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WO2018163491A1 - Dispositif, procédé et programme de surveillance de véhicule à conduite automatique - Google Patents

Dispositif, procédé et programme de surveillance de véhicule à conduite automatique Download PDF

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Publication number
WO2018163491A1
WO2018163491A1 PCT/JP2017/036704 JP2017036704W WO2018163491A1 WO 2018163491 A1 WO2018163491 A1 WO 2018163491A1 JP 2017036704 W JP2017036704 W JP 2017036704W WO 2018163491 A1 WO2018163491 A1 WO 2018163491A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
driver
driving vehicle
automatic driving
Prior art date
Application number
PCT/JP2017/036704
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English (en)
Japanese (ja)
Inventor
円香 渡部
啓 菅原
光司 滝沢
岡地　一喜
充恵 鵜野
Original Assignee
オムロン株式会社
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
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Application filed by オムロン株式会社 filed Critical オムロン株式会社
Publication of WO2018163491A1 publication Critical patent/WO2018163491A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Definitions

  • the present invention relates to an automatic driving vehicle monitoring apparatus, method and program for monitoring an autonomous driving vehicle existing around the vehicle.
  • the automatic driving mode includes, for example, navigation system information using GPS (Global Positioning System), traffic information acquired by road-to-vehicle communication, and information on a surrounding monitoring system that monitors the position and movement of surrounding people and vehicles.
  • GPS Global Positioning System
  • the vehicle can be automatically driven by controlling a power unit, a steering device, a brake, and the like (see, for example, JP-A-2015-141053).
  • an automatic driving control device that enables automatic driving of a vehicle
  • traveling information of a vehicle that is actually traveling in an automatic driving mode improves or improves the automatic driving control device. It is valuable information for doing and correcting.
  • information on how an autonomous driving vehicle looks to the drivers of other vehicles around it and how it feels to the drivers of other vehicles also develops an automated driving control device. For example, it is valuable information for the development of its control algorithm.
  • the present invention has been made in consideration of such a current situation, and provides a new automatic driving vehicle monitoring apparatus for monitoring an automatic driving vehicle existing around the vehicle.
  • a first aspect of the present invention is an automatic driving vehicle monitoring device that monitors an autonomous driving vehicle that exists in the vicinity of the vehicle, based on the driver monitoring information of the driver monitoring sensor, A driver state information acquisition unit that acquires state information related to a driver's state; information on surrounding vehicles existing around the vehicle; and information on whether or not the surrounding vehicle is an autonomous driving vehicle.
  • An automatic driving vehicle information acquisition unit that acquires vehicle information related to the driving vehicle, and detects the driver's crisis feeling based on the state information, and the driver's crisis based on the state information and the vehicle information
  • a crisis emotion determination unit that determines whether or not the cause of emotion is the surrounding vehicle, and the cause of the driver's crisis emotion is determined to be the surrounding vehicle, and the surrounding vehicle is the autonomous driving vehicle.
  • a transmission information output unit for generating transmission information for instructing transmission of situation information including the vehicle information regarding the autonomous driving vehicle and crisis emotion information regarding the driver's crisis emotion, and outputting the transmission information to a transmission device; Prepare.
  • An automatic driving vehicle monitoring apparatus relates to the automatic driving vehicle monitoring apparatus according to the first aspect, wherein the state information includes line-of-sight direction information indicating the direction of the driver's line of sight, and
  • the driving vehicle information acquisition unit acquires vehicle position information representing the position of the surrounding vehicle based on the outside monitoring information obtained by the outside monitoring sensor, and the crisis emotion determination unit detects the driver's crisis emotion. It is determined whether or not the cause of the driver's crisis feeling is the surrounding vehicle based on the gaze direction information and the vehicle position information.
  • An automatic driving vehicle monitoring device relates to the automatic driving vehicle monitoring device according to the first aspect, wherein the automatic driving vehicle information acquisition unit is based on out-of-vehicle monitoring information obtained by an out-of-vehicle monitoring sensor. Information on whether or not the surrounding vehicle is the autonomous driving vehicle is acquired.
  • An automatic driving vehicle monitoring apparatus relates to the automatic driving vehicle monitoring apparatus according to the first aspect, and inquires whether or not the surrounding vehicle is the automatic driving vehicle. Outputs transmission information for instructing transmission of information on the surrounding vehicle to the service providing server, and the automatic driving vehicle information acquisition unit determines whether the surrounding vehicle is the automatic driving vehicle or not. Information is acquired from the service providing server.
  • An automatic driving vehicle monitoring apparatus relates to the automatic driving vehicle monitoring apparatus according to any one of the first to fifth aspects, wherein the transmission information output unit is configured to transmit the vehicle to a service providing server. Transmission information for instructing transmission of the situation information including information and the crisis emotion information is output to the transmission device.
  • the automatic driving vehicle monitoring device detects a driver's crisis emotion, and when the cause of the crisis emotion is an automatic driving vehicle, vehicle information on the autonomous driving vehicle and the driver's crisis. Transmission information including crisis emotion information related to emotion is generated and output to the transmission device. Thereby, the information regarding the relationship between the vehicle information regarding the autonomous driving vehicle and the crisis emotion information regarding the driver's crisis emotion is provided.
  • the automatic driving vehicle monitoring device is based on the driver's gaze direction information when the driver's crisis feeling is detected and the vehicle position information of the surrounding vehicles. It is determined whether or not the cause of the crisis emotion is a surrounding vehicle. Thereby, it is clearly specified that the surrounding vehicle has caused the driver to feel a crisis.
