公开(公告)号：US20140091916A1

公开(公告)日：2014-04-03

申请号：US14114058

申请日：2012-04-23

申请人： Hirofumi Aoki ,  Kiyoto Hanita

发明人： Hirofumi Aoki ,  Kiyoto Hanita

IPC分类号： G08G1/16

CPC分类号： G08G1/16 ,  A61B5/18 ,  B60K28/06 ,  B60K28/066 ,  B60W40/08 ,  B60W2040/0818 ,  B60W2040/0827 ,  B60W2540/10 ,  B60W2540/26 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  G08B21/06 ,  G08G1/166

摘要： A driver condition determination device determines whether a driver of a host vehicle has degraded consciousness. A main component for distribution of an accelerating operation condition with respect to proximity when tailgating a preceding vehicle is analyzed (S16), all data is origin-shifted (S18), and the accelerating operation condition of the driver when the driver has consciousness is created as a normal traveling model (S20). The likelihood of the accelerating operation condition, a likelihood average, a likelihood variance, and a likelihood threshold value are calculated (S22 to S26), and it is determined whether the likelihood of a current driving operation is lower than the likelihood threshold value (S28). When the likelihood is lower than the likelihood threshold value, the driver is determined as being in degraded consciousness. Since the likelihood threshold value is calculated for determination on the basis of data when the driver has consciousness, an erroneous determination of degraded consciousness due to difference in driver operation characteristics is suppressed.

摘要翻译： 驾驶员状况判定装置判定主车辆的驾驶员是否具有劣化意识。 分析用于分配前轮车辆时的接近度的加速运转状态的主要部分（S16），全部数据为原点偏移（S18），并且创建驾驶员意识时驾驶员的加速运转状态 作为正常行驶模式（S20）。 计算加速操作条件，似然平均值，似然方差和似然阈值的可能性（S22至S26），并确定当前驾驶操作的可能性是否低于似然阈值（S28 ）。 当可能性低于可能性阈值时，驾驶员被确定为处于降级意识中。 由于根据驾驶员有意识时的数据计算出用于确定的似然阈值，所以抑制了由于驾驶员操作特性的差异导致的降低意识的错误判定。

公开(公告)号：US09064419B2

公开(公告)日：2015-06-23

申请号：US14114058

申请日：2012-04-23

申请人： Hirofumi Aoki ,  Kiyoto Hanita

发明人： Hirofumi Aoki ,  Kiyoto Hanita

IPC分类号： B60Q1/00 ,  G08G1/16 ,  G08B21/06 ,  A61B5/18 ,  B60K28/06 ,  B60W40/08

CPC分类号： G08G1/16 ,  A61B5/18 ,  B60K28/06 ,  B60K28/066 ,  B60W40/08 ,  B60W2040/0818 ,  B60W2040/0827 ,  B60W2540/10 ,  B60W2540/26 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  G08B21/06 ,  G08G1/166

摘要： A driver condition determination device determines whether a driver of a host vehicle has degraded consciousness. A main component for distribution of an accelerating operation condition with respect to proximity when tailgating a preceding vehicle is analyzed (S16), all data is origin-shifted (S18), and the accelerating operation condition of the driver when the driver has consciousness is created as a normal traveling model (S20). The likelihood of the accelerating operation condition, a likelihood average, a likelihood variance, and a likelihood threshold value are calculated (S22 to S26), and it is determined whether the likelihood of a current driving operation is lower than the likelihood threshold value (S28). When the likelihood is lower than the likelihood threshold value, the driver is determined as being in degraded consciousness. Since the likelihood threshold value is calculated for determination on the basis of data when the driver has consciousness, an erroneous determination of degraded consciousness due to difference in driver operation characteristics is suppressed.

摘要翻译： 驾驶员状况判定装置判定主车辆的驾驶员是否具有劣化意识。 分析用于分配前轮车辆时的接近度的加速运转状态的主要部分（S16），全部数据为原点偏移（S18），并且创建驾驶员意识时驾驶员的加速运转状态 作为正常行驶模式（S20）。 计算加速操作条件，似然平均值，似然方差和似然阈值的可能性（S22至S26），并确定当前驾驶操作的可能性是否低于似然阈值（S28 ）。 当可能性低于可能性阈值时，驾驶员被确定为处于降级意识中。 由于根据驾驶员有意识时的数据计算出用于确定的似然阈值，所以抑制了由于驾驶员操作特性的差异导致的降低意识的错误判定。

