JP2019087013A - 車両の制御装置 - Google Patents
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- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 230000001133 acceleration Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 8
- 238000003384 imaging method Methods 0.000 description 6
- 238000001556 precipitation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- G—PHYSICS
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- 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
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- 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
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- 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
- B60W50/082—Selecting or switching between different modes of propelling
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
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- G—PHYSICS
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- 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
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
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- 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
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V40/174—Facial expression recognition
- G06V40/175—Static expression
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- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
Description
図1は、本発明の第1実施形態による車両用の自動運転システム100の概略構成図である。図2は、本実施形態による自動運転システム100を搭載した自車両1の概略外観図である。図3は、本実施形態による自動運転システム100を搭載した自車両1の概略内観図である。
次に本発明の第2実施形態について説明する。本実施形態は、ドライバ状態の監視を開始するときに、ドライバモニタカメラ31の撮影位置をドライバの体格に応じて適切な位置に自動的に調節する点で、第1実施形態と相違する。以下、この相違点を中心に説明する。
31 ドライバモニタカメラ
61 情報提供装置
80 電子制御ユニット(制御装置)
90 自動運転制御部
95 ドライバ状態監視部
96 カメラ位置制御部
Claims (5)
- 自車両のドライバの顔を撮影するドライバモニタカメラと、
自車両のドライバに情報を提供するための情報提供装置と、
を備える車両を制御するための車両の制御装置であって、
前記ドライバモニタカメラの撮影画像に基づいて、ドライバの状態を監視するドライバ状態監視部を備え、
前記ドライバ状態監視部は、
前記ドライバモニタカメラの撮影画像に基づいて、ドライバの顔が前記ドライバモニタカメラの画角内に収まっているか否かを判定し、
ドライバの顔が前記ドライバモニタカメラの画角内に収まっていないと判定したときは、前記情報提供装置を介してドライバに対してドライバの顔を前記画角内に収めるために必要な動作に関する動作情報を提供するように構成される、
車両の制御装置。 - 前記車両の運転操作を自動的に行う自動運転を実施する自動運転制御部をさらに備え、
前記自動運転制御部は、
前記車両のステアリングに対するドライバからの入力情報に基づいて、ドライバがステアリングを把持しているか否かを判定し、
ドライバの顔が前記画角内に収まっていないと判定されている場合は、ドライバがステアリングを把持しているときに限り前記自動運転を許可するように構成される、
請求項1に記載の車両の制御装置。 - 前記ドライバ状態監視部は、
前記ドライバモニタカメラの画角内から見切れているドライバの顔の見切れ部分に応じて、ドライバに提供する前記動作情報の内容を変更するように構成される、
請求項1又は請求項2に記載の車両の制御装置。 - 前記ドライバ状態監視部は、
前記ドライバモニタカメラの画角内からのドライバの顔の見切れ度合いに応じて、ドライバに提供する前記動作情報の内容を変更するように構成される、
請求項1又は請求項2に記載の車両の制御装置。 - 前記ドライバモニタカメラの位置を自動で調節するためのカメラ位置調節機構を制御するカメラ位置制御部をさらに備え、
前記カメラ位置制御部は、
ドライバが着座するシートからの入力情報に基づいて、ドライバの座高を推定し、
前記座高に基づいて前記ドライバモニタカメラの目標初期位置を設定し、当該目標初期位置となるように、前記カメラ位置調節機構を制御する、
ように構成される、
請求項1から請求項4までのいずれか1項に記載の車両の制御装置。
Priority Applications (3)
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JP2017214631A JP6930383B2 (ja) | 2017-11-07 | 2017-11-07 | 車両の制御装置 |
US16/180,099 US10427690B2 (en) | 2017-11-07 | 2018-11-05 | Control system |
CN201811306881.4A CN109747658A (zh) | 2017-11-07 | 2018-11-05 | 车辆的控制装置 |
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JP2017214631A JP6930383B2 (ja) | 2017-11-07 | 2017-11-07 | 車両の制御装置 |
