WO2023112212A1 - 運転支援装置及びコンピュータプログラム並びにコンピュータプログラムを記録した記録媒体 - Google Patents

運転支援装置及びコンピュータプログラム並びにコンピュータプログラムを記録した記録媒体 Download PDF

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Publication number
WO2023112212A1
WO2023112212A1 PCT/JP2021/046297 JP2021046297W WO2023112212A1 WO 2023112212 A1 WO2023112212 A1 WO 2023112212A1 JP 2021046297 W JP2021046297 W JP 2021046297W WO 2023112212 A1 WO2023112212 A1 WO 2023112212A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driver
situation
driving
support
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/JP2021/046297
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
美香 鈴木
章也 佐藤
智大 阿部
宏貴 丸茂
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.)
Subaru Corp
Original Assignee
Subaru 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 Subaru Corp filed Critical Subaru Corp
Priority to US18/248,993 priority Critical patent/US12198449B2/en
Priority to JP2023567394A priority patent/JP7610039B2/ja
Priority to DE112021008519.0T priority patent/DE112021008519T5/de
Priority to PCT/JP2021/046297 priority patent/WO2023112212A1/ja
Publication of WO2023112212A1 publication Critical patent/WO2023112212A1/ja
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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • 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
    • G06V40/172—Classification, e.g. identification
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

Definitions

  • a computer program applied to a driving assistance device that assists driving of a vehicle Determining whether or not the vehicle is impeding traffic; and determining whether or not the driver of the vehicle is aware of the situation when it is determined that the vehicle is obstructing traffic;
  • a computer program for executing a process including setting a support operation for avoiding the situation based on the recognition state of the situation by the driver, and a recording medium recording the computer program are provided.
  • the vehicle 1 includes forward shooting cameras 31LF and 31RF, rear shooting camera 31R, LiDAR (Light Detection And Ranging) 31S, in-vehicle shooting camera 33, biosensor 34, vehicle state sensor 35, GPS (Global Positioning System) sensor 37, It has a vehicle-to-vehicle communication unit 39 , a navigation system 40 and an HMI (Human Machine Interface) 43 .
  • GPS Global Positioning System
  • the biosensor 34 detects the biometric information of the driver and transmits the detected data to the driving support device 50 .
  • the biosensor 34 may be, for example, a radio Doppler sensor for detecting the driver's heartbeat, or a non-wearable pulse sensor for detecting the driver's pulse.
  • the biosensor 34 may be an electrode set embedded in the steering wheel 13 for measuring the heartbeat or electrocardiogram of the driver.
  • the biosensor 34 may be a pressure measuring instrument embedded in the driver's seat to measure the seat pressure distribution when the driver is seated on the seat.
  • the biosensor 34 may be a displacement sensor that detects changes in seat belt position to measure the heartbeat or respiration of the driver.
  • the biosensor 34 may be a TOF (Time of Flight) sensor for detecting information on the position of the driver.
  • the biosensor 34 may be a thermography for measuring the surface temperature of the driver's skin.
  • FIG. 3 shows a flowchart showing a main routine of processing executed by the control unit 51 .
  • the driver determination section 61 of the control section 51 executes processing for identifying the driver of the own vehicle 1 (step S13). For example, the driver determination unit 61 executes processing for recognizing the face of the driver sitting in the driver's seat based on the image data transmitted from the in-vehicle camera 33 . The driver determination unit 61 also extracts the feature amount of the recognized driver's face, and determines whether information on the driver matching the extracted feature amount is recorded in the driver database 71 .
  • the support processing unit 65 outputs a command signal to the HMI 45 or the audio device to generate a preliminary notification sound (step S49).
  • the preliminary notification sound to be generated is an effect sound that does not include information that the vehicle 1 is being driven while driving, and is output for the purpose of raising the driver's declining consciousness level.
  • a preliminary notification may be made by lighting an LED lamp or the like instead of the preliminary notification sound, or together with the preliminary notification sound.
  • step S29 determines that the in-vehicle system has stopped. It is determined whether or not (step S33). When the in-vehicle system stops (S33/Yes), the control unit 51 terminates the processing operation. On the other hand, if the in-vehicle system is not stopped (S33/No), the process returns to step S17, and the control unit 51 executes the processing of each step described above.
  • the technology of the present disclosure can be applied in a situation where an emergency vehicle is approaching from behind the own vehicle 1. Even in such a situation, the assistance operation for avoiding the traffic obstruction situation is set based on the driver's recognition state, and the driver can give way to the emergency vehicle without feeling annoyed.
  • vehicle-own vehicle 31: ambient environment sensor, 33: in-vehicle camera, 34: biological sensor, 35: vehicle state sensor, 37: GPS sensor, 39: vehicle-to-vehicle communication unit, 40: navigation system, 41: Vehicle control device, 50: driving support device, 51: control unit, 53: storage unit, 61: driver determination unit, 62: acquisition unit, 63: traffic condition determination unit, 64: driver state determination unit, 65: support processing unit , 71: driver database