公开(公告)号：US09298995B2

公开(公告)日：2016-03-29

申请号：US14232161

申请日：2011-07-11

申请人： Kiyoto Hanita ,  Yoshinao Takemae

发明人： Kiyoto Hanita ,  Yoshinao Takemae

IPC分类号： G06K9/00 ,  G06T7/00 ,  G06T7/40

CPC分类号： G06K9/00845 ,  G06K9/0061 ,  G06T7/75 ,  G06T7/90 ,  G06T2207/30041 ,  G06T2207/30201 ,  G06T2207/30216

摘要： A black eye position existence probability density distribution learning unit that records a black eye position which is detected in the daytime to a black eye position existence probability density distribution, a red-eye candidate detection unit that detects red-eye candidates from the image of the driver at night, and a red-eye determination unit that determines the red eye from the red-eye candidates. The red-eye determination unit determines the red eye on the basis of the relationship between a change in the direction of the face and the behavior of the red-eye candidate and determines, as the red eye, the red-eye candidate disposed at the position of high black eye position existence probability density with reference to the black eye position existence probability density distribution.

摘要翻译： 黑眼睛位置存在概率密度分布学习单元，其将在白天检测到的黑眼睛位置记录为黑眼睛位置存在概率密度分布;红眼候选检测单元，其从所述黑眼睛位置存在概率密度分布的图像中检测红眼候选 夜间司机，以及红眼确定单位，确定红眼候选人的红眼。 红眼判定单元基于脸部的方向的变化与红眼候选者的行为之间的关系来确定红眼，并且将红眼候选作为红眼确定为红眼候选者 高黑眼位置存在概率密度的位置参照黑眼位置存在概率密度分布。

公开(公告)号：US20140140577A1

公开(公告)日：2014-05-22

申请号：US14131531

申请日：2011-07-11

申请人： Kiyoto Hanita ,  Yoshinao Takemae

发明人： Kiyoto Hanita ,  Yoshinao Takemae

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00604 ,  G06K9/00845 ,  G06T7/75 ,  G06T2207/30201

摘要： An ECU 30 includes a face position and face feature point detection unit 32 that detects the feature points of the face of the driver, a face pose estimation unit 33 that fits the feature points of the face detected by the face position and face feature point detection unit 32 to a 3D face model to estimate the direction of the face of the driver, an eyelid range setting unit 34 that sets an upper eyelid presence range and a lower eyelid presence range including the positions of the upper and lower eyelids on the basis of the pose of the face estimated by the face pose estimation unit 33, and an eyelid detection unit 35 that detects the positions of the upper and lower eyelids in the upper eyelid presence range and the lower eyelid presence range set by the eyelid range setting unit 34.

摘要翻译： ECU30包括检测驾驶员脸部的特征点的脸部位置和脸部特征点检测部32，适合由脸部姿势检测到的面部的特征点和面部特征点检测部件的脸部姿势估计部33 单元32连接到3D面部模型以估计驾驶员的面部的方向，眼睑范围设置单元34，其基于上眼睑存在范围和下睑存在范围，所述眼睑范围设置单元34基于 由脸姿势估计单元33估计的面部姿态，以及眼睑检测单元35，其检测上眼睑存在范围中的上眼睑和下眼睑的位置以及由眼睑范围设定单元34设定的下睑存在范围 。

公开(公告)号：US20140112580A1

公开(公告)日：2014-04-24

申请号：US14131555

申请日：2011-07-11

申请人： Kiyoto Hanita ,  Yoshinao Takemae

发明人： Kiyoto Hanita ,  Yoshinao Takemae

IPC分类号： G06K9/00

CPC分类号： G06K9/0061 ,  G06K9/00845 ,  G06T1/00 ,  G06T7/11 ,  G06T7/13 ,  G06T7/90 ,  G06T2207/30041 ,  G06T2207/30216

摘要： An ECU which is connected to an image sensor and an illuminance sensor includes an eyelid detection unit that detects the positions of the upper and lower eyelids from a face image, an eyelid determination unit that determines the positions of the upper and lower eyelids detected by the eyelid detection unit, and an eye opening degree calculation unit that calculates the degree of eye opening. The eyelid determination unit searches for a red-eye candidate in the range in which the skin is assumed to be present from the positions of the upper and lower eyelids detected by the eyelid detection unit. When the red-eye candidate is searched in the range, the eyelid determination unit determines that the eyelid detection unit falsely detects the positions of the upper and lower eyelids.

