JP5585894B2 - 運転者状態判定装置 - Google Patents
運転者状態判定装置 Download PDFInfo
- Publication number
- JP5585894B2 JP5585894B2 JP2011534241A JP2011534241A JP5585894B2 JP 5585894 B2 JP5585894 B2 JP 5585894B2 JP 2011534241 A JP2011534241 A JP 2011534241A JP 2011534241 A JP2011534241 A JP 2011534241A JP 5585894 B2 JP5585894 B2 JP 5585894B2
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- operation amount
- state determination
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- model
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- 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.)
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- 230000037007 arousal Effects 0.000 claims description 14
- 238000009499 grossing Methods 0.000 claims description 5
- 238000010606 normalization Methods 0.000 claims 1
- 206010041349 Somnolence Diseases 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 208000032140 Sleepiness Diseases 0.000 description 7
- 230000037321 sleepiness Effects 0.000 description 7
- 230000006399 behavior Effects 0.000 description 3
- 230000001771 impaired effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 1
- 206010062519 Poor quality sleep Diseases 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000008921 facial expression Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- 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
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
-
- 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
-
- 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
-
- 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
- B60W2040/0836—Inactivity or incapacity of driver due to alcohol
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0029—Mathematical model of the 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
- 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
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Emergency Management (AREA)
- Automation & Control Theory (AREA)
- Business, Economics & Management (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Emergency Alarm Devices (AREA)
Description
M2 運転者モデル同定手段
M3 運転者モデル操作量取得手段
M4 運転者状態判定手段
Sa ビデオカメラ(センサ)
Sb ヨーレートセンサ(実動作量取得手段)
Sc 操舵角センサ(実操作量取得手段)
15 バンドパスフィルタ(フィルタ手段)
T:時間応答
そして、
[操作量(実操舵角)]=[K/(1+Ts)]×[車両運動(方位角偏差)]
の関係があることから、運転者モデルである一次微分方程式[K/(1+Ts)]は、
[K/(1+Ts)]=[操作量(実操舵角)]/[車両運動(方位角偏差)]
で与えられる。ここで右辺の[操作量(実操舵角)]は操舵角センサScが出力する実操舵角であり、かつ右辺の[車両運動(方位角偏差)]は操作目標値取得手段M1が出力する目標方位角と、ヨーレートセンサSbの出力から算出する実方位角とから算出可能であり、何れも測定可能であることから、運転者モデルの同定が可能となる。
[操作量(実操舵角)]=[K/(1+Ts)]×[車両運動(方位角偏差)]
において、右辺の[K/(1+Ts)]が運転者モデル同定手段M2において予め同定されていることから、右辺の[車両運動(方位角偏差)]に減算手段13が出力する方位角偏差に対して、周波数領域が1〜10rad/secのバンドパスフィルタ15を通した値を代入することで、左辺の[操作量(実操舵角)]に対応する値、つまり運転者モデル操作量である運転者モデル操舵角が算出される。
図3は、車両を時速60km/hで直線路を走行させながら得た「正規化残差」および眠気の指標を時系列で示すものである。眠気の指標は、運転者の表情を観察者が観察して判定したものであり、1:「全く眠くなさそう」、2:「やや眠そう」、3:「眠そう」、4:「かなり眠そう」、5「非常に眠そう」の5段階に分かれている。
Claims (7)
- 車両に搭載されたセンサ(Sa)の出力に基づいて運転者の操作目標値を求める操作目標値取得手段(M1)と、
車両の実動作量を求める実動作量取得手段(Sb)と、
運転者の実操作量を求める実操作量取得手段(Sc)と、
操作目標値と実動作量との差を運転者の入力とし、実操作量を運転者の出力として、運転者の入出力関係を示す運転者モデルを同定する運転者モデル同定手段(M2)と、
前記運転者モデル同定手段(M2)により同定された運転者モデルに対し、現在の操作目標値と実動作量との差を入力することで運転者モデル操作量を取得する運転者モデル操作量取得手段(M3)と、
前記実操作量取得手段(Sc)により求めた現在の実操作量と前記運転者モデル操作量取得手段(M3)により求めた運転者モデル操作量との差を残差として算出し、前記残差に基づいて運転者状態を判定する運転者状態判定手段(M4)と、
を備えることを特徴とする運転者状態判定装置。 - 前記運転者状態判定手段(M4)は、平滑化残差/定常ゲイン2 により正規化残差を算出し、前記正規化残差に基づいて運転者状態を判定することを特徴とする、請求項1に記載の運転者状態判定装置。
- 前記運転者状態判定手段(M4)は、周波数が10rad/secとなる定常ゲインの値に基づいて前記正規化残差を算出することを特徴とする、請求項2に記載の運転者状態判定装置。
- 前記運転者状態判定手段(M4)は、前記正規化残差が判定閾値以上の場合に運転者が低覚醒状態にあると判定することを特徴とする、請求項2または請求項3に記載の運転者状態判定装置。
- 前記運転者モデル同定手段(M2)は、一次微分方程式により運転者モデルを同定することを特徴とする、請求項1〜請求項4の何れか1項に記載の運転者状態判定装置。
- 前記運転者モデルに入力される信号の周波数領域を制限するフィルタ手段(15)を備えることを特徴とする、請求項1〜請求項5の何れか1項に記載の運転者状態判定装置。
- 前記フィルタ手段(15)は前記運転者モデルに入力される信号の周波数領域を1rad/secから10rad/secに制限することを特徴とする、請求項6に記載の運転者状態判定装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011534241A JP5585894B2 (ja) | 2009-09-30 | 2010-09-28 | 運転者状態判定装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009228006 | 2009-09-30 | ||
JP2009228006 | 2009-09-30 | ||
PCT/JP2010/066775 WO2011040390A1 (ja) | 2009-09-30 | 2010-09-28 | 運転者状態判定装置 |