  • the automatic driving vehicle monitoring device acquires information on whether or not the surrounding vehicle is an automatic driving vehicle based on the outside monitoring information obtained by the outside monitoring sensor. Since the self-driving vehicle monitoring device itself has a function of determining whether or not the surrounding vehicle is an autonomous driving vehicle, whether the surrounding vehicle is an autonomous driving vehicle without depending on external devices or information sources. It can be determined whether or not.
  • the automatic driving vehicle monitoring apparatus acquires information on whether or not the surrounding vehicle is an automatic driving vehicle from the service providing server. For this reason, since the automatic driving vehicle monitoring device does not require a function of determining whether or not the surrounding vehicle is an automatic driving vehicle, the functional configuration is simplified.
  • the vehicle information related to the autonomous driving vehicle and the crisis emotion information related to the driver's crisis emotion are transmitted to the service providing server.
  • the vehicle information regarding the autonomous driving vehicle and the crisis emotion information regarding the driver's crisis emotion are provided, for example, to related companies of the automatic driving control device of the autonomous driving vehicle.
  • the affiliated company of the automatic driving control device can obtain valuable information during the actual automatic driving of the autonomous driving vehicle.
  • FIG. 1 is a diagram showing an overall configuration of an automatic driving control system including a driving support device including an automatic driving vehicle monitoring device according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a functional configuration of the autonomous driving vehicle monitoring apparatus according to the embodiment of the present invention.
  • FIG. 3 is a flowchart showing the procedure and control contents of automatic driving vehicle monitoring by the automatic driving vehicle monitoring apparatus shown in FIG.
  • FIG. 4 is a diagram schematically illustrating a state in which the situation information transmitted from the vehicle is provided to the related company of the automatic driving control apparatus via the service providing server.
  • FIG. 1 is a diagram showing an overall configuration of an automatic driving control system according to an embodiment of the present invention.
  • This automatic driving control system is mounted on a vehicle 1 such as a passenger car.
  • the vehicle 1 includes, as basic equipment, a power unit 2 including a power source and a transmission, and a steering device 3 equipped with a steering wheel 3a.
  • a power unit 2 including a power source and a transmission
  • a steering device 3 equipped with a steering wheel 3a.
  • An engine and / or a motor is used as the power source.
  • the vehicle 1 is configured to be able to travel in either the manual operation mode or the automatic operation mode.
  • the manual driving mode is a mode in which the vehicle 1 is driven mainly by a driver's manual driving operation, for example.
  • the manual operation mode includes, for example, an operation mode for driving the vehicle based only on the driver's driving operation, and an operation mode for performing driving operation support control for supporting the driving operation of the driver while mainly driving the driver's driving operation. Is included.
  • the driving operation support control assists the steering torque so that the driver's steering becomes an appropriate steering amount based on the curvature of the curve when the vehicle 1 is traveling on the curve, for example.
  • the driving operation support control includes control for assisting a driver's accelerator operation (for example, operation of an accelerator pedal) or brake operation (for example, operation of a brake pedal), manual steering (manual operation of steering), and manual speed adjustment (speed). Adjustment manual operation) is also included.
  • a driver's accelerator operation for example, operation of an accelerator pedal
  • brake operation for example, operation of a brake pedal
  • manual steering manual operation of steering
  • speed manual speed adjustment
  • Adjustment manual operation is also included.
  • manual steering the vehicle 1 is steered mainly by the driver's operation of the steering wheel 3a.
  • the manual speed adjustment the speed of the vehicle is adjusted mainly by the driver's accelerator operation or brake operation.
  • the driving operation support control does not include control for forcibly intervening in the driving operation of the driver and automatically driving the vehicle.
  • the driving operation of the driver is reflected in the driving of the vehicle within a preset allowable range, but forcibly intervenes in the driving of the vehicle under certain conditions (for example, deviation from the lane of the vehicle). Control to do is not included.
  • the automatic operation mode is a mode that realizes an operation state in which the vehicle automatically travels along the road on which the vehicle travels, for example.
  • the automatic driving mode includes, for example, a driving state in which the vehicle automatically travels toward a preset destination without driving by the driver.
  • the automatic driving mode it is not always necessary to automatically control all of the vehicle, and the driving state in which the driving operation of the driver is reflected in the driving of the vehicle within the preset allowable range is also included in the automatic driving mode. That is, the automatic driving mode includes control for forcibly intervening in driving of the vehicle under certain conditions, while reflecting the driving operation of the driver in driving of the vehicle within a preset allowable range.
  • the vehicle 1 is also provided with an automatic driving control device 5 for executing driving control in the automatic driving mode.
  • the automatic driving control device 5 acquires sensing information from the steering sensor 11, the accelerator pedal sensor 12, the brake pedal sensor 13, the GPS receiver 14, the gyro sensor 15, and the vehicle speed sensor 16, respectively.
  • the automatic driving control device 5 is a peripheral monitoring system that monitors these sensing information, route information generated by a navigation system (not shown), traffic information acquired by road-to-vehicle communication, and positions and movements of surrounding people and vehicles.
  • the vehicle 1 is automatically controlled based on the information obtained by the above.
  • Automatic control includes, for example, automatic steering (automatic steering operation) and automatic speed adjustment (automatic driving of speed).
  • Automatic steering is an operating state in which the steering device 3 is automatically controlled.
  • Automatic steering includes LKA (Lane Keeping Assist).
  • LKA Li Keeping Assist
  • the LKA automatically controls the steering device 3 so that the vehicle 1 does not deviate from the traveling lane even when the driver does not perform the steering operation.
  • the driver's steering operation may be reflected in the steering of the vehicle in a range where the vehicle 1 does not deviate from the travel lane (allowable range).
  • automatic steering is not limited to LKA.
  • Automatic speed adjustment is an operating state in which the speed of the vehicle 1 is automatically controlled.
