Apparatus for controlling speed of mobile object

• US 8,489,252 B2
• Filed: 08/22/2011
• Issued: 07/16/2013
• Est. Priority Date: 08/23/2010
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Inou, Hiroshi, Sawada, Mamoru, Totsuka, Seiji
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US13/199,199
• Publication Number:
  US 20120046803A1
• Time in Patent Office: 694 Days
• Field of Search: 701/1, 701/41, 701/42, 701/93, 701/96, 701/65, 701/300, 701/301, 701/514, 382/104
• US Class Current: 701/1
• CPC Class Codes: A61B 3/113 for determining or recording eye movement
• CPC Class Codes: A61B 5/163 by tracking eye movement, gaze, or pupil change
• CPC Class Codes: A61B 5/18 for vehicle drivers or machine operators
• CPC Class Codes: B60W 2540/22 Psychological state; Stress level or workload
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G06V 20/597 Recognising the driver's state or behaviour, e.g. attention or drowsiness
• CPC Class Codes: G06V 40/19 Sensors therefor

Abstract

In an obtainer for obtaining speed feeling of a driver of a movable object, a gaze point setter sets a gaze point of the driver, and a motion detector detects relative motion of an environmental field around the mobile object with respect to the mobile object. A divergent component calculator projects the relative motion of the environmental field in a coordinate system. The coordinate system is formed by modeling a retina sphere of the driver of the mobile object. The divergent calculator calculates each of divergent components of the projected relative motion of the environmental field radially expanding from the gaze point. A speed feeling calculator calculates speed feeling of the driver based on the divergent components of the projected relative motion of the environmental field radially expanding from the gaze point calculated by the divergent component calculator.

Claims

1. A speed control apparatus comprising:

a gaze point setter that sets a gaze point of a driver of a mobile object;

a motion detector that detects motion of an environmental field around the mobile object with respect to the driver of the mobile object;

a divergent component calculator that;

projects the motion of the environmental field in a coordinate system, the coordinate system being formed by modeling a retina sphere of the driver of the mobile object, and

calculates each of divergent components of the projected motion of the environmental field radially expanding from the gaze point;

a total calculator that calculates a total of a number of the divergent components of the projected motion of the environmental field, the number of the divergent components being included in a predetermined area containing the gaze point; and

a speed controller that controls the speed of the mobile object such that the total of the number of the divergent components of the projected motion of the environmental field is substantially kept constant.

2. The speed control apparatus according to claim 1, wherein the mobile object has a windshield, and the predetermined area is determined to correspond to the area of a windshield of the mobile object.

3. The speed control apparatus according to claim 2, wherein the motion detector comprises:

a road map storing unit that stores therein a road map;

a current position detector that detects a current position of the vehicle; and

a vehicle-motion detector that detects motion of the vehicle in a lateral direction of the vehicle, and detects motion of the vehicle in a vertical direction of the vehicle,

wherein the motion detector detects relative motion of each of the plurality of points with respect to the mobile object in a virtual running environmental field based on the detected motion of the vehicle in the lateral direction and the detected motion of the vehicle in the vertical direction, the virtual running environmental field being defined based on the road map and the detected current position of the vehicle.

4. The speed control apparatus according to claim 1, wherein the motion detector comprises an object detector that detects positions of objects existing in the environmental field around the mobile object as the environmental field, the motion detector detecting the motion of the environmental field with respect to the driver of the mobile object based on a detected position of a stationary object in the positions detected by the object detector.

5. The speed control apparatus according to claim 1, wherein the gaze point setter sets, as the gaze point, a point of the projected motion of the environmental field, when the motion of the environmental field detected by the motion detector is projected in the coordinate system formed by modeling the retina sphere of the driver of the mobile object, the projected motion of the environmental field being minimized at the point set as the gazes point.

6. The speed control apparatus according to claim 1, further comprising a driver camera that picks up an image of the driver, the image including an eye of the driver, wherein the gaze point setter analyzes the image including the eye of the driver picked up by the driver camera, thus setting the gaze point.

7. The speed control apparatus according to claim 1, further comprising a front camera that successively picks up images in a travelling direction of the vehicle, wherein the gaze point setter sets the gaze point based on optical flows in the picked-up images by the front camera.