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JP2019087013A true JP2019087013A (ja) | 2019-06-06 |
JP6930383B2 JP6930383B2 (ja) | 2021-09-01 |
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JP (1) | JP6930383B2 (ja) |
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Cited By (1)
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CN110261131A (zh) * | 2019-06-21 | 2019-09-20 | 北京迈格威科技有限公司 | 汽车模拟驾驶舱图像数据处理方法及装置 |
Families Citing this family (9)
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KR102552490B1 (ko) * | 2018-01-03 | 2023-07-06 | 현대자동차주식회사 | 차량용 영상 처리 장치 및 방법 |
JP6973298B2 (ja) * | 2018-05-31 | 2021-11-24 | トヨタ自動車株式会社 | 物体監視装置 |
CN112622916A (zh) * | 2019-10-08 | 2021-04-09 | 株式会社斯巴鲁 | 车辆的驾驶辅助*** |
JP7358958B2 (ja) * | 2019-12-11 | 2023-10-11 | トヨタ自動車株式会社 | 運転意識推定装置 |
US10838056B1 (en) * | 2019-12-25 | 2020-11-17 | NextVPU (Shanghai) Co., Ltd. | Detection of target |
CN111267801B (zh) * | 2020-02-19 | 2022-03-18 | 吉林大学 | 一种面向智能辅助驾驶的汽车自适应制动***及其控制方法 |
CN112849148B (zh) * | 2021-01-11 | 2023-03-14 | 重庆长安汽车股份有限公司 | 一种自动驾驶功能控制方法、自动驾驶***、汽车、控制器及计算机可读存储介质 |
CN113335296B (zh) * | 2021-06-24 | 2022-11-29 | 东风汽车集团股份有限公司 | 一种分心驾驶自适应检测***及方法 |
CN116118813B (zh) * | 2023-01-12 | 2024-07-19 | 北京蓝天多维科技有限公司 | 一种铁路机车行驶安全的智能监测预警方法及*** |
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JPH06178302A (ja) * | 1992-12-02 | 1994-06-24 | Mitsubishi Electric Corp | 運転者撮影装置 |
JP2008273521A (ja) * | 2008-08-18 | 2008-11-13 | Toyota Motor Corp | 移動体の自動運転装置 |
JP2009201756A (ja) * | 2008-02-28 | 2009-09-10 | Omron Corp | 情報処理装置および方法、並びに、プログラム |
JP2009296355A (ja) * | 2008-06-05 | 2009-12-17 | Toyota Motor Corp | 顔画像処理装置 |
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KR101544524B1 (ko) * | 2010-12-16 | 2015-08-17 | 한국전자통신연구원 | 차량용 증강현실 디스플레이 시스템 및 차량용 증강현실 디스플레이 방법 |
JP5782793B2 (ja) | 2011-04-08 | 2015-09-24 | 日産自動車株式会社 | 車載機器制御装置 |
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JP6222137B2 (ja) * | 2015-03-02 | 2017-11-01 | トヨタ自動車株式会社 | 車両制御装置 |
JP6354776B2 (ja) * | 2016-03-10 | 2018-07-11 | トヨタ自動車株式会社 | 車両の制御装置 |
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US10268903B2 (en) * | 2017-06-11 | 2019-04-23 | Jungo Connectivity Ltd. | Method and system for automatic calibration of an operator monitor |
-
2017
- 2017-11-07 JP JP2017214631A patent/JP6930383B2/ja active Active
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2018
- 2018-11-05 CN CN201811306881.4A patent/CN109747658A/zh active Pending
- 2018-11-05 US US16/180,099 patent/US10427690B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06178302A (ja) * | 1992-12-02 | 1994-06-24 | Mitsubishi Electric Corp | 運転者撮影装置 |
JP2009201756A (ja) * | 2008-02-28 | 2009-09-10 | Omron Corp | 情報処理装置および方法、並びに、プログラム |
JP2009296355A (ja) * | 2008-06-05 | 2009-12-17 | Toyota Motor Corp | 顔画像処理装置 |
JP2008273521A (ja) * | 2008-08-18 | 2008-11-13 | Toyota Motor Corp | 移動体の自動運転装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110261131A (zh) * | 2019-06-21 | 2019-09-20 | 北京迈格威科技有限公司 | 汽车模拟驾驶舱图像数据处理方法及装置 |
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US20190135294A1 (en) | 2019-05-09 |
US10427690B2 (en) | 2019-10-01 |
CN109747658A (zh) | 2019-05-14 |
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