  • Automatic speed adjustment includes ACC (Adaptive Cruise Control). For example, when there is no preceding vehicle ahead of the vehicle 1, ACC performs constant speed control that causes the vehicle 1 to travel at a constant speed at a preset speed, and when the preceding vehicle exists ahead of the vehicle 1. Is a follow-up control that adjusts the vehicle speed of the vehicle 1 in accordance with the inter-vehicle distance from the preceding vehicle.
  • the automatic operation control device 5 decelerates the vehicle 1 according to the driver's brake operation (for example, operation of the brake pedal) even when ACC is being executed.
  • the automatic operation control device 5 can perform the driver's accelerator operation (for example, accelerator) up to a preset maximum allowable speed (for example, the maximum speed legally determined on the traveling road) even during execution of ACC.
  • the vehicle can be accelerated according to the pedal operation.
  • the automatic speed adjustment is not limited to ACC but also includes CC (Cruise Control).
  • the vehicle 1 is also provided with a driving support device 6.
  • the driving support device 6 may have various functions.
  • the driving support device 6 operates in cooperation with a driver monitoring function and a notification device that constitutes a driver monitoring system that monitors the driver and grasps the state of the driver in cooperation with the driver monitoring sensor.
  • a warning output function that constitutes a warning output system that issues a warning according to the state of the driver, a driving mode switching control function that constitutes a driving mode switching control system that controls switching of the driving mode according to the driver's state, an outside sensor, and According to the driver's state in cooperation with the visual assistance function, the biological information sensor, and the stimulus output device that constitute the visual assistance system that cooperates with the notification device to assist the driver's visual recognition based on the driver's state.
  • Information related to an autonomous driving vehicle by monitoring an autonomous driving vehicle in the vicinity of the vehicle 1 in cooperation with an awakening support function, an outside sensor, and a transmission device that constitute an awakening support system that promotes awakening of the driver. It may have such transmission automatically driven vehicle monitoring functions.
  • the driver's condition is, for example, whether the driver is concentrating on driving, whether the driver is looking aside, whether the driver is drowsy, Whether the driver is in a panic, whether the driver is asleep, and if the driver is in automatic driving, is the driver ready to return to manual driving? And so on.
  • the driver's state also includes changes in the driver's state that appear within a short period of time, in other words, the driver's movement. That is, the state of the driver may be, for example, the movement of the driver's line of sight. The movement of the driver's line of sight can be grasped by, for example, the direction of the driver's line of sight and the residence time of the driver's line of sight in that direction.
  • the driver's condition is grasped as follows. First, a driver monitoring image is acquired by the driver monitoring sensor. Next, the driver's eye opening degree, blinking frequency, eye movement, and the like are analyzed based on the acquired monitoring video. Subsequently, the direction of the driver's line of sight and the staying time, the driver's arousal level, and the like are recognized based on the analysis result. Further, the state of the driver is specified by comparing the direction of the driver's line of sight and the staying time, the driver's arousal level, and the like with a preset threshold value.
  • the driving support device 6 includes at least a driver monitoring unit 6a that performs a driver monitoring function and an automatic driving vehicle monitoring unit 6b that performs an automatic driving vehicle monitoring function.
  • the driver monitoring unit 6a constitutes a driver monitoring system 8 in cooperation with a driver camera 7 as a driver monitoring sensor.
  • the autonomous driving vehicle monitoring unit 6b constitutes the vehicle outside monitoring system 10 in cooperation with the vehicle outside camera 9A as a vehicle outside monitoring sensor.
  • the vehicle outside monitoring system 10 includes a transmission device 9B, and cooperates with the driver monitoring system 8 to monitor an automatically driving vehicle existing around the vehicle 1 and relates to the automatic driving of the automatically driving vehicle.
  • An autonomous driving vehicle monitoring system that acquires and transmits information is configured.
  • the driver monitoring unit 6a and the autonomous driving vehicle monitoring unit 6b constitute an autonomous driving vehicle monitoring device 6A.
  • the driving support device 6 includes the automatic driving vehicle monitoring device 6A.
  • the driver's state grasped by the driver monitoring unit 6a includes at least a biological reaction caused by the driver's emotion and the direction of the driver's line of sight. That is, the driver monitoring unit 6a acquires information related to the direction of the driver's line of sight.
  • the driver camera 7 is installed at a position in front of the driver, such as on a dashboard, for example, images the driver driving the vehicle 1, and displays driver monitoring video information that is a type of driver monitoring information. Output to the automatic driving vehicle monitoring device 6A.
  • the outside camera 9A images a predetermined range, for example, in front of the vehicle 1, and outputs the image information to the autonomous driving vehicle monitoring device 6A as outside monitoring information.
  • the transmission device 9B transmits the crisis emotion information related to the driver's crisis emotion and the vehicle information related to the automatic driving vehicle that caused the transmission according to the transmission information output from the automatic driving vehicle monitoring device 6A.
  • FIG. 2 is a block diagram showing a functional configuration of the automatic driving vehicle monitoring device 6A.
  • the automatic driving vehicle monitoring device 6A is a device that cooperates with the outside camera 9A and the transmission device 9B to monitor an automatic driving vehicle existing around the vehicle, and is configured as follows.
  • the automatic driving vehicle monitoring device 6A includes a control unit 61, an input / output interface unit 62, and a storage unit 63.
  • the input / output interface unit 62 converts the input analog signal into digital data and outputs the digital data to the control unit 61, and converts the digital data output from the control unit 61 into an analog signal and outputs the analog signal. Specifically, the input / output interface unit 62 converts the driver monitoring video signal input from the driver camera 7 into driver monitoring video data and outputs the driver monitoring video data to the control unit 61. The input / output interface unit 62 also converts the outside monitoring video signal input from the outside camera 9 ⁇ / b> A into outside monitoring video data and outputs it to the control unit 61. The input / output interface unit 62 further converts the transmission data output from the control unit 61 into a transmission signal and outputs the transmission signal to the transmission device 9B.
