Apparatus detecting driving incapability state of driver

• US 10,430,676 B2
• Filed: 06/08/2015
• Issued: 10/01/2019
• Est. Priority Date: 06/23/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Banno, Hiroto, Yamataka, Minori, Munaoka, Yutaka, Enya, Takeshi, Omi, Takuhiro
• Primary Examiner(s): Hossain, Farzana
• Application Number:
  US15/321,004
• Publication Number:
  US 20170140232A1
• Time in Patent Office: 1,576 Days
• Field of Search: 348 77, 348148
• CPC Class Codes: A61B 5/1101 Detecting tremor
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1122 of movement trajectories
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence
• CPC Class Codes: A61B 5/18 for vehicle drivers or machine operators
• CPC Class Codes: A61B 5/6893 Cars
• CPC Class Codes: A61B 5/7267 involving training the classification device
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60W 2040/0818 Inactivity or incapacity of driver
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/597 Recognising the driver's state or behaviour, e.g. attention or drowsiness
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G16H 50/70 for mining of medical data, e.g. analysing previous cases of other patients

Abstract

An apparatus detecting driving incapability state of a driver includes: a head detection portion that detects a head of the driver based on an image of a driver'"'"'s seat captured by an imaging device mounted on a vehicle; and a shake detection portion that detects the driver is incapable of driving when an amplitude of a shake of the head detected by the head detection portion is smaller than a first amplitude or larger than a second amplitude, which is larger than the first amplitude, before a shake determination time elapses after external force has been applied to the vehicle during travel of the vehicle.

Claims

1. An apparatus detecting driving incapability state of a driver, the apparatus comprising:

an imaging device that is mounted on a vehicle and is configured to capture a driver'"'"'s seat;

a memory storing a head detection portion and a shake detection portion; and

a processor executing the head detection portion and the shake detection portion stored in the memory, wherein

the head detection portion detects a head of the driver based on an image of the driver'"'"'s seat captured by the imaging device, and

the shake detection portion detects the driver is incapable of driving when an amplitude of a shake of the head detected by the head detection portion is smaller than a first amplitude or larger than a second amplitude, which is larger than the first amplitude, before a shake determination time elapses after external force has been applied to the vehicle during travel of the vehicle, causing the vehicle to be safely stopped in a case where it is determined that the driver is incapable of driving.

2. The apparatus detecting driving incapability state of the driver according to claim 1, wherein:

the shake detection portion detects the driver is incapable of driving on condition that the head shakes by a time the shake determination time elapses after the external force has been applied to the vehicle, and that a position of the head is within an unmoving determination area after the shake determination time has elapsed.

3. The apparatus detecting driving incapability state of the driver according to claim 1, further comprising:

a learning portion that learns the amplitude of the shake of the head detected by the head detection portion when the driver is not incapable of driving,

wherein;

the shake detection portion detects the driver is capable of driving on condition that the amplitude of the shake of the head detected by the head detection portion is larger than the amplitude of the shake of the head learned by the learning portion by exceeding an amplitude determination value.

4. The apparatus detecting driving incapability state of the driver according to claim 1, wherein:

the shake detection portion detects the driver is incapable of driving on condition that a steering wheel of the vehicle is not operated for a time longer than an operation determination time.

5. The apparatus detecting driving incapability state of the driver according to claim 1, further comprising:

a facial expression detection portion that detects an eye outline and a black eye region of the driver based on the image;

a white eye exposure calculation portion that calculates exposure of white of each eye of the driver based on the eye outline and the black eye region detected by the facial expression detection portion; and

a white eye state detection portion that detects the driver is incapable of driving when the exposure of the white of the eye, calculated by the white eye exposure calculation portion, is greater than a white eye threshold in a case where the shake detection portion does not detect the driver is incapable of driving.

6. The apparatus detecting driving incapability state of the driver according to claim 1, further comprising:

a posture notification portion that notifies the driver of a degree of posture collapse based on the position of the head detected by the head detection portion.

7. The apparatus detecting driving incapability state of a driver according to claim 1, further comprising:

an inquiry portion that asks the driver whether the driver is unable to drive when the driving incapability state of the driver is detected.

8. The apparatus detecting driving incapability state of a driver according to claim 1, wherein:

the driving incapability state of the driver includes a state in which the driver has a sudden illness.

9. The apparatus detecting driving incapability state of a driver according to claim 1, further comprising:

a face direction detection portion that detects a direction of a face of the driver with respect to a forward direction of the vehicle based on the image of the driver'"'"'s seat captured by the imaging device mounted on the vehicle; and

a direction collapse detection portion that detects the driver is incapable of driving when the direction of the face detected by the face direction detection portion is greater than a face direction threshold for a time longer than a direction collapse determination time during travel of the vehicle in a case where the shake detection portion does not detect the driver is incapable of driving.

