Driver assistance system and driver assistance method for vehicle

Abstract

The invention relates to a driver assistance system for a vehicle, in particular a motor vehicle. The driver assistance system comprises at least one driver detection module configured to detect a driver and provide detection data; and at least one processor module. The at least one processor module is arranged to: identify a plurality of individual gaze directions of the driver away from the reference gaze direction based on the detected data; and determining a respective gaze duration for each of the plurality of single gazes; identifying a change in gaze duration over time and relative to a threshold; at least one vehicle function is controlled on the basis of the identified change in the gaze duration.

Description

Technical Field

[0001] The present disclosure relates to a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. The present disclosure relates in particular to avoiding a negative behavior adaptation of a driver to a function of a driver monitoring system. Background Art

[0002] Driver monitoring systems (DMS) are increasingly being installed in modern cars. They monitor the driver via an in-car camera and output a warning if the driver takes their eyes off the road for too long, for example. Such driver monitoring systems are intended to improve road safety.

[0003] However, over time, the driver can adapt his behavior to the driver monitoring system, for example, his gaze behavior to the threshold at which the driver monitoring system outputs a warning. For example, the driver can get used to the output of a warning after three seconds and increasingly use the time before the warning is output. As a result, over time, the driver can look away from the road for longer and longer periods of time, which can lead to dangerous situations on the road. Summary of the invention

[0004] The object of the present disclosure is to provide a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a driver assistance method for a vehicle and a storage medium for executing the driver assistance method, which can prevent a negative behavioral adaptation of the driver to a driver-monitored function. In particular, the object of the present disclosure is to increase road safety by avoiding critical situations caused by driver behavior.

[0005] This object is achieved by the subject matter of the independent claim. Advantageous embodiments are given in the dependent claims.

[0006] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is provided. The driver assistance system comprises at least one driver detection module, which is configured to detect a driver and provide detection data; and at least one processor module. The at least one processor module is configured to identify a plurality of individual gazes of the driver away from a reference gaze direction based on the detection data; determine a corresponding gaze duration for each of the plurality of individual gazes; identify a change in the gaze duration over time and relative to a threshold; and control at least one vehicle function based on the identified change in the gaze duration.

[0007] The at least one driver detection module and the at least one processor module may be implemented in a common software and / or hardware module. Alternatively, the at least one driver detection module and the at least one processor module may be implemented in separate software and / or hardware modules, respectively.

[0008] According to the invention, the driver's gaze duration is monitored, for example, away from the road. If a change in the gaze duration is detected, for example due to an adaptation of the gaze duration to a threshold value for outputting driver instructions or warnings, appropriate countermeasures can be taken. For example, the threshold value for outputting driver instructions can be changed so that the driver can no longer rely on driver instructions output after a certain time. It can thus be ensured that a negative adaptation of the driver's function to the driver assistance system does not occur. As a result, safety in road traffic can be improved.

[0009] Preferably, at least one driver detection module comprises at least one sensor, and this sensor is arranged to detect the driver and provide detection data.At least one sensor can be an optical sensor, such as a camera, especially an in-car camera.Alternatively, at least one driver detection module can comprise at least one light source.In some embodiments, the light source can be an infrared light source, and at least one sensor can be an infrared sensor, such as an infrared camera.

[0010] At least one processor module is configured to analyze and evaluate detection data, such as image data, provided by at least one driver detection module. By analyzing and evaluating the detection data, in particular the driver's gaze direction can be detected or determined.

[0011] At least one processor module determines whether the driver's gaze direction deviates from the reference gaze direction. Preferably, the reference gaze direction is the gaze direction towards the lane located in front of the vehicle. If the driver's gaze direction deviates from the reference gaze direction, i.e. when the driver watches away from the road, then this event can be identified as a single watch with a definite watch duration. Here, the watch duration can indicate how long the driver has not looked towards the reference gaze direction, or how long the driver has looked away from the reference gaze direction.

[0012] At least one processor module determines whether there is a change in the gaze duration over time and about a threshold value. In particular, the processor module can determine whether the gaze duration approaches the threshold value over time, i.e. as a sequence of individual gazes away from a reference gaze direction. If such a change in the gaze duration is detected, the processor module controls at least one vehicle function to counteract the identified change, which indicates a negative behavioral adaptation of the driver to the function of the driver assistance system.

[0013] If the change in gaze duration meets at least one predetermined criterion, the change can be detected and / or at least one vehicle function can be controlled. The at least one predetermined criterion can be selected from the group consisting of: a direction of the change in gaze duration relative to a threshold value (e.g., the gaze duration is in the direction of the threshold value, i.e., close to the threshold value), a rate of change of gaze duration (e.g., a speed of change of gaze duration), and a distance to the threshold value (e.g., an estimated time until the threshold value is approximately reached and / or a relative distance to the threshold value (e.g., in percentage of the threshold value; e.g., 10% or less, or 20% or less) and / or an absolute distance to the threshold value (e.g., in seconds)), or consists thereof.