  • the storage unit 63 uses, as a storage medium, a non-volatile memory that can be written and read at any time, such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive).
  • the storage unit 63 includes a driver monitoring video storage unit 631, a driver state information storage unit 632, an out-of-vehicle monitoring video storage unit 633, and an autonomous driving vehicle information storage as storage areas used for carrying out this embodiment.
  • the storage unit 63 is not limited to a nonvolatile memory, and may be a volatile memory such as a RAM.
  • the emotion information storage unit 635 stores emotion information representing the correspondence between human emotions and biological reactions in advance as a table, for example.
  • the emotion information is not limited to this.
  • the emotion information may be a facial expression database having a correspondence relationship between human emotions and facial expressions.
  • the control unit 61 has a CPU (Central Processing Unit) and a program memory constituting the computer.
  • the control unit 61 includes a driver monitoring video acquisition unit 611, a driver state information acquisition unit 612, an out-of-vehicle monitoring video acquisition unit 613, and automatic driving vehicle information acquisition as control functions necessary for carrying out this embodiment.
  • the driver monitoring video acquisition unit 611 takes in the driver monitoring video information output from the driver camera 7 via the input / output interface unit 62, and uses the captured driver monitoring video information as the driver monitoring in the storage unit 63. It is stored in the video storage unit 631.
  • the driver state information acquisition unit 612 reads the driver monitoring video information from the driver monitoring video storage unit 631 at a preset time interval, and each time, a state related to the driver state based on the driver monitoring video information Get information.
  • the state information is not limited to this, but in this embodiment, the state information includes at least facial expression information representing the facial expression of the driver and gaze direction information representing the driver's gaze direction.
  • the driver state information acquisition unit 612 stores the acquired state information in the driver state information storage unit 632 of the storage unit 63.
  • the out-of-vehicle monitoring video acquisition unit 613 captures the out-of-vehicle monitoring video information output from the out-of-vehicle camera 9A via the input / output interface unit 62, and stores the captured out-of-vehicle monitoring video information in the out-of-vehicle monitoring video storage unit 633 of the storage unit 63.
  • the out-of-vehicle monitoring video acquisition unit 613 captures the out-of-vehicle monitoring video information output from the out-of-vehicle camera 9A via the input / output interface unit 62, and stores the captured out-of-vehicle monitoring video information in the out-of-vehicle monitoring video storage unit 633 of the storage unit 63.
  • the automatic driving vehicle information acquisition unit 614 reads out-of-vehicle monitoring video information from the out-of-vehicle monitoring video storage unit 633 at a preset time interval, and each time a surrounding vehicle exists around the vehicle 1 based on the out-of-vehicle monitoring video information.
  • the automatic driving vehicle is detected by performing a process for detecting the vehicle and a process for determining whether or not the detected surrounding vehicle is an automatic driving vehicle.
  • the autonomous driving vehicle means a vehicle running in the automatic driving mode.
  • the detection of the automatic driving vehicle includes determination of whether or not the vehicle exists within the photographing range of the outside camera 9A and determination of whether or not the vehicle is an automatic driving vehicle.
  • the automatic driving vehicle information acquisition unit 614 acquires vehicle information related to the automatic driving vehicle, including information on surrounding vehicles existing around the vehicle 1 and information on whether or not the surrounding vehicle is an automatic driving vehicle. .
  • the automatic driving vehicle information acquisition unit 614 also performs a process of monitoring the automatic driving vehicle based on the outside monitoring video information when the automatic driving vehicle is detected.
  • the process of monitoring the autonomous driving vehicle includes a process of detecting the position of the autonomous driving vehicle.
  • the detection and monitoring of the autonomous driving vehicle is performed using, for example, an image processing technique or a pattern recognition technique.
  • an autonomous driving vehicle is not obligatory, it generally displays that it is traveling in an automatic driving mode. Such display is not limited to this, but is performed, for example, by turning on an automatic operation indicator lamp.
  • the automatic driving vehicle information acquisition unit 614 performs processing for detecting an automatic driving vehicle by determining the presence / absence of such a display on the basis of the outside monitoring video information read from the outside monitoring video storage unit 633.
  • the automatic driving vehicle transmits information indicating that the vehicle is traveling in the automatic driving mode, and the automatic driving vehicle information acquisition unit 614 detects the information through inter-vehicle communication, network communication, etc. You may perform the process which detects a vehicle.
  • the automatic driving vehicle information acquisition unit 614 stores vehicle information related to the automatic driving vehicle in the automatic driving vehicle information storage unit 634 of the storage unit 63.
  • the vehicle information related to the autonomous driving vehicle includes, for example, information related to an automobile registration number mark so-called license plate and vehicle position information of the autonomous driving vehicle when the driver's crisis feeling is detected.
  • the crisis emotion determination unit 615 reads the facial expression information and emotion information from the driver state information storage unit 632 and the emotion information storage unit 635 at predetermined time intervals, and each time, based on the facial expression information and emotion information. The driver's crisis feelings are detected. The crisis emotion determination unit 615 also reads gaze direction information and vehicle position information from the driver state information storage unit 632 and the autonomous driving vehicle information storage unit 634, respectively, when the driver's crisis emotion is detected. Based on the vehicle position information, it may be determined whether or not the cause of the driver's crisis feeling is an automatic driving vehicle. The crisis emotion determination unit 615 stores the determination result information in the situation information storage unit 636 of the storage unit 63 together with the crisis emotion information related to the driver's crisis emotion and the vehicle information related to the autonomous driving vehicle.
