may include one microcomputer, or may include a plurality of microcomputers.
  • the method of realizing the function of the abnormality determination device 2 is not limited to software, and some or all of the functions may be realized using one or a plurality of hardware.
  • the electronic circuit may be implemented by a digital circuit, an analog circuit, or a combination thereof.
  • the HMI 3 includes a display 31, a speaker 32, and a release switch 33.
  • the display 31 is an in-vehicle display that displays an image, and is provided at a position where a driver of a vehicle or the like can visually recognize the display.
  • the speaker 32 is an in-vehicle speaker shared with a car navigation device, an audio device, and the like.
  • the release switch 33 is a switch provided in a range that can be operated by the driver of the vehicle, and can stop the notification of the abnormal state of the driver. That is, as described later, in the present embodiment, when it is determined that the driver is in an abnormal state, the abnormal state of the driver is notified. However, even though the driver is normal, for example, when the driver tries to take an object near the driver's seat and loses his / her posture, it is determined that the driver's posture is not normal, and the abnormal state of the driver is reported. is there. Therefore, the abnormality determination system 100 is configured to stop the notification by pressing the release switch 33.
  • the vehicle control device 4 includes an engine 41, a brake actuator 42, and a steering actuator 43.
  • the vehicle control device 4 safely and automatically stops the vehicle. Specifically, the vehicle control device 4 decelerates or stops the vehicle by controlling, for example, the engine 41 or the brake actuator 42 in the vehicle. The vehicle control device 4 also retreats the vehicle to the road shoulder by, for example, performing steering angle control of the steering by the steering actuator 43.
  • the abnormality determination device 2 identifies a person by analyzing a captured image acquired from the camera 1.
  • a person is identified in a captured image using a well-known pattern matching method.
  • the abnormality determination device 2 further recognizes the identified human face by analyzing the captured image.
  • a human face is recognized from relative positions of feature points of the face such as eyes and nose specified in the captured image.
  • the abnormality determination device 2 determines whether a driver is present in the captured image based on the identification result in S101. Specifically, the abnormality determination device 2 determines whether a driver exists in the captured image based on the recognition result.
  • the driver is specified by comparing the information on the characteristic points of the driver's face registered in advance in the flash memory 24 with the information on the characteristic points of the human face recognized in the captured image. In other words, the information of the feature points of the driver's face registered in advance and the information of the feature points of the recognized person's face are compared to determine whether they are the same person. When it is determined that the two persons are the same person, it is determined that the driver exists in the captured image.
  • the process proceeds to S107 described below. That is, when the driver does not exist in the captured image, the driver does not exist in the driver's seat, and thus the driver is determined to be in an abnormal state.
  • the abnormality determination device 2 determines the driver's posture in the captured image.
  • the attitude of the driver is determined by detecting the inclination of the head with respect to the body based on the identification result in S101.
  • the abnormality determination device 2 determines whether the driver's posture is normal. In the present embodiment, when the inclination of the head relative to the torso of the driver is equal to or greater than a predetermined threshold and the state of the inclination continues for a predetermined time, it is determined that the driver's posture is not normal.
  • the abnormality determination device 2 determines that the driver's posture is not normal in S104, the process proceeds to S107 described below. That is, when the driver's posture is not normal, for example, when the driver is fainted or the head is tilted, it is determined that the driver is in an abnormal state.
  • the abnormality determination device 2 determines whether or not a person other than the driver exists in the captured image based on the recognition result in S101. In the present embodiment, when a person other than the person identified as the driver in the captured image is identified in S101, it is determined that a person other than the driver exists. If it is determined in S105 that there is no other person than the driver in the captured image, the abnormality determination device 2 returns the process to S101.
  • the process proceeds to S106.
  • abnormality determination device 2 determines whether or not a person other than the driver exists in an operable range that is set in advance as an operable range of the steering of the vehicle.
  • the operable range is, for example, a range in which the driver can operate the steering wheel to drive the vehicle.
  • the operable range is set around the steering in the two-dimensional captured image B as shown in FIG. This is the set range A.
  • the abnormality determination device 2 returns the process to S101. That is, when it is determined that the driver is in a normal state and the passenger is not near the steering wheel, it is determined that the driver is not in an abnormal state.
  • the process proceeds to S107.
  • the driver is determined to be in a normal state, when there is a person other than the driver in the setting range A, it is highly possible that a passenger existing near the steering is intervening in driving the vehicle. Is determined to be in an abnormal state.
  • step S107 the abnormality determining device 2 determines that the driver is in an abnormal state, and thus reports the abnormal state of the driver of the vehicle.
  • an image for notifying an abnormal state of the driver is displayed using the display 31, or an abnormal state of the driver is notified by voice or the like using the speaker 32.
  • the abnormality determination device 2 executes S107 as abnormality processing.
  • the abnormality determination device 2 determines whether a release operation has been performed. In the present embodiment, whether or not the release operation has been performed is determined based on whether or not the release switch 33 has been pressed by the driver. When the release switch 33 is pressed, it is determined that the release operation has been performed. If the abnormality determination device 2 determines in step S108 that the release operation has not been performed, the process proceeds to step S109.