[0014] Preferably, at least one vehicle function involves or outputs a driver instruction to the driver. In some embodiments, the driver assistance system can be configured to monitor the driver and output the driver instruction based on the monitoring. For example, the driver assistance system can react to a risky behavior of the driver and indicate to the driver that a dangerous situation in road traffic can be actively prevented.

[0015] The driver indication is preferably a warning indication, in particular an indication which is related to a driver behavior detected by a driver assistance system, such as, for example, looking away from the road for an increasing period of time.

[0016] The temporal variation of the fixation duration is determined with respect to a threshold value. For example, the threshold value may be three seconds, wherein it can be determined whether the fixation duration approaches the threshold value over time. If the fixation duration approaches the threshold value over time, a negative behavioral adaptation of the driver to the function of the driver assistance system can be effectively counteracted by actuating at least one vehicle function.

[0017] Preferably, the threshold value indicates a time interval between the driver's gaze shifting away from a reference gaze direction (e.g., the road) and the actuation of at least one vehicle function, in particular the output of a driver instruction. In particular, the driver assistance system may be configured to output a driver instruction to the driver if the driver's gaze direction deviates from the reference gaze direction during driving for a predetermined time or longer (i.e., a time corresponding to the threshold value). In particular, the driver assistance system may compare the reference gaze direction with the driver's gaze direction and output a driver instruction when the driver does not gaze in the reference gaze direction for a time longer than the time corresponding to the threshold value.

[0018] Preferably, the threshold value is two seconds or longer, three seconds or longer or four seconds or longer. In certain embodiments, the threshold value can be three seconds.

[0019] Preferably, at least one processor module is further configured to change the threshold from a first value to a second value different from the first value when a change in the gaze duration is detected, in particular when at least one criterion regarding the change is met. For example, when the gaze duration changes in the direction of the threshold, at least one processor module may be configured to change the threshold from a first value to a second value. In other words, the threshold may be changed, for example, for outputting a driver indication, to counteract a behavioral adaptation of the driver to an initially determined warning threshold.

[0020] The second value is preferably greater than the first value (eg, three seconds). Alternatively, the second value may be less than the first value (eg, three seconds).

[0021] Preferably, at least one processor module is arranged to randomly select the second value from a predetermined range of values. For example, the predetermined range of values ​​may be a range between 2 seconds and 4 seconds. In addition or alternatively, the predetermined range of values ​​may be given by a normal distribution of single fixations away from the road as a function of fixation duration, for example between two seconds and four seconds.

[0022] In addition or alternatively, at least one processor module can also be configured to select the second value based on the driver's historical gaze duration. For example, the driver assistance system can be configured to determine the distribution of single gazes away from the road as a function of the gaze duration, wherein the second value can be selected, for example randomly, from the historical distribution of the individual driver.

[0023] In some embodiments, the historical distribution of individual drivers can be determined by the driver when starting to use the vehicle and / or driver assistance system. For example, the historical distribution of individual drivers can be obtained before activating and / or using driver monitoring and / or outputting driver instructions ("learning phase").

[0024] Preferably, at least one processor module is further configured to change the threshold value from the second value back to the first value when a reverse change in the fixation duration is detected. In particular, it can be checked whether the accumulation of fixation durations around the initial threshold value is regressing within a defined time period. If this is the case, the initial threshold value (e.g. three seconds) can be adopted again. The driver assistance system can then monitor the movement of the fixation duration towards the threshold value again.

[0025] According to another independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is disclosed, and includes a driving assistance system according to an embodiment of the present disclosure.

[0026] The term vehicle includes passenger cars, trucks, buses, caravans, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport passengers.

[0027] According to another independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is provided. The driver assistance method includes identifying a plurality of individual gazes of a driver away from a reference gaze direction; determining a gaze duration for each of the plurality of individual gazes; identifying a change in the gaze duration over time and relative to a gaze duration threshold; and controlling at least one vehicle function based on the identified change in the gaze duration.

[0028] The driver assistance method may implement aspects of the driver assistance system described herein.

[0029] According to another independent aspect of the present disclosure, a software (SW) program is provided. The software program can be configured to be executed on one or more processors, and to thereby perform the driver assistance method described herein.

[0030] According to another independent aspect of the present disclosure, a storage medium is disclosed. The storage medium may include a SW program, and the SW program is configured to be executed on one or more processors, so as to thereby execute the driver assistance method described herein.

