Visual field measurement method and movable body

Abstract

To measure a visual field according to a situation.SOLUTION: A method for identifying a visual field of a subject, comprises: a movement step of relatively moving a target with respect to the subject; and an identification step of identifying the visual field of the subject on the basis of a position of the target at a point in time when the subject directs a line of sight to the target relatively moving with respect to the subject.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a visual field measurement method and a moving object. [Background technology]

[0002] There is known a technology for providing driving assistance by utilizing the driver's visual field. Patent Document 1 describes a visual field test performed by irradiating the windshield with light. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-119428 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventors have discovered that the field of view for a moving target may differ from the field of view for a stationary target. Some aspects of the present invention aim to provide a technique for measuring the field of view depending on the situation. [Means for solving the problem]

[0005] According to some embodiments, there is provided a method for determining the field of view of a subject, the method comprising: a moving step of moving a target relative to the subject; and a determination step of determining the field of view of the subject based on the position of the target at the time the subject directs his or her gaze toward the target while it is moving relative to the subject. [Effects of the Invention]

[0006] According to some embodiments, the visual field can be measured in a context-sensitive manner. [Brief explanation of the drawings]

[0007] [Figure 1]FIG. 1 is a schematic diagram illustrating an example configuration of a vehicle according to some embodiments. [Figure 2] FIG. 1 is a flow diagram illustrating an example of a perimetry method according to some embodiments. [Figure 3] FIG. 10 is a schematic diagram illustrating an example of a test case according to some embodiments. [Figure 4] FIG. 10 is a schematic diagram illustrating an example of a test case according to some embodiments. [Figure 5] 1 is a schematic diagram illustrating an example field of view according to some embodiments. [Figure 6] FIG. 10 is a diagram illustrating an example of visual field information according to some embodiments. [Figure 7] FIG. 1 is a flow diagram illustrating an example of a driving assistance method according to some embodiments. [Figure 8] 1A and 1B are schematic diagrams illustrating examples of driving assistance situations according to some embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Furthermore, the same reference numerals are used for the same or similar components, and redundant explanations will be omitted.

[0009] <Control device and its application examples> FIG. 1 is a block diagram of a control device CNT according to some embodiments, and a schematic diagram of a vehicle V as an application example thereof. In FIG. 1, the vehicle V is shown in a plan view and a side view. The vehicle V of this embodiment is, as an example, a four-wheeled sedan-type passenger vehicle, and may be, for example, a parallel hybrid vehicle. The vehicle V is not limited to a four-wheeled passenger vehicle, but may also be a saddle-type vehicle (motorcycle, motor tricycle), or a large vehicle such as a truck or bus.

[0010] The control device CNT includes a controller 1, which is an electronic circuit that controls the vehicle V, including driving assistance for the vehicle V. The controller 1 includes multiple ECUs (Electronic Control Units). An ECU is provided, for example, for each function of the control device CNT. Each ECU includes a processor, such as a CPU (Central Processing Unit), a storage device such as a semiconductor memory, an interface with an external device, etc. The storage device stores programs executed by the processor and data used by the processor for processing, etc. The interface includes an input / output interface and a communication interface. Each ECU may include multiple processors, multiple storage devices, and multiple interfaces. The programs stored in the storage device may be installed in the control device CNT using a storage medium such as a CD-ROM and stored in the storage device. Additionally or alternatively, the programs stored in the storage device may be downloaded from an external server via wireless communication.

[0011] The controller 1 controls the drive (acceleration) of the vehicle V by controlling a power unit (power plant) 2. The power unit 2 is a traveling drive unit that outputs drive force to rotate the drive wheels of the vehicle V, and may include an internal combustion engine, a motor, and an automatic transmission. The motor can be used as a drive source to accelerate the vehicle V, and can also be used as a generator during deceleration, etc. (regenerative braking).

[0012] In this embodiment, the controller 1 controls the output of the internal combustion engine and the motor and shifts the gears of the automatic transmission in response to the driver's operation detected by the operation detection sensor 2a provided on the accelerator pedal AP and the operation detection sensor 2b provided on the brake pedal BP, and the vehicle speed of the vehicle V detected by the rotation speed sensor 2c. The automatic transmission is provided with a rotation speed sensor 2c that detects the rotation speed of the output shaft of the automatic transmission as a sensor that detects the running state of the vehicle V. The vehicle speed of the vehicle V can be calculated from the detection result of the rotation speed sensor 2c.