  • the transmission information output unit 616 reads the determination result information from the situation information storage unit 636 at a preset time interval, and the determination result information indicates that the driver has a crisis feeling and the cause of the driver's crisis feeling is When indicating that the vehicle is an automatic driving vehicle, transmission information for instructing transmission of the situation information including the vehicle information of the automatic driving vehicle and the driver's crisis emotion information is generated and output to the transmission device 9B.
  • FIG. 3 is a flowchart showing the overall control procedure and control contents of the warning device configured as described above. Hereinafter, an operation example of the warning device will be described.
  • driver monitoring system 8 starts monitoring the driver in step S1. Driver monitoring continues, for example, throughout driving.
  • the driver camera 7 When driving is started, the driver camera 7 is activated, and continuously captures a predetermined range including the driver's face and outputs the video signal. In this state, the automatic driving vehicle monitoring device 6A captures the driver monitoring video information output from the driver camera 7 under the control of the driver monitoring video acquisition unit 611, and stores the captured driver monitoring video information in the storage unit. 63 stored in the driver monitoring video storage unit 631.
  • the automatic driving vehicle monitoring device 6A grasps the state of the driver every time a predetermined time passes under the control of the driver state information acquisition unit 612. Perform grasp processing.
  • the time interval of the grasping process may be set to a short time so that the driver's state can be grasped substantially continuously.
  • the driver state information acquisition unit 612 reads the driver monitoring video information from the driver monitoring video storage unit 631 at a preset time interval. Next, every time the driver monitoring video information is read, the driver status information acquisition unit 612 acquires status information related to the driver status based on the driver monitoring video information.
  • the state information includes at least facial expression information representing the facial expression of the driver and gaze direction information representing the driver's gaze direction.
  • the driver state information acquisition unit 612 stores state information including facial expression information and gaze direction information in the driver state information storage unit 632 of the storage unit 63.
  • the monitoring system 10 outside the vehicle starts monitoring outside the vehicle in step S1 in parallel with monitoring the driver by the driver monitoring system 8.
  • the monitoring outside the vehicle is continued throughout the driving, for example, like the monitoring of the driver.
  • the outside camera 9A When driving is started, the outside camera 9A is activated, and continuously captures a predetermined range around the vehicle 1 and outputs outside monitoring video information.
  • the automatic driving vehicle monitoring device 6 ⁇ / b> A takes in from the vehicle outside monitoring video information output from the vehicle outside camera 9 ⁇ / b> A under the control of the vehicle outside monitoring video acquisition unit 613, and stores the captured vehicle outside monitoring video information in the vehicle monitoring video storage unit of the storage unit 63. It memorize
  • the automatic driving vehicle monitoring device 6A When the acquisition of the outside monitoring video information is started, the automatic driving vehicle monitoring device 6A next detects the automatic driving vehicle under the control of the automatic driving vehicle information acquisition unit 614. Therefore, the automatic driving vehicle information acquisition unit 614 reads out-of-vehicle monitoring video information from the out-of-vehicle monitoring video storage unit 633 every time a predetermined time elapses in step S2, and detects surrounding vehicles existing around the vehicle 1.
  • a process for detecting an autonomous driving vehicle is performed by performing a process and a process for determining whether or not the surrounding vehicle is an autonomous driving vehicle.
  • the autonomous driving vehicle information acquisition unit 614 acquires vehicle information related to the autonomous driving vehicle including information on surrounding vehicles existing around the vehicle 1 and information on whether or not the surrounding vehicle is an autonomous driving vehicle. To do. This process is performed using, for example, an image processing technique or a pattern recognition technique.
  • the process of step S9 for determining the end of driving is performed.
  • the process of step S3 for monitoring the autonomous driving vehicle is performed.
  • the autonomous driving vehicle is not obligatory, it generally displays that the vehicle is running in the automatic driving mode. Such display is not limited to this, but is performed, for example, by turning on an automatic operation indicator lamp.
  • the automatic driving vehicle information acquisition unit 614 performs processing for detecting an automatic driving vehicle by determining the presence / absence of such a display on the basis of the outside monitoring video information read from the outside monitoring video storage unit 633.
  • the automatic driving vehicle transmits information indicating that the vehicle is running in the automatic driving mode, and the automatic driving vehicle monitoring device 6A receives the information through inter-vehicle communication, network communication, etc. You may perform the process which detects.
  • the autonomous driving vehicle information acquisition unit 614 further performs processing of monitoring the autonomous driving vehicle in step S3.
  • the process of monitoring the autonomous driving vehicle includes, for example, a process of detecting the position of the autonomous driving vehicle. This process is performed using, for example, an image processing technique or a pattern recognition technique.
  • the automatic driving vehicle information acquisition unit 614 associates the vehicle information including the vehicle position information of the automatic driving vehicle with a time stamp indicating the timing of detecting the position of the automatic driving vehicle every time a predetermined time elapses.
  • the automatic driving vehicle information storage unit 634 stores the information.
  • the vehicle position information of the autonomous driving vehicle may be vehicle direction information indicating the direction of the autonomous driving vehicle with respect to the vehicle 1, for example, the direction in which the autonomous driving vehicle exists with respect to the position of the driver of the vehicle 1.
  • the automatic driving vehicle monitoring device 6A controls the driver state information storage unit 632 and the emotion information storage unit 635 every time a predetermined time elapses in step S4 under the control of the crisis emotion determination unit 615.
  • the facial expression information and emotion information are read from each of them, and the driver's crisis emotion is detected. This process is performed using, for example, an image processing technique or a pattern recognition technique. If the driver's crisis emotion is not detected by the crisis emotion determination unit 615, the process of step S8 for determining the end of monitoring of the autonomous driving vehicle is performed. On the other hand, when the driver's crisis emotion is detected by the crisis emotion determination unit 615, the process of step S5 is performed to determine whether or not the cause of the driver's crisis emotion is an automatic driving vehicle.