JP2011534241A JP5585894B2 (ja) | 2009-09-30 | 2010-09-28 | 運転者状態判定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2011040390A1 JPWO2011040390A1 (ja) | 2013-02-28 |
JP5585894B2 true JP5585894B2 (ja) | 2014-09-10 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2011534241A Expired - Fee Related JP5585894B2 (ja) | 2009-09-30 | 2010-09-28 | 運転者状態判定装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8489253B2 (ja) |
EP (1) | EP2472493B1 (ja) |
JP (1) | JP5585894B2 (ja) |
CN (1) | CN102696061B (ja) |
BR (1) | BR112012006077A2 (ja) |
WO (1) | WO2011040390A1 (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI478691B (zh) * | 2012-01-06 | 2015-04-01 | Wistron Corp | 睡意偵測方法及其裝置 |
US9658243B2 (en) | 2012-11-16 | 2017-05-23 | Honda Motor Co., Ltd. | System for alarming a driver using a driver state estimation device |
JP5688810B2 (ja) * | 2012-11-16 | 2015-03-25 | 本田技研工業株式会社 | 運転者状態推定装置 |
US9153116B2 (en) * | 2013-09-09 | 2015-10-06 | International Business Machines Corporation | Real-time vehicle driver performance monitoring |
EP2862741B1 (en) * | 2013-10-15 | 2017-06-28 | Volvo Car Corporation | Vehicle driver assist arrangement |
FR3017356B1 (fr) * | 2014-02-07 | 2017-06-09 | Renault Sas | Procede d'evaluation de la vigilance d'un conducteur de vehicule |
JP2016150589A (ja) | 2015-02-16 | 2016-08-22 | 本田技研工業株式会社 | ドライバ状態判定装置 |
FR3032919B1 (fr) * | 2015-02-19 | 2017-02-10 | Renault Sa | Procede et dispositif de detection d'un changement de comportement de conducteur d'un vehicule automobile |
US10768591B2 (en) * | 2015-09-03 | 2020-09-08 | Mitsubishi Electric Corporation | Behavior identification device, air conditioner, and robot control device |
FR3049106B1 (fr) * | 2016-03-16 | 2018-04-13 | Peugeot Citroen Automobiles Sa | Dispositif de surveillance du conducteur d’un vehicule |
CN106184222B (zh) * | 2016-09-12 | 2019-08-13 | 深圳市尚摄科技有限公司 | 一种酒驾的监测方法及装置 |
DE102021202334A1 (de) * | 2021-03-10 | 2022-09-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Filterung von betriebsszenarien im betrieb eines fahrzeugs |
DE102021202332A1 (de) * | 2021-03-10 | 2022-09-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Identifizierung von corner cases von betriebsszenarien |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH03186713A (ja) * | 1989-12-18 | 1991-08-14 | Toyota Motor Corp | 異常運転検出装置 |
JP2009018765A (ja) * | 2007-07-13 | 2009-01-29 | Osaka Prefecture Univ | ドライバ特性検出装置 |
JP2009073462A (ja) * | 2007-08-28 | 2009-04-09 | Toyota Central R&D Labs Inc | 運転状態判定装置及び運転支援装置 |
JP2009157606A (ja) * | 2007-12-26 | 2009-07-16 | Toyota Central R&D Labs Inc | ドライバ状態推定装置及びプログラム |
Family Cites Families (13)
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-
2010
- 2010-09-28 WO PCT/JP2010/066775 patent/WO2011040390A1/ja active Application Filing
- 2010-09-28 CN CN201080040822.2A patent/CN102696061B/zh active Active
- 2010-09-28 US US13/394,891 patent/US8489253B2/en active Active
- 2010-09-28 EP EP10820505.5A patent/EP2472493B1/en not_active Not-in-force
- 2010-09-28 JP JP2011534241A patent/JP5585894B2/ja not_active Expired - Fee Related
- 2010-09-28 BR BR112012006077-5A patent/BR112012006077A2/pt not_active Application Discontinuation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03186713A (ja) * | 1989-12-18 | 1991-08-14 | Toyota Motor Corp | 異常運転検出装置 |
JP2009018765A (ja) * | 2007-07-13 | 2009-01-29 | Osaka Prefecture Univ | ドライバ特性検出装置 |
JP2009073462A (ja) * | 2007-08-28 | 2009-04-09 | Toyota Central R&D Labs Inc | 運転状態判定装置及び運転支援装置 |
JP2009157606A (ja) * | 2007-12-26 | 2009-07-16 | Toyota Central R&D Labs Inc | ドライバ状態推定装置及びプログラム |
Also Published As
Publication number | Publication date |
---|---|
JPWO2011040390A1 (ja) | 2013-02-28 |
EP2472493A1 (en) | 2012-07-04 |
US20120221171A1 (en) | 2012-08-30 |
US8489253B2 (en) | 2013-07-16 |
CN102696061B (zh) | 2015-01-07 |
CN102696061A (zh) | 2012-09-26 |
EP2472493B1 (en) | 2016-09-07 |
EP2472493A4 (en) | 2013-06-26 |
WO2011040390A1 (ja) | 2011-04-07 |
BR112012006077A2 (pt) | 2020-08-11 |
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