Inattentive state determination device and method of determining inattentive state

• US 8,665,099 B2
• Filed: 10/16/2008
• Issued: 03/04/2014
• Est. Priority Date: 10/16/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation), University of Tokyo
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation), University of Tokyo
• Inventors: Namba, Toshiyuki, Sekiyama, Hiroaki, Oe, Yoshihiro, Sato, Yoichi, Suda, Yoshihiro, Suzuki, Takahiro, Yamaguchi, Daisuke, Kumano, Shiro, Okamoto, Keisuke, Horiguchi, Kenichi
• Primary Examiner(s): Previl, Daniel
• Application Number:
  US12/738,576
• Publication Number:
  US 20100265074A1
• Time in Patent Office: 1,965 Days
• Field of Search: 340/576, 340/573.1, 340/904, 340901-903, 340/425.5, 340/436, 340/575, 340/435, 340/905, 340/438
• US Class Current: 340/576
• CPC Class Codes: G06F 18/251 of input or preprocessed data
• CPC Class Codes: G06F 18/295 Markov models or related models, e.g. semi-Markov models; Markov random fields; Networks embedding Markov models
• CPC Class Codes: G06V 10/803 of input or preprocessed data
• CPC Class Codes: G06V 10/85 Markov-related models; Markov random fields
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G06V 20/597 Recognising the driver's state or behaviour, e.g. attention or drowsiness
• CPC Class Codes: G08B 21/06 indicating a condition of sleep, e.g. anti-dozing alarms

Abstract

An inattentive state determination device includes an observed amount acquiring means for acquiring information on the driver'"'"'s line of sight and at least one of either information on driving operations or information on the traveling state as an observed amount; and an inattentive state determining means for determining the inattentive state of the driver based on the stochastic relationship between the inattentive state and the observed amount as well as the observed amount acquired by using the observed amount acquiring means. In addition, the inattentive state determining means calculates the probability that the driver is driving inattentively and determines that the driver is driving inattentively when the calculated probability exceeds a threshold.

Claims

1. An inattentive state determination device, comprising:

observed amount acquiring means for acquiring information on a driver'"'"'s line of sight and information on how the driver is operating the vehicle and information on how the vehicle is traveling as an observed amount; and

inattentive state determining means for determining an inattentive state of a driver based on the relationship between the inattentive state and the observed amount as well as on a current observed amount regarding information on driving operations and information on a traveling state acquired by using the observed amount acquiring means; and

based on a current observed amount regarding the driver'"'"'s line of sight acquired by using the observed amount acquiring means.

2. The inattentive state determination device according to claim 1, wherein the inattentive state determining means calculates a probability that the driver is driving inattentively and determines that the driver is driving inattentively when the calculated probability exceeds a threshold.

3. The inattentive state determination device according to claim 2, wherein the inattentive state determining means calculates the probability that the driver is driving inattentively by using a Bayesian network.

4. The inattentive state determination device according to claim 2, wherein the inattentive state determining means learns a transition model and an observation model in advance to calculate the probability that a driver is driving inattentively based on the transition model and observation model as well as the observed amount acquired by using the observed amount acquiring means.

5. The inattentive state determination device according to claim 2, further comprising:

inattentive state learning means for learning a transition model and an observation model, wherein

the inattentive state learning means learns the transition model and the observation model in advance, and

the inattentive state determining means calculates the probability that the driver is driving inattentively based on the transition model and the observation model, which are learned by the inattentive state learning means, and on the observed amount acquired by using the observed amount acquiring means.

6. The inattentive state determination device according to claim 5, wherein the inattentive state learning means learns the transition model and the observation model in advance using a driving simulator.

7. The inattentive state determination device according to claim 6, further comprising an input device into which a driver inputs whether the results of the determination of the inattentive state are correct or not, wherein, the inattentive state learning means learns the transition model and the observation model based on the results of the input device.

8. The inattentive state determination device according to claim 1, wherein the information on how the driver is operating the vehicle includes information on a steering angle, an amount of depression of the accelerator pedal, an amount of depression of the brake pedal, or turn signal operations.

9. The inattentive state determination device according to claim 1, wherein the information on how the vehicle is traveling includes the speed or the acceleration of the vehicle.

10. The inattentive state determination device according to claim 1, wherein the information on how the vehicle is traveling includes a distance between the vehicle and a centerline or an angle between the vehicle and a centerline.

11. The inattentive state determination device according to claim 1, wherein the information on how the vehicle is traveling includes information on ambient environment.

12. The inattentive state determination device according to claim 1, wherein the information on the driver'"'"'s line of sight includes an angle of inclination of a head of the driver.

13. The inattentive state determination device according to claim 1, wherein the observed amount acquiring means acquires a head yaw angle, which is a rotational angle around a vertical axis of a head of the driver, as the information on the driver'"'"'s line of sight.

14. The inattentive state determination device according to claim 1, further comprising a voice output device for outputting a sound for attention when the device determines that the driver is driving inattentively.

15. An inattentive state determination device, comprising:

an observed amount acquisition unit for acquiring information on a driver'"'"'s line of sight and information on how the driver is operating the vehicle or information on how the vehicle is traveling as an observed amount; and

inattentive state determining unit for determining an inattentive state of a driver based on the relationship between the inattentive state and the observed amount as well as on a current observed amount regarding information on driving operations and information on a traveling state acquired by using the observed amount acquiring unit; and

based on a current observed amount regarding the driver'"'"'s line of sight acquired by using the observed amount acquiring unit.

16. An inattentive state determination method, comprising:

acquiring information on a driver'"'"'s line of sight and information on how the driver is operating the vehicle and information on how the vehicle is traveling as an observed amount; and

determining an inattentive state of a driver based on a relationship between the inattentive state and the observed amount as well as an acquired observed amount regarding information on driving operations and information on a traveling state.