  • the emotion information storage unit 635 stores emotion information representing a correspondence relationship between a human emotion and a biological reaction caused by the emotion in advance as a table, for example.
  • the emotion information is not limited to this.
  • the emotion information may be a facial expression database having a correspondence relationship between human emotions and facial expressions.
  • the crisis emotion determination unit 615 In order to detect the driver's crisis emotion, the crisis emotion determination unit 615 first monitors the driver's facial expression, and when the driver's facial expression changes, searches for an emotion corresponding to the facial expression. Therefore, the crisis emotion determination unit 615 sequentially reads facial expression information from the emotion information storage unit 635 and compares the information with the detected facial expression information immediately after the change. This comparison process continues until the detected facial expression information of the driver immediately after the change matches the human facial information read from the emotion information storage unit 635.
  • the emotion information stored in the emotion information storage unit 635 includes a huge number of facial expression information, and there is facial expression information that matches the facial expression information of the driver. And
  • crisis emotion means an emotion when facing an unexpected event that may lead to a dangerous situation, including, but not limited to, fear, surprise, distrust, and discomfort.
  • a driver who did not get into an accident, but encountered a situation that wasn't strange even in an accident, that is, a so-called near-miss situation usually has a facial expression corresponding to such a crisis feeling such as fear or surprise. .
  • the crisis emotion determination unit 615 determines that the driver has a crisis emotion, and the driver The process of step S5 for determining whether or not the cause of the crisis emotion is an autonomous driving vehicle is performed.
  • the crisis emotion determination unit 615 does not hold the driver's crisis emotion.
  • the process of step S8 which determines with having determined the monitoring end of an autonomous driving vehicle is performed.
  • the crisis emotion determination unit 615 detects the driver's crisis emotion
  • the automatic driving vehicle monitoring device 6A controls the driver in step S5 under the control of the crisis emotion determination unit 615. It is determined whether or not the cause of the crisis emotion is an autonomous driving vehicle. For this reason, the crisis emotion determination unit 615 reads state information related to the driver's state from the driver state information storage unit 632 and also reads vehicle information related to the autonomous driving vehicle from the automatic driving vehicle information storage unit 634.
  • the driver state information includes gaze direction information indicating the direction of the driver's gaze when the driver's crisis feeling is detected.
  • the vehicle information regarding the autonomous driving vehicle includes vehicle position information of the autonomous driving vehicle when the driver's crisis feeling is detected.
  • the vehicle position information of the autonomous driving vehicle includes vehicle direction information indicating a direction with respect to the driver of the vehicle 1.
  • the crisis emotion determination unit 615 determines whether or not the cause of the driver's crisis emotion is an autonomous driving vehicle based on the driver's gaze direction information and the vehicle information of the autonomous driving vehicle. For this reason, the crisis emotion determination unit 615 compares the vehicle direction information and the line-of-sight direction information. If the two match, the crisis emotion determination unit 615 determines that the cause of the driver's crisis emotion is an autonomous driving vehicle, and the two do not match. If it is determined that the cause of the driver's crisis is not an autonomous driving vehicle. The crisis emotion determination unit 615 stores determination result information indicating whether or not the cause of the driver's crisis emotion is an automatic driving vehicle in the situation information storage unit 636 of the storage unit 63.
  • step S6 determines that the cause of the driver's crisis emotion is an automatic driving vehicle.
  • the process of step S8 for determining the end of monitoring of the automatic driving vehicle is performed.
  • the crisis emotion determination unit 615 stores the situation information representing the situation in association with the time stamp representing the timing of the driver's crisis emotion detection.
  • the situation information includes, but is not limited to, for example, crisis emotion information related to the driver's crisis emotion and vehicle information related to the autonomous driving vehicle, for example, information related to a car registration number mark, so-called license plate.
  • the vehicle information may also include vehicle position information of the autonomous driving vehicle when the driver's crisis feeling is detected.
  • the automatic driving vehicle monitoring device 6A performs a process of transmitting the situation information in step S7. For this reason, the transmission information output unit 616 reads the latest status information from the status information storage unit 636 every time a predetermined time elapses, and determines whether or not the read status information has been transmitted. This determination may be performed, for example, by storing the time stamp of the status information transmitted last time and comparing it with the time stamp of the status information read this time.
  • the transmission information output unit 616 does not perform the transmission process if the read status information has been transmitted, and on the contrary, transmits the status information if the read status information has not been transmitted. Is transmitted to the transmission device 9B.
  • the transmission device 9B transmits situation information including crisis emotion information and vehicle information based on the input transmission information.
  • FIG. 4 schematically shows a situation in which the situation information transmitted from the vehicle is provided to the related company of the autonomous driving vehicle via the service providing server.
  • the situation information is transmitted from the vehicles C dm1 to C dm4 around the autonomous driving vehicle C ad .
  • the vehicles C dm1 to C dm4 may be traveling in the manual operation mode or in the automatic operation mode.
  • the situation information transmitted from the vehicles C dm1 to C dm4 is received by the service providing server Sv that provides a service to the related company Mn of the autonomous driving vehicle.
  • the service providing server Sv develops the related situation information Mn of the automatic driving vehicle, for example, an operator that manufactures and maintains the automatic driving vehicle, an automatic driving control device of the automatic driving vehicle, and its control algorithm. Provide to manufacturers.
  • the automatic driving vehicle monitoring device 6A determines whether or not to end automatic driving vehicle monitoring in step S8 under the control of the automatic driving vehicle information acquisition unit 614. .