8. The speed control apparatus according to claim 1, wherein the speed controller is configured to start control of the speed of the mobile object in response to when an instruction is inputted by the driver of the mobile object, set, as a target value, a value of the total of the number of the divergent components of the projected motion of the environmental field calculated by the total calculator when the instruction is inputted by the driver of the mobile object, and control the speed of the mobile object such that:

a value of the total of the number of the divergent components of the projected motion of the environmental field calculated by the total calculator after calculation of the target value is substantially matched with the target value.

9. The speed control apparatus according to claim 8, wherein, after the start of control of the speed of the mobile object, the speed controller updates the target value according to when change of the speed of the mobile object is carried out by the driver.

10. The speed control apparatus according to claim 8, wherein, when a speed adjusting member for adjusting the speed of the mobile object is operated by the driver after the start of control of the speed of the mobile object, the speed controller adjusts the speed of the mobile object to be one of a value of the speed controlled by itself and a value of the speed based on the operation of the speed adjusting member.

11. The speed control apparatus according to claim 1, wherein the motion detector sets a plurality of points in the predetermined area, and detects motion of each of the plurality of points with respect to the mobile object with respect to the mobile object as the relative motion of the environmental field around the mobile object.

12. The speed control apparatus according to claim 11, wherein the mobile object has a windshield, and the predetermined area is determined to correspond to an area of the windshield of the mobile object.

13. The speed control apparatus according to claim 11, wherein the motion detector comprises:

a road map storing unit that stores therein a road map;

a current position detector that detects a current position of the vehicle; and

a vehicle-motion detector that detects motion of the vehicle in a lateral direction of the vehicle, and detects motion of the vehicle in a vertical direction of the vehicle,

wherein the motion detector detects relative motion of each of the plurality of points with respect to the mobile object in a virtual running environmental field based on the detected motion of the vehicle in the lateral direction and the detected motion of the vehicle in the vertical direction, the virtual running environmental field being defined based on the road map and the detected current position of the vehicle.

14. The speed control apparatus according to claim 11, wherein the motion detector comprises an object detector that detects positions of objects existing in the environmental field around the mobile object as the environmental field, the motion detector detecting the motion of the environmental field with respect to the driver of the mobile object based on a detected position of a stationary object in the positions detected by the object detector.

15. The speed control apparatus according to claim 11, wherein the gaze point setter sets, as the gaze point, a point of the projected motion of the environmental field, when the motion of the environmental field detected by the motion detector is projected in the coordinate system formed by modeling the retina sphere of the driver of the mobile object, the projected motion of the environmental field being minimized at the point set as the gazes point.

16. The speed control apparatus according to claim 11, further comprising a driver camera that picks up an image of the driver, the image including an eye of the driver, wherein the gaze point setter analyzes the image including the eye of the driver picked up by the driver camera, thus setting the gaze point.

17. The speed control apparatus according to claim 11, further comprising a front camera that successively picks up images in a travelling direction of the vehicle, wherein the gaze point setter sets the gaze point based on optical flows in the picked-up images by the front camera.

18. The speed control apparatus according to claim 11, wherein the speed controller is configured to start control of the speed of the mobile object in response to when an instruction is inputted by the driver of the mobile object, set, as a target value, a value of the total of the number of the divergent components of the projected motion of the environmental field calculated by the total calculator when the instruction is inputted by the driver of the mobile object, and control the speed of the mobile object such that:

a value of the total of the number of the divergent components of the projected motion of the environmental field calculated by the total calculator after calculation of the target value is substantially matched with the target value.

19. The speed control apparatus according to claim 18, wherein, after the start of control of the speed of the mobile object, the speed controller updates the target value according to when change of the speed of the mobile object is carried out by the driver.

20. The speed control apparatus according to claim 18, wherein, when a speed adjusting member for adjusting the speed of the mobile object is operated by the driver after the start of control of the speed of the mobile object, the speed controller adjusts the speed of the mobile object to be one of a value of the speed controlled by itself and a value of the speed based on the operation of the speed adjusting member.