摘要翻译： 连接到图像传感器和照度传感器的ECU包括从面部图像检测上眼睑和下眼睑的位置的眼睑检测单元，确定由所述眼图检测单元检测到的上眼睑和下眼睑的位置的眼睑确定单元 眼睑检测单元和计算眼睛开度的眼睛开度计算单元。 眼睑确定单元从由眼睑检测单元检测到的上眼睑和下眼睑的位置中，在假定存在皮肤的范围内搜索红眼候选者。 当在该范围内搜索红眼候选者时，眼睑确定单元确定眼睑检测单元错误地检测上眼睑和下眼睑的位置。

公开(公告)号：US20150109119A1

公开(公告)日：2015-04-23

申请号：US14402961

申请日：2012-05-23

申请人： Kiyoto Hanita

发明人： Kiyoto Hanita

IPC分类号： B62D15/02 ,  B60W40/072

CPC分类号： B62D15/029 ,  B60K28/066 ,  B60W2540/18 ,  B62D15/0245

摘要： A drive assist control device includes a steering determination unit 21 that determines a steering state of a vehicle, a curved state estimation unit 22 that estimates a curved state of a traveling road where the vehicle is traveling, a threshold value setting unit 23 that, in a case where it is determined by the steering determination unit 21 that a steering occurs after a steering wheel stationary state, sets a determination threshold value at the time of steering ts based on the curved state estimated during a period ts to ts+Tc from the time of steering ts to the set time Tc after the time of steering ts or a period ts−Tc to ts from the set time Tc before the time of steering ts to the time of steering ts and which is sharper than the curved state estimated at the time of steering ts, and a warning control unit 25 that actuates a warning in a case where the steering speed at the time of steering ts exceeds the determination threshold value.

摘要翻译： 驱动辅助控制装置包括确定车辆的转向状态的转向判定部21，估计车辆行驶的行驶道路的弯曲状态的弯曲状态估计部22，阈值设定部23， 由转向确定单元21确定在方向盘静止状态之后发生转向的情况下，基于从期间ts至ts + Tc期间估计的弯曲状态，设定转向ts时的判定阈值 在转向ts之前的设定时间Tc或转向ts之前的设定时间Tc的时间ts-Tc至ts之间的设定时间Tc的时间到转向ts的时刻，并且比预测的弯曲状态更尖锐 转向ts的时间，以及在转向时的转向速度超过判定阈值的情况下动作警告的报警控制部25。

公开(公告)号：US08983147B2

公开(公告)日：2015-03-17

申请号：US14131555

申请日：2011-07-11

申请人： Kiyoto Hanita ,  Yoshinao Takemae

发明人： Kiyoto Hanita ,  Yoshinao Takemae

IPC分类号： G06K9/00 ,  G06T1/00

CPC分类号： G06K9/0061 ,  G06K9/00845 ,  G06T1/00 ,  G06T7/11 ,  G06T7/13 ,  G06T7/90 ,  G06T2207/30041 ,  G06T2207/30216

摘要： An ECU which is connected to an image sensor and an illuminance sensor includes an eyelid detection unit that detects the positions of the upper and lower eyelids from a face image, an eyelid determination unit that determines the positions of the upper and lower eyelids detected by the eyelid detection unit, and an eye opening degree calculation unit that calculates the degree of eye opening. The eyelid determination unit searches for a red-eye candidate in the range in which the skin is assumed to be present from the positions of the upper and lower eyelids detected by the eyelid detection unit. When the red-eye candidate is searched in the range, the eyelid determination unit determines that the eyelid detection unit falsely detects the positions of the upper and lower eyelids.

摘要翻译： 连接到图像传感器和照度传感器的ECU包括从面部图像检测上眼睑和下眼睑的位置的眼睑检测单元，确定由所述眼图检测单元检测到的上眼睑和下眼睑的位置的眼睑确定单元 眼睑检测单元和计算眼睛开度的眼睛开度计算单元。 眼睑确定单元从由眼睑检测单元检测到的上眼睑和下眼睑的位置中，在假定存在皮肤的范围内搜索红眼候选者。 当在该范围内搜索红眼候选者时，眼睑确定单元确定眼睑检测单元错误地检测上眼睑和下眼睑的位置。

公开(公告)号：US20140133705A1

公开(公告)日：2014-05-15

申请号：US14232161

申请日：2011-07-11

申请人： Kiyoto Hanita ,  Yoshinao Takemae

发明人： Kiyoto Hanita ,  Yoshinao Takemae

IPC分类号： G06K9/00

CPC分类号： G06K9/00845 ,  G06K9/0061 ,  G06T7/75 ,  G06T7/90 ,  G06T2207/30041 ,  G06T2207/30201 ,  G06T2207/30216

摘要： A black eye position existence probability density distribution learning unit that records a black eye position which is detected in the daytime to a black eye position existence probability density distribution, a red-eye candidate detection unit that detects red-eye candidates from the image of the driver at night, and a red-eye determination unit that determines the red eye from the red-eye candidates. The red-eye determination unit determines the red eye on the basis of the relationship between a change in the direction of the face and the behavior of the red-eye candidate and determines, as the red eye, the red-eye candidate disposed at the position of high black eye position existence probability density with reference to the black eye position existence probability density distribution.