  • the automatic driving vehicle information acquisition unit 614 reads out of the vehicle monitoring video information from the vehicle monitoring video storage unit 633 and performs a process of detecting an autonomous driving vehicle existing around the vehicle 1.
  • step S9 for determining the driving end is performed.
  • the autonomous driving vehicle information acquisition unit 614 detects the autonomous driving vehicle, the monitoring of the autonomous driving vehicle is continued, and the process of step S4 for detecting the driver's crisis emotion is performed.
  • step S9 Determination of driving end Subsequently, the automatic driving vehicle monitoring device 6A determines whether or not the driving is ended in step S9. If it is determined that the driving has not ended, the process returns to the process of step S2 for detecting the autonomous driving vehicle existing around the vehicle 1. On the other hand, when it is determined that the driving is finished, the control of the visual assistance is finished.
  • the automatic driving vehicle monitoring device 6A detects and monitors the automatic driving vehicle existing around the vehicle 1 based on the outside monitoring information of the outside camera 9A. Get vehicle information about the driving vehicle.
  • the automatic driving vehicle monitoring device 6 ⁇ / b> A also detects a driver's crisis emotion based on driver monitoring video information that is a kind of driver monitoring information of the driver camera 7.
  • the automatic driving vehicle monitoring device 6A determines that the driver's crisis feeling is based on the driver's gaze direction information and the vehicle position information of the autonomous driving vehicle. It is determined whether it is a vehicle.
  • the transmission information for instructing transmission of the situation information including the vehicle information regarding the autonomous driving vehicle and the crisis emotion information regarding the driver's crisis emotion is generated and output to the transmission device 9B.
  • the transmission device 9B transmits vehicle information related to the autonomous driving vehicle and crisis emotion information related to the driver's crisis emotion according to the transmission information. Thereby, information relating to the relationship between the vehicle information related to the autonomous driving vehicle and the driver's crisis emotion information is provided.
  • the vehicle information of the autonomous driving vehicle and the driver's crisis emotion information are transmitted to a service providing server that provides services to the affiliated company of the autonomous driving vehicle.
  • the vehicle information of the autonomous driving vehicle and the crisis emotion information of the driver are related to the contractor of the autonomous driving vehicle, for example, the operator that manufactures and maintains the autonomous driving vehicle, the automatic driving control device of the autonomous driving vehicle, and the Provided to manufacturers developing control algorithms.
  • the affiliated company of the autonomous driving vehicle can obtain valuable information during the actual autonomous driving of the autonomous driving vehicle.
  • the automatic driving vehicle monitoring device 6A acquires information on whether or not the surrounding vehicle is an automatic driving vehicle based on driver monitoring video information that is a kind of out-of-vehicle monitoring information obtained by the out-of-vehicle monitoring sensor 7 that is an out-of-vehicle monitoring sensor. To do. As described above, since the automatic driving vehicle monitoring device 6A itself has a function of determining whether or not the surrounding vehicle is an autonomous driving vehicle, the surrounding vehicle is automatically controlled without depending on an external device or an information source. It can be determined whether or not the vehicle is a driving vehicle.
  • the driver monitoring sensor is configured by the driver camera 7 and the state of the driver is determined based on video information including the driver's face obtained by the driver camera 7 has been described as an example.
  • the driver monitoring sensor is constituted by a biosensor that acquires the biometric information of the driver instead of the driver camera 7 or in combination with the driver camera 7, and based on the biometric information obtained by the biosensor, You may make it detect a driver's crisis emotion.
  • a driver's pulse wave information or heart rate information detected by a pulse wave sensor or heart rate sensor You may make it detect a driver's crisis emotion.
  • the driver monitoring sensor is configured by a pulse wave sensor or a heart rate sensor, the processing load for detecting the driver's crisis emotion can be reduced, so that the driver's crisis emotion can be detected in a short time.
  • the driver monitoring sensor is configured by combining a pulse wave sensor or a heart rate sensor with the driver camera 7, the driver's crisis emotion can be detected more accurately.
  • the detection of the autonomous driving vehicle is performed by detecting a display indicating that the vehicle is automatically driving or by receiving information indicating that the vehicle is automatically driving. Therefore, the automatic driving vehicle monitoring device 6A has a function of determining whether or not a vehicle around the vehicle 1 is an automatic driving vehicle.
  • the present invention is not limited to this, and the automatic driving vehicle monitoring device 6A itself may detect the automatic driving vehicle as follows without having the function of determining whether or not the vehicle is an automatic driving vehicle.
  • the automatic driving vehicle monitoring device 6A registers the car of the surrounding vehicle.
  • the information of the number mark is transmitted to the transmission device 9B, the service providing server Sv is inquired whether or not the surrounding vehicle is an autonomous driving vehicle, and information that the surrounding vehicle is an autonomous driving vehicle is inquired. By acquiring from, you may detect an autonomous driving vehicle.
  • the automatic driving vehicle information acquisition unit 614 performs processing for detecting surrounding vehicles existing around the vehicle 1 by processing similar to the processing in step S2 and step S3. Regardless of whether or not the vehicle is an autonomous driving vehicle, processing for monitoring surrounding vehicles is performed. Further, the crisis emotion determination unit 615 detects the driver's crisis emotion by the process of step S4, and determines that the cause of the driver's crisis emotion is the surrounding vehicle by the process similar to the process of step S5. If it is, the autonomous driving vehicle monitoring device 6A inquires of the service providing server Sv whether or not the surrounding vehicle is an autonomous driving vehicle. For this reason, the transmission information output unit 616 outputs, to the transmission device 9B, transmission information for transmitting information on the automobile registration number mark of the surrounding vehicle to the service providing server Sv. Moreover, the automatic driving vehicle information acquisition part 614 acquires the information whether the surrounding vehicle is an automatic driving vehicle from the service provision server Sv, for example via a receiver (not shown).