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2021/046297 2021-12-15 2021-12-15 運転支援装置及びコンピュータプログラム並びにコンピュータプログラムを記録した記録媒体 Ceased WO2023112212A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US18/248,993 US12198449B2 (en) 2021-12-15 2021-12-15 Driving assistance apparatus, computer program, and recording medium storing computer program
JP2023567394A JP7610039B2 (ja) 2021-12-15 2021-12-15 運転支援装置及びコンピュータプログラム並びにコンピュータプログラムを記録した記録媒体
DE112021008519.0T DE112021008519T5 (de) 2021-12-15 2021-12-15 Fahrunterstützungsvorrichtung, computerprogramm und aufzeichnungsmedium, das das computerprogramm speichert
PCT/JP2021/046297 WO2023112212A1 (ja) 2021-12-15 2021-12-15 運転支援装置及びコンピュータプログラム並びにコンピュータプログラムを記録した記録媒体

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/046297 WO2023112212A1 (ja) 2021-12-15 2021-12-15 運転支援装置及びコンピュータプログラム並びにコンピュータプログラムを記録した記録媒体

Publications (1)

Publication Number Publication Date
WO2023112212A1 true WO2023112212A1 (ja) 2023-06-22

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PCT/JP2021/046297 Ceased WO2023112212A1 (ja) 2021-12-15 2021-12-15 運転支援装置及びコンピュータプログラム並びにコンピュータプログラムを記録した記録媒体

Country Status (4)

Country Link
US (1) US12198449B2 (https=)
JP (1) JP7610039B2 (https=)
DE (1) DE112021008519T5 (https=)
WO (1) WO2023112212A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230349704A1 (en) * 2022-04-29 2023-11-02 Rivian Ip Holdings, Llc Adas timing adjustments and selective incident alerts based on risk factor information

Citations (5)

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JP2001331900A (ja) * 2000-05-23 2001-11-30 Matsushita Electric Ind Co Ltd 車載危険予測警報装置および危険予測警報方法
JP2008084004A (ja) * 2006-09-27 2008-04-10 Mazda Motor Corp 車両用運転支援システム
JP2012058827A (ja) * 2010-09-06 2012-03-22 Denso Corp 運転支援装置
JP2019117624A (ja) * 2017-12-27 2019-07-18 株式会社デンソー 車載装置、通信システム、および動機付けシステム
JP2021051655A (ja) * 2019-09-26 2021-04-01 いすゞ自動車株式会社 通知装置及び通知方法

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US9205816B2 (en) * 2011-07-11 2015-12-08 Toyota Jidosha Kabushiki Kaisha Vehicle emergency evacuation device
JP6511930B2 (ja) * 2015-04-16 2019-05-15 株式会社デンソー 退避走行支援装置
US11249544B2 (en) * 2016-11-21 2022-02-15 TeleLingo Methods and systems for using artificial intelligence to evaluate, correct, and monitor user attentiveness
JP6665831B2 (ja) 2017-05-19 2020-03-13 トヨタ自動車株式会社 退避走行支援装置
KR20190050633A (ko) * 2017-11-03 2019-05-13 주식회사 만도 운전자 상태 기반 차량 제어 시스템 및 방법
JP2019119371A (ja) 2018-01-09 2019-07-22 三菱自動車工業株式会社 煽り運転解消システム
US11487968B2 (en) * 2019-12-16 2022-11-01 Nvidia Corporation Neural network based facial analysis using facial landmarks and associated confidence values
US11745733B2 (en) * 2020-01-27 2023-09-05 Mazda Motor Corporation Travel control apparatus for vehicle, vehicle controlling method and computer program therefor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001331900A (ja) * 2000-05-23 2001-11-30 Matsushita Electric Ind Co Ltd 車載危険予測警報装置および危険予測警報方法
JP2008084004A (ja) * 2006-09-27 2008-04-10 Mazda Motor Corp 車両用運転支援システム
JP2012058827A (ja) * 2010-09-06 2012-03-22 Denso Corp 運転支援装置
JP2019117624A (ja) * 2017-12-27 2019-07-18 株式会社デンソー 車載装置、通信システム、および動機付けシステム
JP2021051655A (ja) * 2019-09-26 2021-04-01 いすゞ自動車株式会社 通知装置及び通知方法

Also Published As

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US20240378903A1 (en) 2024-11-14
JPWO2023112212A1 (https=) 2023-06-22
JP7610039B2 (ja) 2025-01-07
DE112021008519T5 (de) 2025-02-27
US12198449B2 (en) 2025-01-14

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