  • the abnormality determination device 2 determines whether the notification state for notifying that the driver is in an abnormal state has continued for a predetermined time or more. If the abnormality determination device 2 determines in S109 that the notification state has not continued for the predetermined time or more, the process returns to S108.
  • the process returns to S101. That is, even when the abnormal state of the driver is notified, if the driver performs the release operation within the predetermined time, it is determined that the driver is not in an abnormal state.
  • the process proceeds to S110.
  • abnormality determination device 2 executes control for automatically stopping the vehicle by vehicle control device 4 described above. Note that the abnormality determination device 2 executes S110 as abnormality processing. Thereafter, the abnormality determination device 2 ends the abnormality determination processing of FIG.
  • the driver's posture is determined to be normal, and the driver is not determined to be in an abnormal state. Conceivable.
  • the passenger who senses the abnormal state of the driver intervenes in driving at the timing of time T2
  • a person other than the driver exists in the setting range A. For this reason, it is determined that a person other than the driver exists in the operable range, and the driver is determined to be in an abnormal state.
  • an abnormal state of the driver is notified. Thereafter, when the notification state continues for a predetermined time or longer without the driver performing the release operation, control for automatically stopping the vehicle is performed at the timing of time T4.
  • the configuration of the present embodiment that determines whether the driver is in an abnormal state in consideration of information of a person other than the driver, the abnormal state of the driver that cannot be detected by the information of the driver alone And the vehicle can be automatically stopped.
  • S101 corresponds to processing as an identification unit
  • S102 and S106 correspond to processing as a person determination unit
  • S107 and S110 correspond to processing as an abnormality processing unit.
  • step S201 the abnormality determination device 2 identifies a person by analyzing a captured image acquired from the camera 1.
  • recognition of the face of the identified person is not required.
  • the abnormality determination device 2 determines whether or not there is a person in the operable range based on the identification result in S201. In S202, similarly to the processing of S106 of the first embodiment, when the person identified in S201 exists in the setting range A, it is determined that the person exists in the operable range. If the abnormality determination device 2 determines in step S202 that a person exists in the operable range, the process proceeds to step S203.
  • the abnormality determination device 2 determines whether two or more people exist in the operable range. If the abnormality determination device 2 determines in step S203 that two or more people exist in the operable range, the process proceeds to step S209. That is, when two or more people exist in the setting range A, there are a person who is assumed to be a driver near the steering wheel and a passenger who is a driver other than the driver who is likely to be involved in driving the vehicle. Therefore, it is determined that the driver is in an abnormal state.
  • the abnormality determination device 2 determines in S203 that two or more people do not exist in the operable range, that is, if there is one person who is assumed to be a driver in the operable range, the abnormality determination device 2 performs the process Move to S204.
  • the abnormality determination device 2 determines the posture of a person present in the operable range.
  • the determination method in S204 is the same as the processing in S103 of the first embodiment.
  • the abnormality determination device 2 determines whether or not the posture of the person present in the operable range is normal.
  • the determination method in S205 is the same as the processing in S104 of the first embodiment. If the abnormality determination device 2 determines in S205 that the posture of the person present in the operable range is normal, the process returns to S201. That is, when the person assumed to be the driver is determined to be in a normal state, and the passenger is not near the steering wheel, it is determined that the driver is not in an abnormal state.
  • the process proceeds to S209.
  • the posture of the person assumed to be the driver is not normal, for example, when the person assumed to be the driver is faint and the head is tilted, the driver is in an abnormal state. Is determined.
  • the process proceeds to S206.
  • the driver has lost sight and has disappeared from the operable range. It is conceivable that the lost driver may return to the imageable range. For this reason, it is determined whether or not the driver is in an abnormal state in the next steps S206 to S208.
  • the abnormality determination device 2 determines whether or not a person has appeared in the operable range. In the present embodiment, when a person exists in the setting range A, it is determined that a person has appeared in the operable range. If the abnormality determination device 2 determines in step S206 that no person has appeared in the operable range, the process proceeds to step S207.
  • the abnormality determination device 2 determines whether the absence state in which no person has appeared in the operable range has continued for a predetermined time or more. In the present embodiment, it is determined whether the absence state has continued for 3 seconds or more. If the abnormality determination device 2 determines in step S207 that the absence state has continued for a predetermined time or more, the process proceeds to step S209. That is, the driver may be determined to be in an abnormal state because the driver may not disappear from the operable range due to the intended behavior.
  • step S207 determines in step S207 that the absence state has not continued for the predetermined time or more. That is, when the absence state of the driver in the operable range is less than 3 seconds, it is too early to determine that the driver is in an abnormal state, and thus the driver is not determined to be in an abnormal state.
  • step S206 determines in step S206 that a person has appeared in the operable range. If the abnormality determination device 2 determines in step S206 that a person has appeared in the operable range, the process proceeds to step S208.