  • the automatic driving vehicle monitoring device 6A does not require a function for determining whether or not the surrounding vehicle is an automatic driving vehicle, and thus the functional configuration is simplified.
  • the surrounding vehicle is, for example, a vehicle that always runs in the automatic driving mode, and information on the vehicle registration number mark of the vehicle may be provided to the service providing server Sv.
  • the surrounding vehicle transmits the information on the driving mode after switching to the service providing server Sv, and the service providing server Sv sends the vehicle registration number mark and the driving mode information of the vehicle. You may remember.
  • the vehicle type, the function of the automatic driving control device, the control function and control procedure of the automatic driving vehicle monitoring device, and the control contents can be variously modified and implemented without departing from the gist of the present invention.
  • the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage.
  • various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.
  • An automatic driving vehicle monitoring device for monitoring an autonomous driving vehicle existing around a vehicle comprising a hardware processor and a memory
  • the hardware processor is Based on the driver monitoring information of the driver monitoring sensor, obtain state information related to the state of the driver, store the obtained state information in the memory, Vehicle information relating to the autonomous driving vehicle including information on neighboring vehicles existing around the vehicle and information on whether or not the neighboring vehicle is an autonomous driving vehicle, and the obtained vehicle information is stored in the memory;
  • the state information is read from the memory, the driver's crisis emotion is detected based on the read state information, and crisis emotion information related to the detected crisis emotion is stored in the memory, Based on the status information and the vehicle information, it is determined whether or not the cause of the driver's crisis feeling is the surrounding vehicle, the determination result information is stored in the memory, When the determination result information is read from the memory, and the determination result information indicates that the cause of the driver's crisis feeling is the surrounding vehicle
  • An automatic driving vehicle monitoring method for monitoring an autonomous driving vehicle existing around a vehicle Using the hardware processor, based on the driver monitoring information of the driver monitoring sensor, obtain the state information related to the state of the driver, store the obtained state information in the memory, Using the hardware processor, obtaining vehicle information related to the autonomous driving vehicle, including information on neighboring vehicles existing around the vehicle and information on whether or not the neighboring vehicle is an autonomous driving vehicle, Storing the acquired vehicle information in the memory; Using the hardware processor, the state information is read from the memory, the driver's crisis emotion is detected based on the read state information, and the crisis emotion information related to the detected crisis emotion is stored in the memory.
  • the hardware processor Based on the state information and the vehicle information, the hardware processor is used to determine whether the driver's crisis emotion is caused by the surrounding vehicle, and the determination result information is stored in the memory. , Using the hardware processor, the determination result information is read from the memory, the determination result information is that the cause of the driver's crisis feeling is the surrounding vehicle, and the surrounding vehicle is the autonomous driving vehicle.
  • An automatic driving vehicle monitoring method for generating transmission information for instructing transmission of situation information including the vehicle information and the crisis emotion information and outputting the transmission information to a transmission device when indicating that there is a certain vehicle.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

La présente invention concerne un dispositif de surveillance de véhicule à conduite automatique qui surveille un véhicule à conduite automatique au voisinage d'un véhicule. Le dispositif de surveillance de véhicule à conduite automatique comprend : une unité d'acquisition d'informations d'état de conducteur qui acquiert des informations d'état concernant l'état d'un conducteur ; une unité d'acquisition d'informations de véhicule à conduite automatique qui acquiert des informations de véhicule concernant le véhicule à conduite automatique, les informations de véhicule contenant des informations concernant un véhicule avoisinant qui est présent dans le voisinage du véhicule et des informations déterminant si le véhicule avoisinant est un véhicule à conduite automatique ; une unité de détermination de sensation de crise qui détecte, en fonction des informations d'état, une sensation de crise du conducteur et détermine si la sensation de crise du conducteur est provoquée par le véhicule avoisinant ; et une unité de sortie d'informations de transmission qui produit et fournit, à un dispositif de transmission, des informations de transmission pour donner l'instruction de transmettre des informations de circonstance, qui contiennent les informations de véhicule concernant le véhicule à conduite automatique et les informations de sensation de crise concernant la sensation de crise du conducteur, lorsqu'il est déterminé que la sensation de crise du conducteur est provoquée par le véhicule avoisinant et que le véhicule avoisinant est le véhicule à conduite automatique.
PCT/JP2017/036704 2017-03-07 2017-10-10 Dispositif, procédé et programme de surveillance de véhicule à conduite automatique WO2018163491A1 (fr)

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US11564073B2 (en) 2020-03-16 2023-01-24 Honda Motor Co., Ltd. System and method for emotion detection and inter-vehicle communication

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KR102200807B1 (ko) * 2020-04-07 2021-01-11 인포뱅크 주식회사 자율주행차량의 속도 제어 장치 및 방법

Citations (2)

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JP2015141053A (ja) * 2014-01-27 2015-08-03 アイシン・エィ・ダブリュ株式会社 自動運転支援システム、自動運転支援方法及びコンピュータプログラム
WO2016080452A1 (fr) * 2014-11-19 2016-05-26 エイディシーテクノロジー株式会社 Dispositif de commande de conduite autonome

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JP2015141053A (ja) * 2014-01-27 2015-08-03 アイシン・エィ・ダブリュ株式会社 自動運転支援システム、自動運転支援方法及びコンピュータプログラム
WO2016080452A1 (fr) * 2014-11-19 2016-05-26 エイディシーテクノロジー株式会社 Dispositif de commande de conduite autonome

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11564073B2 (en) 2020-03-16 2023-01-24 Honda Motor Co., Ltd. System and method for emotion detection and inter-vehicle communication

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