[0031] According to another independent aspect of the present disclosure, there is software having a program code for executing a driver assistance method when the software is run on one or more software-controlled devices.

[0032] According to another independent aspect of the present disclosure, a system for driver monitoring is disclosed. The system includes one or more processors; and at least one memory connected to the one or more processors, the memory containing instructions that can be executed by the one or more processors to perform the driver assistance method described herein.

[0033] A processor or processor module is a programmable computing unit, ie a machine or an electronic circuit which controls other components according to transmitted instructions and thereby drives algorithms (processes). BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Embodiments of the present disclosure are shown in the accompanying drawings and will be described in more detail below. The accompanying drawings show:

[0035] Figure 1 Schematically illustrates a driver assistance system according to an embodiment of the present disclosure;

[0036] Figure 2 A vehicle having a driver assistance system according to an embodiment of the present disclosure is schematically shown, and

[0037] Figure 3 A flowchart of a driver assistance method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0038] In the following, identical and similarly acting elements are provided with the same reference symbols unless otherwise indicated.

[0039] Figure 1 A driver assistance system 100 for a vehicle according to an embodiment of the present disclosure is schematically shown. Figure 2 A vehicle 10 having a driver assistance system 100 according to an embodiment of the present disclosure is schematically shown.

[0040] The driver assistance system 100 includes at least one driver detection module 110 and at least one processor module 120. The at least one driver detection module 110 and the at least one processor module 120 may be implemented in a common software and / or hardware module. Alternatively, the at least one driver detection module 110 and the at least one processor module 120 may be implemented in different software and / or hardware modules, respectively.

[0041] At least one driver detection module 110 is configured to detect a driver. In particular, the driver assistance system 100 may be configured to monitor the driver and output a driver indication based on the monitoring. For example, the driver indication may be acoustically output via a speaker 130 of a user interface module of the driver assistance system. The driver indication is preferably a warning indication, in particular a warning indication related to a driver behavior detected by the at least one driver detection module 110, such as looking away from a vehicle in front of the driver for a long time.

[0042] In some embodiments, at least one driver detection module 110 may include at least one sensor 112, which may be configured to detect the driver, for example, optically. At least one sensor 112 may be an optical sensor, such as a camera, in particular an in-car camera. Optionally, at least one driver detection module 110 may include at least one light source. In an exemplary embodiment, the light source may be an infrared light source, and at least one sensor 112 may be an infrared sensor, such as an infrared camera.

[0043] The at least one processor module 120 is configured to analyze and evaluate detection data, such as image data, provided by the at least one driver detection module 110. In particular, the at least one processor module 120 is configured to identify a plurality of individual gazes of the driver away from a reference gaze direction based on the detection data; determine a corresponding gaze duration for each of the plurality of individual gazes; identify a change in the gaze duration over time and relative to a threshold; and control at least one vehicle function based on the identified change in the gaze duration.

[0044] For example, at least one processor module 120 determines whether the driver's gaze direction deviates from the reference gaze direction based on the detection data. Preferably, the reference gaze direction is the gaze direction towards the road in front of the vehicle. If the driver's gaze direction deviates from the reference gaze direction, that is, if the driver gazes away from the road, then the event can be identified as a single gaze with a determined gaze duration. Here, the gaze duration can indicate how long the driver has not looked towards the reference gaze direction or how long the driver has looked away from the reference gaze direction.

[0045] The at least one processor module 120 also determines whether there is a change in the gaze duration over time and relative to a threshold. In particular, the at least one processor module 120 can determine whether the gaze duration approaches a threshold over time, i.e., as a series of individual gazes away from a reference gaze direction. If such a gaze duration change is identified, the at least one processor module 120 manipulates at least one vehicle function (e.g., a driver-indicated output) to counteract the identified change, which indicates a negative behavioral adaptation of the driver to the function of the driver assistance system 100.

[0046] If the change in the gaze duration satisfies at least one predetermined criterion, the change in the gaze duration can be identified and / or the manipulation of at least one vehicle function can be performed. The at least one predetermined criterion can be, for example, the direction of the change in the gaze duration relative to the threshold (e.g., the direction of the gaze duration toward the threshold, i.e., close to the threshold), the rate of change of the gaze duration (e.g., the speed of change of the gaze duration), the distance from the threshold (e.g., the relative distance from the threshold), etc.

[0047] In some embodiments, when a change in the duration of gaze is identified, at least one processor module 120 may change the threshold for outputting a driver indication from a first value (e.g., a fixed threshold of three seconds) to a second value (e.g., two seconds or four seconds). In particular, the threshold for outputting a driver indication may be changed to counteract the driver's behavioral adaptation to the threshold for outputting a warning.

