Driving assistance system

• US 7,519,459 B2
• Filed: 03/08/2005
• Issued: 04/14/2009
• Est. Priority Date: 03/17/2004
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation, National University Corporation Hokkaido University
• Original Assignee: DENSO Corporation, National University Corporation Hokkaido University
• Inventors: Ito, Takafumi, Uesugi, Hiroshi, Katayama, Osamu, Omori, Takashi, Mizutani, Kentaro
• Primary Examiner(s): Jeanglaud; Gertrude Arthur
• Application Number:
  US11/073,566
• Publication Number:
  US 20050209749A1
• Time in Patent Office: 1,498 Days
• Field of Search: 701/1, 701/36, 340/435, 340/441, 340/902, 340/903, 340/425.5, 340/438, 340/439, 348/148
• US Class Current: 701/36
• CPC Class Codes: A61B 5/18 for vehicle drivers or machine operators
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/101 using cameras with adjustable capturing direction
• CPC Class Codes: B60R 2300/205 using a head-up display
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/408 using a data bus
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: B60R 2300/8093 for obstacle warning

Abstract

A driver'"'"'s gaze distribution is detected. Based on the detected distribution, an image corresponding to a driver'"'"'s visual-field is extracted from images photographed by a front monitor camera and is accumulated. A first driver'"'"'s gaze probability distribution necessary for steering operation is computed based on the accumulated images, and a second driver'"'"'s gaze probability distribution that is expected is computed based on visual characteristics within the images. An ideal gaze probability distribution is obtained by adding up the first and the second probability distributions. Presence of a risk is determined when the difference between the driver'"'"'s gaze and the ideal gaze probability distribution becomes a given threshold. A windshield display or a speaker outputs the determined result.

Claims

1. A driving assistance system provided in a vehicle that a driver operates, the system comprising:

a detection unit that detects a distribution of a driver'"'"'s gaze;

an ideal computation unit that computes an ideal probability distribution of a driver'"'"'s gaze, from the distributions detected in a past and information, wherein the information is derived from the vehicle and a periphery surrounding the vehicle, the ideal computation unit including

an imaging unit that obtains image information ahead of the vehicle;

a visual-field-image accumulation unit that accumulates image information corresponding to a driver'"'"'s visual-field from the obtained image information and the detected distributions;

a first computation unit that computes a probability distribution of a driver'"'"'s gaze required for steering operation for traveling a road after obtaining a shape of the road from the accumulated image information, to thereby output a first result;

a second computation unit that computes a probability distribution of a driver'"'"'s gaze expected from a visual characteristic of the accumulated image information, to thereby output a second result; and

an addition unit that adds up the outputted first result and the outputted second result to thereby obtain the ideal gaze probability distribution;

a risk determination unit that determines presence of a risk when a difference between the detected distribution and the computed ideal probability distribution exceeds a given threshold; and

an output unit that outputs a result determined by the risk determination unit.

2. The driving assistance system of claim 1,

wherein the visual-image accumulation unit retains an elapsed period that elapses since the image information is updated with respect to each position on which a driver'"'"'s gaze is, and

wherein the first computation unit computes the probability distribution by using the retained elapsed period so that the updated image information with respect to each position obtains a greater value as the updated image information becomes older.

3. The driving assistance system of claim 1,

wherein the first computation unit computes the probability distribution of the driver'"'"'s gaze required for the steering operation using the image information ahead of the vehicle obtained by the imaging unit, instead of the accumulated image information.

4. The driving assistance system of claim 1,

wherein the first computation unit further obtains map information and computes the probability distribution of the driver'"'"'s gaze required for the steering operation additionally using the obtained map information.

5. The driving assistance system of claim 1,

wherein the visual characteristic used by the second computation unit includes at least one of a luminance, a color saturation, an edge strength, a color difference, and an optical flow.

6. The driving assistance system of claim 1,

wherein the risk determination unit determines the presence of the risk with respect to each of a plurality of regions, and designates as a not-cared region a given region where a difference between the detected distribution and the computed probability distribution exceeds the given threshold, and

wherein the output unit outputs information for distinguishing the designated not-cared region.

7. The driving assistance system of claim 6,

wherein the output unit includes a windshield display for indicating a marker, and the output unit causes the windshield display to indicate the marker so that the designated not-cared region is seen forward of the indicated marker from a viewpoint of the driver.

8. The driving assistance system of claim 7,

wherein, when the output unit causes the windshield display to indicate the marker, the visual characteristic for the indicated marker is changed based on the difference between the detected distribution and the computed probability distribution.

9. The driving assistance system of claim 6,

wherein the output unit includes a speaker and the output unit causes the speaker to output an alarm so that the alarm is outputted from a direction of the designated not-cared region.

10. The driving assistance system of claim 9,

wherein, when the output unit causes the speaker to output the alarm, an auditory characteristic for the outputted alarm is changed based on the difference between the detected distribution and the computed probability distribution.

11. The driving assistance system of claim 6,

wherein the output unit includes a speaker and the output unit causes the speaker to output an alarm that causes the driver to recognize the designated not-cared region.