JP7212607B2 - 車両can bus信号を利用した機械学習基盤運転者異常感知方法および装置 - Google Patents
車両can bus信号を利用した機械学習基盤運転者異常感知方法および装置 Download PDFInfo
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Description
1010 プロセッサ
1020 メモリ
1030 送受信装置
1040 入力インタフェース装置
1050 出力インタフェース装置
1060 保存装置
1100 カンバス信号
1200 オートエンコーダ部
Claims (12)
- 車両の電子制御装置と通信するカンバスネットワークに基づいて運転者の異常を感知する方法において、
前記カンバスネットワークから車両の運行と関連したカンバス信号を獲得する段階;
前記カンバス信号から感知ベクターを抽出する抽出段階;および
前記感知ベクターに基づいて運転者の異常を感知する異常感知段階を含み、
前記カンバス信号は、車線を変える方法や曲線路での操向装置の作動方法や前方車両との距離による加速制御装置と制動装置の作動方法を含む運転者の運転習慣によるシークエンス(Sequence)内のそれぞれの信号を含み、
前記抽出段階は、オートエンコーダに入力される信号と前記オートエンコーダから出力される信号との間の平均自乗誤差値(MSE)を算出し、前記MSEをベクター化して感知ベクターを抽出する段階を含み、
前記異常感知段階は、一定時間の間変則点数を抽出して運転者の異常を感知する段階を含み、前記変則点数は、前記感知ベクターと単一クラスサポートベクターマシン(OC-SVM)の判定境界面までの距離として定義されており、前記判定境界面は、N次元特徴空間における超平面(Hyperplane)であり、前記OC-SVMにおけるサポートベクターで構成されており、
前記感知ベクターは前記超平面によりクラス分類される、運転者異常感知方法。 - 前記オートエンコーダは、前記入力される信号が入力される複数のエンコーダ(Encoder)と前記出力される信号を出力する複数のデコーダ(Decoder)とを含む、請求項1に記載の運転者異常感知方法。
- 前記平均自乗誤差値(MSE)は、
前記オートエンコーダを構成する媒介変数を調整して最小化される、請求項2に記載の運転者異常感知方法。 - 運転者の運転が正常であることを表す感知ベクターのすべてが、前記N次元特徴空間において、前記単一クラスサポートベクターマシンの判定境界面により分けられる領域のうちの1つに存在するように、前記OC-SVMのパラメータは設定されている、請求項1に記載の運転者異常感知方法。
- 一定時間の間変則点数を抽出して運転者の異常を感知する段階は、
前記一定時間の間前記変則点数が運転者の異常と関連した第1臨界値を超過する回数に基づいて運転者の異常を感知する段階を含む、請求項4に記載の運転者異常感知方法。 - 一定時間の間変則点数を抽出して運転者の異常を感知する段階は、
前記一定時間の間運転者の異常と関連した第2臨界値を超過する変則点数の時間による変化量を測定して運転者の異常を感知する段階を含む、請求項4に記載の運転者異常感知方法。 - 車両の電子制御装置と通信するカンバスネットワークに基づいて運転者の異常を感知する装置において、
プロセッサ;および
前記プロセッサを通じて実行される少なくとも一つの命令を保存するメモリを含み、
前記少なくとも一つの命令は、
前記カンバスネットワークから車両の運行と関連したカンバス信号を獲得するようにする命令;
前記カンバス信号から感知ベクターを抽出するようにする抽出命令;および
前記感知ベクターに基づいて運転者の異常を感知するようにする異常感知命令を含み、
前記カンバス信号は、車線を変える方法や曲線路での操向装置の作動方法や前方車両との距離による加速制御装置と制動装置の作動方法を含む運転者の運転習慣によるシークエンス(Sequence)内のそれぞれの信号を含み、
前記抽出命令は、オートエンコーダに入力される信号と前記オートエンコーダから出力される信号との間の平均自乗誤差値(MSE)を算出し、前記MSEをベクター化して感知ベクターを抽出することを含み、
前記異常感知命令は、一定時間の間変則点数を抽出して運転者の異常を感知するようにする命令を含み、前記変則点数は、前記感知ベクターと単一クラスサポートベクターマシン(OC-SVM)の判定境界面までの距離として定義されており、前記判定境界面は、N次元特徴空間における超平面(Hyperplane)であり、前記OC-SVMにおけるサポートベクターで構成されており、
前記感知ベクターは前記超平面によりクラス分類される、運転者異常感知装置。 - 前記オートエンコーダは、前記入力される信号が入力される複数のエンコーダ(Encoder)と前記出力される信号を出力する複数のデコーダ(Decoder)とを含む、請求項7に記載の運転者異常感知装置。
- 前記平均自乗誤差値(MSE)は、
前記オートエンコーダを構成する媒介変数を調整して最小化される、請求項8に記載の運転者異常感知装置。 - 運転者の運転が正常であることを表す感知ベクターのすべてが、前記N次元特徴空間において、前記単一クラスサポートベクターマシンの判定境界面により分けられる領域のうちの1つに存在するように、前記OC-SVMのパラメータは設定されている、請求項7に記載の運転者異常感知装置。
- 一定時間の間変則点数を抽出して運転者の異常を感知するようにする命令は、
前記一定時間の間前記変則点数が運転者の異常と関連した第1臨界値を超過する回数に基づいて運転者の異常を感知するようにする命令を含む、請求項10に記載の運転者異常感知装置。 - 一定時間の間変則点数を抽出して運転者の異常を感知するようにする命令は、
前記一定時間の間運転者の異常と関連した第2臨界値を超過する変則点数の時間による変化量を測定して運転者の異常を感知するようにする命令を含む、請求項10に記載の運転者異常感知装置。
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