[0048] In some embodiments, the second value can be randomly selected from a predetermined value range. The predetermined value range can be, for example, a normal distribution range between two seconds and four seconds. Supplementary or alternatively, the second value can be selected based on the historical gaze duration of the driver, especially the historical single gaze distribution of the individual driver.

[0049] In some embodiments, at least one processor module 120 is also configured to change the threshold for outputting the driver indication from the second value back to the (fixed) first value when recognizing the downward change of the gaze duration. In particular, it can be checked whether the gaze duration around the initial threshold is backward within a limited time period. If so, the initial fixed threshold (e.g., three seconds) can be adopted again. Then, the driver assistance system 100 can monitor the movement of the gaze duration to the threshold again.

[0050] Figure 3 The flowchart of the driver assistance method 300 according to the embodiment of the present disclosure is schematically shown. The driver assistance method 300 may be implemented by corresponding software executable by one or more processors (eg, CPU).

[0051] The driver assistance method 300 includes, in box 310, identifying multiple individual gazes of the driver away from a reference gaze direction; at box 320, determining a gaze duration for each of the multiple individual gazes; at box 330, identifying changes in the gaze duration over time and relative to a threshold; and in box 340, manipulating at least one vehicle function based on the identified changes in the gaze duration, such as outputting a driver instruction.

[0052] According to the invention, the duration of the driver's gaze, for example away from the road, is monitored. If a change in the duration of gaze is detected, for example because the duration of gaze is adapted to a threshold value for outputting driver instructions or warnings, appropriate countermeasures can be taken. For example, the threshold value for outputting driver instructions can be changed so that the driver can no longer rely on driver instructions output after a certain time. It can thus be ensured that no negative behavioral adaptation of the driver to the functions of the driver assistance system occurs. As a result, road traffic safety can be improved.

[0053] Although the present invention has been described and explained in detail by preferred embodiments, the present invention is not limited to the disclosed examples, and those skilled in the art may derive other changes therefrom without departing from the scope of the present invention. It is therefore apparent that there are a large number of possible changes. It should also be understood that the exemplary embodiments are only true examples and should not be interpreted as limiting the scope, application or configuration of the present invention in any way. On the contrary, the foregoing description and the description of the accompanying drawings enable those skilled in the art to specifically implement the exemplary embodiments, and those skilled in the art know that the disclosed inventive ideas may make various changes, such as in terms of function or structure. In the exemplary embodiments, the elements mentioned in the separate arrangement without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the specification.

Claims

1. A driver assistance system (100) for a vehicle, comprising: at least one driver detection module (110), the driver detection module being configured to detect a driver and provide detection data; At least one processor module (120), the processor module being configured to: identifying a plurality of individual gazes of the driver away from a reference gaze direction based on the detection data; determining a corresponding fixation duration for each individual fixation of the plurality of individual fixations; identifying changes in the fixation duration over time and relative to a threshold; as well as At least one vehicle function is actuated based on the detected change in the gaze duration.

2. The driver assistance system (100) according to claim 1, wherein the at least one vehicle function relates to or outputs a driver instruction to the driver.

3. A driver assistance system (100) according to claim 1 or 2, wherein the threshold value indicates a time interval between the driver shifting his gaze away from the reference gaze direction and operating the at least one vehicle function, in particular, outputting the driver instruction.

4. A driver assistance system (100) according to any one of claims 1 to 3, wherein the at least one processor module (120) is further configured to change the threshold from a first value to a second value different from the first value when the change in the gaze duration is identified.

5. The driver assistance system (100) according to claim 4, wherein the at least one processor module (120) is configured to change the threshold from the first value to the second value when the gaze duration changes in the direction of the threshold.

6. The driver assistance system (100) according to claim 4 or 5, wherein the at least one processor module (120) is configured to: randomly selecting the second value from a predetermined range of values; and / or The second value is selected based on a historical gaze duration of the driver.

7. A driver assistance system (100) according to any one of claims 4 to 6, wherein the at least one processor module (120) is further configured to change the threshold value from the second value back to the first value when a decreasing change in the gaze duration is identified.

8. A vehicle (10), in particular a motor vehicle, comprising a driver assistance system (100) according to any one of claims 1 to 7.

9. A driver assistance method (300) for a vehicle, comprising: identifying (310) a plurality of individual gazes of the driver away from a reference gaze direction; determining (320) a fixation duration for each individual fixation of the plurality of individual fixations; identifying (330) changes in the fixation duration over time and relative to a threshold; as well as At least one vehicle function is operated (340) based on the identified change in the gaze duration.

10. A storage medium comprising a software program, which is configured to be executed on one or more processors and in order thereby to perform the driver assistance method (300) according to claim 9.

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