Impaired operation detection method

• US 8,521,357 B2
• Filed: 04/26/2010
• Issued: 08/27/2013
• Est. Priority Date: 04/26/2010
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd., Virginia Tech Intellectual Properties, Inc.
• Original Assignee: Nissan Motor Co., Ltd., Nissan North America Incorporated (Nissan Motor Co., Ltd.), Virginia Tech Intellectual Properties, Inc.
• Inventors: McLaughlin, Shane, Tsuda, Hiroshi, Hankey, Jon, Yamamura, Tomohiro, Kuge, Nobuyuki
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): ALHARBI, ADAM MOHAMED
• Application Number:
  US12/767,385
• Publication Number:
  US 20110264325A1
• Time in Patent Office: 1,219 Days
• Field of Search: None
• US Class Current: 701/36
• CPC Class Codes: B60T 2220/02 Driver type; Driving style; Driver adaptive features
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2040/0827 due to sleepiness
• CPC Class Codes: B60W 2050/005 Sampling
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: G08B 21/06 indicating a condition of sleep, e.g. anti-dozing alarms

Abstract

An impaired operation detection method is basically performed by sensing a yaw rate of a vehicle over a time period. Then time points are identified in which the yaw rate changes direction. A linear rate of change in the yaw rate is determined between two of the time points that are sequential in time. An actual rate of change is examined between the two time points. A difference between the actual rate of change and the linear rate of change to obtain a difference value. Then, the operator'"'"'s impairment condition is determined based on the difference value.

Claims

1. An impaired operation detection method comprising:

sensing a yaw rate of a vehicle over a time period;

identifying time points of the time period in which the yaw rate changes direction;

determining a linear rate of change in the yaw rate between two of the time points that are sequential in time;

examining an actual rate of change in the yaw rate occurring between the two of the time points;

determining a difference between the actual rate of change and the linear rate of change to obtain a difference value; and

determining an operator'"'"'s impairment condition based on the difference value.

2. The impaired operation detection method according to claim 1, wherein

the determining of the difference between the actual rate of change and the linear rate of change includes determining a time difference between a first time when the actual rate of change is at a first value and a second time when the linear rate of change is at the first value to obtain the difference value as a time difference value;

and

the determining the operator'"'"'s impairment condition includes determining the operator'"'"'s impairment condition based on the time difference value.

3. The impaired operation detection method according to claim 2, wherein

the identifying of the time points includes identifying the time points that correspond to a local maximum yaw rate value and a local minimum yaw rate value.

4. The impaired operation detection method according to claim 3, wherein

the identifying of the time points includes identifying a plurality of time points that correspond to a plurality of the local maximum yaw rate values and a plurality of time points that correspond to a plurality of the local minimum yaw rate values;

the determining of the linear rate of change in the yaw rate includes determining the linear rate of change in the yaw rate between sequential ones of the local maximum and minimum yaw rate values;

the examining of the actual rate of change in the yaw rate includes examining the actual rate of change in the yaw rate between sequential ones of the local maximum and minimum yaw rate values;

the determining of the time difference includes determining, between respective sequential ones of the local maximum and local minimum yaw rate values, a respective difference between a respective first time when the actual rate of change is at a respective first value and a respective second time when the linear rate of change is at the respective first value, to obtain a plurality of the time difference values; and

the determining of the operator'"'"'s impairment condition based on several of the time difference values.

5. The impaired operation detection method according to claim 4, wherein

the determining of the time difference includes identifying when one of the respective actual rates of change is occurring earlier than the associated linear rate of change or later than the associated linear rate of change.

6. The impaired operation detection method according to claim 1 wherein

the yaw rate includes a left yaw rate component representing a leftward yaw rate direction of the vehicle and a right yaw rate component representing a rightward yaw rate direction of the vehicle.

7. The impaired operation detection method according to claim 4, wherein

the determining of the time difference includes subtracting respective first time values representing the respective first times from corresponding second time values representing the respective second times to obtain the time difference values.

8. The impaired operation detection method according to claim 7, wherein

the time difference values that have a positive value represent a lead condition in which the actual rate of change occurs earlier than the linear rate of change for corresponding segments between sequential ones of the local maximum and minimum yaw rate values, and

the time difference values that have a negative value represent a lag condition in which the actual rate of change occurs later than the linear rate of change between sequential ones of the local maximum and minimum yaw rate values.