摘要翻译： 黑眼睛位置存在概率密度分布学习单元，其将在白天检测到的黑眼睛位置记录为黑眼睛位置存在概率密度分布;红眼候选检测单元，其从所述黑眼睛位置存在概率密度分布的图像中检测红眼候选 夜间司机，以及红眼确定单位，确定红眼候选人的红眼。 红眼判定单元基于脸部的方向的变化与红眼候选者的行为之间的关系来确定红眼，并且将红眼候选作为红眼确定为红眼候选者 高黑眼位置存在概率密度的位置参照黑眼位置存在概率密度分布。

公开(公告)号：US20140121927A1

公开(公告)日：2014-05-01

申请号：US13499091

申请日：2011-07-11

申请人： Kiyoto Hanita

发明人： Kiyoto Hanita

IPC分类号： B60T7/12

CPC分类号： B60T7/12 ,  B60K28/06 ,  B60T7/14 ,  B60Y2400/3015

摘要： In a vehicle emergency evacuation device executing an automatic vehicle stop control based on a command of the driver through a switch or a command input device in a driver's emergency, there is provided a switch or a command input device which is easy to operate when a driver's body condition is abnormal or deteriorates but does not erroneously receive a command input when the driver's body condition is normal. The inventive emergency evacuation device comprises a driver's condition monitoring portions, such as a driver camera; a driver's command input portion that has a receptor put on a position accessible for the driver and receiving a command input indicating a driver's intention, and outputs a command of an execution start of an automatic vehicle stop control based on the command input; and an automatic vehicle stop control portion executes the automatic vehicle stop control in response to the command from a driver's command input portion, where, only when an abnormality in a driver's body condition is judged based on the information acquired by the driver's condition monitoring portion, such as a driver's image acquired with the driver camera, the command input is acceptable to the receptor.

摘要翻译： 在驾驶员的紧急情况下，通过开关或命令输入装置根据驾驶员的指令执行自动停车控制的车辆紧急撤离装置中，设置有开关或命令输入装置，当驾驶员的 身体状况异常或恶化，但是当驾驶员的身体状况正常时，不会错误地接收到命令输入。 本发明的紧急疏散装置包括驾驶员状态监视部分，例如驾驶员摄像机; 驾驶员指令输入部，其具有放置在驾驶员可接近的位置的受体，并接收指示驾驶员的意图的命令输入，并且基于所述命令输入输出自动车辆停止控制的执行开始命令; 并且自动停车控制部分响应于来自驾驶员指令输入部分的命令来执行自动车辆停止控制，其中，只有当驾驶员的状态监视部分获取的信息判断驾驶员身体状况的异常时， 例如用驾驶员摄像机获取的驾驶员图像，命令输入对受体是可以接受的。

公开(公告)号：US09428221B2

公开(公告)日：2016-08-30

申请号：US14402961

申请日：2012-05-23

申请人： Kiyoto Hanita

发明人： Kiyoto Hanita

IPC分类号： B62D15/02 ,  B60K28/06

CPC分类号： B62D15/029 ,  B60K28/066 ,  B60W2540/18 ,  B62D15/0245

摘要： A drive assist control device includes a steering determination unit 21 that determines a steering state of a vehicle, a curved state estimation unit 22 that estimates a curved state of a traveling road where the vehicle is traveling, a threshold value setting unit 23 that, in a case where it is determined by the steering determination unit 21 that a steering occurs after a steering wheel stationary state, sets a determination threshold value at the time of steering ts based on the curved state estimated during a period ts to ts+Tc from the time of steering ts to the set time Tc after the time of steering ts or a period ts−Tc to ts from the set time Tc before the time of steering ts to the time of steering ts and which is sharper than the curved state estimated at the time of steering ts, and a warning control unit 25 that actuates a warning in a case where the steering speed at the time of steering ts exceeds the determination threshold value.

摘要翻译： 驱动辅助控制装置包括确定车辆的转向状态的转向判定部21，估计车辆行驶中的行驶道路的弯曲状态的弯曲状态估计部22，阈值设定部23， 由转向确定单元21确定在方向盘静止状态之后发生转向的情况下，基于从期间ts至ts + Tc期间估计的弯曲状态，设定转向ts时的判定阈值 在转向ts之前的设定时间Tc或转向ts之前的设定时间Tc的时间ts-Tc至ts之间的设定时间Tc的时间到转向ts的时刻，并且比预测的弯曲状态更尖锐 转向ts的时间，以及在转向时的转向速度超过判定阈值的情况下动作警告的报警控制部25。