Intention estimation method and system with confidence indication

• US 7,440,823 B2
• Filed: 12/16/2004
• Issued: 10/21/2008
• Est. Priority Date: 12/16/2003
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kuge, Nobuyuki, Yamamura, Tomohiro
• Primary Examiner(s): ARTHUR JEANGLAUD, GERTRUDE
• Application Number:
  US11/012,165
• Publication Number:
  US 20050131589A1
• Time in Patent Office: 1,405 Days
• Field of Search: 701/1, 701/23, 701/28, 701/41, 701/42, 701/88, 701/93, 701/117, 180167-169
• US Class Current: 701/1
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/086 using driver related features
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

An intention estimation system and method with confidence indication for providing operation assistance based on an operator'"'"'s intention. A current operation performed by the operator is detected, and data related to an estimated intention of the operator is generated based on the detected operation. A confidence index of the estimated intention of the operator is then determined. The confidence index indicates, for example, the reliability or strength of the estimated intention. An operation assistance may be provided based on the estimated intention and the confidence index.

Claims

1. A system for estimating an intention of an operator of a machine comprising:

a detector configured to detect an operation performed by the operator, wherein the operation may correspond to multiple possible intentions retained by the operator;

an intention estimation device configured to generate an estimated intention of the operator based on the detected operation; and

a confidence calculator configured to calculate a confidence index of the estimated intention.

2. The system of claim 1, wherein:

the intention estimation device includes;

a first device configured to provide data related to a plurality of imaginary operators, each of the plurality of imaginary operators associated with at least one intention, wherein each of the at least one intention is associated with an operation of the respective imaginary operator;

a second device configured to calculate a likelihood value for each of the plurality of imaginary operators based on the detected operation of the operator and the respective associated operation of each of the plurality of imaginary operators; and

a third device configured to generate the estimated intention of the operator based on the respective likelihood value of each of the plurality of imaginary operators; and

the confidence calculator is configured to calculate the confidence index of the estimated intention based on the respective likelihood value of each of the plurality of imaginary operators.

3. The system of claim 1, wherein the intention estimation device generates the estimated intention of the operator based on the detected operation of the driver and reference data related to predetermined operation patterns.

4. The system of claim 3, wherein the intention estimation device generates the estimated intention by applying one of a support vector machine and a relevance vector machine to data related to the detected operation and the reference data related to the predetermined operation patterns.

5. The system of claim 1 further comprising a control device configured to regulate the operation of an operation device of a the machine based on the confidence index.

6. The system of claim 5, wherein:

the machine is a vehicle;

the operation device is an accelerator pedal of the vehicle or a braking system of the vehicle; and

the control device modifies a reaction force of the accelerator pedal of the vehicle or a deceleration force of the braking system.

7. The system of claim 6 further comprising a risk calculation device configured to calculate a risk potential associated with the vehicle;

wherein the control device regulates the operation device of the vehicle based on the calculated risk potential associated with the vehicle and the confidence index.

8. The system of claim 7, wherein the control device modifies the risk potential based on the confidence index, and regulates the operation of the operation device based on the modified risk potential.

9. The system of claim 7, wherein the control device calculates a regulation amount to regulate the operation of the operation device based on the risk potential, and modifies the calculated regulation amount based on the confidence index.

10. A method for estimating an intention of an operator of a machine comprising the steps of:

detecting an operation performed by the operator, wherein the operation may correspond to multiple possible intentions retained by the operator;

generating an estimated intention of the operator based on the detected operation; and

calculating a confidence index of the estimated intention.

11. The method of claim 10, wherein:

the step of generating an estimated intention includes the steps of;

providing data related to a plurality of imaginary operators, each of the plurality of imaginary operators associated with at least one intention, wherein each of the at least one intention is associated with an operation of the respective imaginary operator;

calculating a likelihood value for each of the plurality of imaginary operators based on the detected operation of the operator and the respective associated operation of each of the plurality of imaginary operators; and

generating the estimated intention of the operator based on the respective likelihood value of each of the plurality of imaginary operators; and

the step of calculating the confidence index calculates the confidence index of the estimated intention based on the respective likelihood value of each of the plurality of imaginary operators.

12. The method of claim 10, wherein the step of generating the estimated intention generates the estimated intention of the operator based on the detected operation of the driver and reference data related to predetermined operation patterns.

13. The method of claim 12, wherein the step of generating the estimated intention generates the estimated intention by applying one of a support vector machine and a relevance vector machine to data related to the detected operation and the reference data related to the predetermined operation patterns.

14. The method of claim 10 further comprising the step of regulating the operation of an operation device of a the machine based on the confidence index.

15. The method of claim 14, wherein:

the machine is a vehicle;

the operation device is an accelerator pedal of the vehicle or a braking system of the vehicle; and

the regulating step modifies a reaction force of the accelerator pedal of the vehicle or a deceleration force of the braking system.

16. The method of claim 15 further comprising the step of calculating a risk potential associated with the vehicle;

wherein the regulating step regulates the operation device of the vehicle based on the calculated risk potential associated with the vehicle and the confidence index.

17. The method of claim 16, wherein the regulating step includes the steps of:

modifying the risk potential based on the confidence index; and

regulating the operation of the operation device based on the modified risk potential.

18. The method of claim 16, wherein the regulating step includes the steps of:

calculating a regulation amount to regulate the operation of the operation device based on the risk potential; and

modifying the calculated regulation amount based on the confidence index.

19. A system for estimating an intention of an operator of a machine comprising:

means for detecting an operation performed by the operator, wherein the operation may correspond to multiple possible intentions by the operator;

means for generating an estimated intention of the operator based on the detected operation; and

means for calculating a confidence index of the estimated intention.

20. A machine-readable medium bearing instructions for calculating an estimated intention of an operator, the instructions, upon execution by a data processing system, causing the data processing system to perform the steps of:

detecting an operation performed by the operator, wherein the operation may correspond to multiple possible intentions retained by the operator;

generating an estimated intention of the operator based on the detected operation; and

calculating a confidence index of the estimated intention.

21. A vehicle comprising:

a detector configured to detect an operation performed by a driver of the vehicle, wherein the operation may correspond to multiple possible intentions retained by the driver;

an intention estimation device configured to generate an estimated intention of the driver based on the detected operation; and

a confidence calculator configured to calculate a confidence index of the estimated intention.

22. The vehicle of claim 21 further including a control the operation of the vehicle based on the confidence index.