9. The impaired operation detection method according to claim 8, wherein

the determining of the operator'"'"'s impairment condition includes counting the lead and lag conditions occurring in the time period, and evaluating the operator'"'"'s impairment condition based on a total number of the lead and lag conditions that were counted.

10. The impaired operation detection method according to claim 9, wherein

the counting of the lead and lag conditions occurring in the time period includes only counting the lead and lag conditions in which the time difference values exceed a prescribed threshold.

11. The impaired operation detection method according to claim 9, further comprising

providing an alert to an operator of the vehicle when the number of the time difference values exceeds a first amount.

12. The impaired operation detection method according to claim 11, further comprising

applying a countermeasure that includes at least one of exerting a control over the vehicle and sending information to a location external of the vehicle in response to the number of the time difference values exceeding a second amount that is greater than the first amount.

13. The impaired operation detection method according to claim 11, wherein

the alert includes at least one of an audio alert, a visual alert and a tactile alert.

14. The impaired operation detection method according to claim 4, wherein

the determining of the operator'"'"'s impairment condition includes comparing the time difference values to at least one threshold value and evaluating the operator'"'"'s impairment condition based on a number times that the time difference values exceed the at least one threshold.

15. The impaired operation detection method according to claim 1, wherein

the sensing of the yaw rate includes receiving information from a yaw rate detector on the vehicle.

16. The impaired operation detection method according to claim 1, wherein

the determining of the operator'"'"'s impairment condition further includes using additional information that includes at least one of:

a detected wobble condition of the vehicle,

a detected operator facial expression,

a detected operator attentiveness, and

a detected presence of alcohol in a passenger compartment of the vehicle.

17. The impaired operation detection method according to claim 4, wherein

the determining of the operator'"'"'s impairment condition includes comparing the time difference values in a first group having the actual rates of change earlier than corresponding ones of the linear rates of change to a lead threshold, and comparing the time difference values in a second group having the actual rates of change later than corresponding ones of the linear rates of change to a lag threshold, and evaluating the operator'"'"'s impairment condition based on a number of times that the time difference values exceed the lead and lag thresholds.

18. The impaired operation detection method according to claim 1, wherein

the difference determining includes determining the difference as a maximum difference between the actual rate of change and the linear rate of change.

19. The impaired operation detection method according to claim 1, wherein

the yaw rate sensing, time point identifying, linear rate of change determining, actual rate of change examining, difference determining and operator'"'"'s impairment condition determining are performed while the operator is operating the vehicle.

20. The impaired operation detection method according to claim 1, further comprising:

receiving and storing data representing the yaw rate sensed during the yaw rate sensing at a location off the vehicle; and

wherein the time point identifying, linear rate of change determining, actual rate of change examining, difference determining and operator'"'"'s impairment condition determining are performed based on the data after the storing of the data.

21. An impaired operation detection system comprising:

a sensor configured to sense a yaw rate of a vehicle over a time period; and

a controller configured to receive a signal indicative of the yaw rate of the vehicle,

the controller being further configured to

identify time points of the time period in which the yaw rate changes direction based on the signal from the sensor;

determine a linear rate of change in the yaw rate between two of the time points that are sequential in time,

examine an actual rate of change in the yaw rate occurring between the two of the time points,

determine a difference between the actual rate of change and the linear rate of change to obtain a difference value, and

determine an operator'"'"'s impairment condition based on the difference value.

22. The impaired operation detection system according to claim 21, wherein

the controller determines the difference by determining a difference between a first time when the actual rate of change is at a first value and a second time when the linear rate of change is at the first value to obtain the difference value as a time difference value, and determines the operator'"'"'s impairment condition based on the time difference value.

23. The impaired operation detection system according to claim 21, wherein

the controller is configured to identify the time points, determine the linear rate of change, examine the actual rate of change, determine the difference and determine the operator'"'"'s impairment while the operator is operating the vehicle.

24. The impaired operation detection system according to claim 21, wherein:

the controller is disposed at a location off the vehicle, and is configured to control storing of data representative of the signal indicative of the yaw rate of the vehicle at the location off the vehicle; and

the controller is configured to identify the time points, determine the linear rate of change, examine the actual rate of change, determine the difference and determine the operator'"'"'s impairment based on the data after storing the data.