10. The apparatus detecting driving incapability state of a driver according to claim 1, further comprising:

a face direction detection portion that detects a direction of a face of the driver with respect to a forward direction of the vehicle based on the image of the driver'"'"'s seat captured by the imaging device mounted on the vehicle; and

a direction collapse detection portion that detects the driver is incapable of driving when the direction of the face detected by the face direction detection portion is greater than a face direction threshold and also the driver releases a steering wheel of the vehicle during travel of the vehicle in a case where the shake detection portion does not detect the driver is incapable of driving.

11. The apparatus detecting driving incapability state of a driver according to claim 1, further comprising:

a face direction detection portion that detects a direction of a face of the driver with respect to a forward direction of the vehicle based on the image of the driver'"'"'s seat captured by the imaging device mounted on the vehicle; and

a direction collapse detection portion that detects the driver is incapable of driving when the direction of the face detected by the face direction detection portion is greater than a face direction threshold and also an opening degree of an accelerator is larger than a predetermined opening degree, during travel of the vehicle in a case where the shake detection portion does not detect the driver is incapable of driving.

12. The apparatus detecting driving incapability state of a driver according to claim 1, further comprising:

a face direction detection portion that detects a direction of a face of the driver with respect to a forward direction of the vehicle based on the image of the driver'"'"'s seat captured by the imaging device mounted on the vehicle; and

a direction collapse detection portion that detects the driver is incapable of driving when the direction of the face detected by the face direction detection portion is greater than a face direction threshold and also an accelerator operation and a brake operation are not performed for a time longer than an operation determination time, during travel of the vehicle, in a case where the shake detection portion does not detect the driver is incapable of driving.

13. The apparatus detecting driving incapability state of the driver according to claim 10, wherein:

the direction collapse detection portion detects the driver is incapable of driving on condition that the driver releases the steering wheel for a time longer than an operation determination time.

14. The apparatus detecting driving incapability state of the driver according to claim 11, wherein:

the direction collapse detection portion detects the driver is incapable of driving on condition that the opening degree of the accelerator is larger than the predetermined opening degree for a time longer than the operation determination time.

15. The apparatus detecting driving incapability state of the driver according to claim 10, wherein:

the direction collapse detection portion detects the driver is incapable of driving on condition that the direction of the face is greater than the face direction threshold for a time longer than a direction collapse determination time.

16. The apparatus detecting driving incapability state of the driver according to claim 15, wherein:

the direction collapse detection portion detects the driver is incapable of driving when the face faces downward greatly exceeding a downward threshold or upward greatly exceeding an upward threshold.

17. The apparatus detecting driving incapability state of a driver according to claim 9, wherein:

the direction collapse detection portion detects the driver is incapable of driving on condition that a hand of the driver is lower than a neck of the driver.

18. The apparatus detecting driving incapability state of the driver according to claim 9, further comprising:

a learning portion that learns the direction of the face detected by the face direction detection portion when the driver is not incapable of driving,

wherein;

the direction collapse detection portion detects the driver is incapable of driving on condition that the direction of the face detected by the face direction detection portion is greater than the direction of the face learned by the learning portion by exceeding an inclination determination value.

19. The apparatus detecting driving incapability state of the driver according to claim 9, further comprising:

a spasm detection portion that detects spasm of the driver,

wherein;

the face direction threshold is decreased when the spasm detection portion detects the spasm.

20. The apparatus detecting driving incapability state of the driver according to claim 9, wherein:

as a vehicle speed of the vehicle is high, the direction collapse determination time is shortened.

21. The apparatus detecting driving incapability state of a driver according to claim 9, wherein:

as a time to collision is short, the time being obtained by dividing a vehicle distance from a preceding vehicle by a speed relative to the preceding vehicle, the direction collapse determination time is shortened.

22. The apparatus detecting driving incapability state of a driver according to claim 9, further comprising:

a storage portion in which personal information on the driver including medical history and age is registered,

wherein;

the direction collapse determination time is set based on the personal information registered in the storage portion.

23. The apparatus detecting driving incapability state of a driver according to claim 9, wherein:

the direction collapse determination time elongates when a drive assist control is executed in the vehicle.

24. The apparatus detecting driving incapability state of a driver according to claim 9, further comprising:

a posture notification portion that notifies the driver of a degree of posture collapse of the driver based on the direction of the face detected by the face direction detection portion.