  • the abnormality determination device 2 determines whether the appearance position, which is a position where a person has appeared in the operable range, and the disappearance position, which is a position where a person has disappeared from the operable range, are the same. Specifically, the abnormality determination device 2 determines the appearance position of a person who has appeared in the operable range in the current cycle and the operable range in a cycle earlier than the current cycle stored in the flash memory 24. It is determined whether or not the disappearance position of the person who has disappeared from is the same. Here, when there are a plurality of disappearance positions, the disappearance position is a position immediately before an appearance person appears at an appearance position in the current cycle, that is, the latest disappearance position. Then, the abnormality determination device 2 determines whether the appearing position and the disappearing position are the same, thereby determining whether the appearing person and the disappearing person are the same person.
  • each of the appearance position and the disappearance position in the operable range is classified into one of two positions on the left and right with respect to the driver's seat, and the appearance person and the disappearance person are the same person as follows. It is determined whether or not.
  • the appearance position is different from the disappearance position
  • the disappearance position is on the left side of the driver's seat and the disappearance position is on the right side of the driver's seat.
  • the driver disappears to the right of the driver's seat due to fainting, etc.
  • a passenger who intervened in driving after detecting the abnormal condition of the driver appears from the left of the driver's seat.
  • the driver is the vanished person and the passenger is the appearing person.
  • the appearance position and the disappearance position are the same, for example, the appearance position is on the left side of the driver's seat and the disappearance position is also on the left side of the driver's seat.
  • the person assumed to be the driver temporarily disappeared to the right side of the driver's seat due to intentionally bending down etc., but to complete the intended action and return to the original posture It is possible that the vehicle appears from the right side of the driver's seat.
  • a situation may be considered in which the driver has bent over to pick up an object near the driver's seat and disappeared from the operable range, but has picked up the object and returned. Therefore, when the appearance position and the disappearance position are the same, it is determined that the appearance person and the disappearance person are the same person because there is a high possibility that the disappearance person and the appearance person are drivers.
  • the process proceeds to S209. That is, when the appearing person and the disappearing person are not the same person, it is determined that the driver is in an abnormal state.
  • the process returns to S201. That is, since the appearance person and the disappearance person are likely to be the same person, it is determined that the driver is not in an abnormal state.
  • the abnormal state of the driver is notified. That is, it is determined whether the appearing person and the disappearing person are the same person based on the appearing position and the disappearing position. This makes it possible to determine whether the driver is in an abnormal state by determining whether the appearing person and the disappearing person are the same person without identifying the driver using face recognition. Can be.
  • S201 corresponds to processing as an identification unit
  • S202 corresponds to processing as an existence determination unit
  • S203 corresponds to processing as a person determination unit
  • S209 and S212 correspond to abnormality processing units. Corresponding to the processing.
  • the driver is specified by comparing the information on the feature points of the driver's face registered in advance with the information on the feature points of the recognized human face.
  • the method for recognizing a face that specifies a driver is not limited to this. For example, when the ignition switch is turned on, information on the characteristic points of the face of the person sitting in the driver's seat may be stored as driver information and may be compared. Further, even if the driver is specified by comparing the information on the feature points of the human face acquired in the cycle earlier than the present cycle with the information on the feature points of the human face acquired in the current cycle. Good.
  • each of the appearance position and the disappearance position in the operable range is classified into one of two positions on the left and right with respect to the driver's seat. Is not limited to this. For example, they may be classified into any of four positions, left and right and up and down. In such a case, for example, when the appearance position is the upper left side of the driver's seat and the disappearance position is one of the lower right side, the upper right side, and the lower left side of the driver's seat, the appearance position and the disappearance position are not the same. May be determined.
  • the setting range may be a setting range set in a three-dimensional space. That is, in each of the above embodiments, the rectangular range in the captured image is set as the setting range A. However, for example, a rectangular parallelepiped range in which the setting range A of each of the above embodiments has a further constant depth may be set as the setting range. Good.
  • the appearance person and the disappearance person are determined to be the same person and the driver is determined not to be in an abnormal state.
  • the method for determining whether the driver is in an abnormal state is not limited to this. For example, when a person appears in the operable range from outside the set range, that is, outside the operable range, the driver may be determined to be in an abnormal state regardless of the appearance direction.
  • the abnormality determination system 100 may be mounted on a vehicle other than a bus.
  • the functions of one component in the above embodiments may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, a part of the configuration of each of the above embodiments may be omitted. In addition, at least a part of the configuration of each of the above embodiments may be added to, replaced with, or the like to the configuration of each of the other above embodiments.

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PCT/JP2019/026326 2018-07-09 2019-07-02 異常判定装置 Ceased WO2020013035A1 (ja)

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Application Number Priority Date Filing Date Title
DE112019003500.2T DE112019003500B4 (de) 2018-07-09 2019-07-02 Abnormalitätsbestimmungsvorrichtung
US17/142,765 US11625927B2 (en) 2018-07-09 2021-01-06 Abnormality determination apparatus

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JP2018-130005 2018-07-09
JP2018130005A JP6881401B2 (ja) 2018-07-09 2018-07-09 異常判定装置

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