[0013] The controller 1 controls the braking (deceleration) of the vehicle V by controlling the hydraulic device 3. The driver's braking operation on the brake pedal BP is converted into hydraulic pressure in the brake master cylinder BM and transmitted to the hydraulic device 3. The hydraulic device 3 is an actuator that can control the hydraulic pressure of the hydraulic oil supplied to the brake devices 3a (e.g., disc brake devices) provided on each of the four wheels based on the hydraulic pressure transmitted from the brake master cylinder BM.

[0014] The controller 1 can control the braking of the vehicle V by controlling the driving of the solenoid valves and the like provided in the hydraulic device 3. The controller 1 can also configure an electric servo brake system by controlling the distribution of braking force by the brake device 3a and braking force by regenerative braking of the motor provided in the power unit 2. The controller 1 may also turn on the brake lamps 3b during braking.

[0015] The controller 1 controls the steering of the vehicle V by controlling the electric power steering device 4. The electric power steering device 4 includes a mechanism for steering the front wheels in response to the driver's driving operation (steering operation) with respect to the steering wheel ST. The electric power steering device 4 includes a drive unit 4a that generates a driving force (sometimes referred to as steering assist torque) for assisting the steering operation or for automatically steering the front wheels of the vehicle V. The drive unit 4a includes a motor as a drive source. The electric power steering device 4 also includes a steering angle sensor 4b that detects the steering angle, a torque sensor 4c that detects the steering torque borne by the driver (called steering burden torque, to be distinguished from steering assist torque), and the like.

[0016] The controller 1 controls an electric parking brake device 3c provided on the rear wheels of the vehicle V. The electric parking brake device 3c has a mechanism for locking the rear wheels. The controller 1 can control the electric parking brake device 3c to lock and unlock the rear wheels.

[0017] The controller 1 controls an information output device 5 that notifies the driver of information inside the vehicle. The information output device 5 includes, for example, a display device 5a that notifies the driver of information by image and / or an audio output device 5b that notifies the driver of information by audio. The display device 5a includes, for example, a display device provided on the instrument panel or a display device provided on the steering wheel ST. The display device 5a may also include a head-up display. The information output device 5 may notify the occupants of information by vibration or light.

[0018] The controller 1 receives instruction inputs from a passenger (e.g., the driver) via the input device 6. The input device 6 is arranged in a position operable by the driver, and includes, for example, a group of switches 6a through which the driver issues instructions to the vehicle V, and / or a turn signal lever 6b that activates a turn signal (blinker).

[0019] The controller 1 recognizes and determines the current position and course (attitude) of the vehicle V. In this embodiment, the vehicle V is provided with a gyro sensor 7a, a GNSS (Global Navigation Satellite System) sensor 7b, and a communication device 7c. The gyro sensor 7a detects the rotational motion (yaw rate) of the vehicle V. The GNSS sensor 7b detects the current position of the vehicle V. The communication device 7c wirelessly communicates with a server that provides map information and traffic information to acquire this information. Furthermore, the communication device 7c may read field of view information from a database 10. The field of view information is information used to estimate the field of view of the driver of the vehicle V. Details of the field of view information will be described later.

[0020] The controller 1 determines the route of the vehicle V based on the detection results of the gyro sensor 7a and the GNSS sensor 7b, and sequentially acquires map information related to the route from the server via the communication device 7c and stores it in a database 7d (storage device). The vehicle V may be provided with other sensors for detecting the state of the vehicle V, such as an acceleration sensor for detecting the acceleration of the vehicle V.

[0021] The controller 1 performs driving assistance for the vehicle V based on the detection results of various detection units provided in the vehicle V. The vehicle V is provided with surrounding detection units 8a to 8b, which are external sensors that detect the outside of the vehicle V (surrounding conditions), and interior detection units 9a to 9b, which are interior sensors that detect the conditions inside the vehicle (the conditions of the occupants (particularly the driver)). The controller 1 is able to grasp the surrounding conditions of the vehicle V based on the detection results of the surrounding detection units 8a to 8b, and perform driving assistance in accordance with the surrounding conditions. Furthermore, the controller 1 is able to determine, based on the detection results of the interior detection units 9a to 9b, whether the driver is performing the predetermined operational obligations imposed on the driver when driving assistance is performed.

[0022] The surroundings detection unit 8a is an imaging device that captures images in front of the vehicle V (hereinafter, sometimes referred to as the front camera 8a), and is attached, for example, to the inside of the passenger compartment of the windshield at the front of the roof of the vehicle V. The controller 1 can extract the contours of targets and lane markings (white lines, etc.) on the road by analyzing the images captured by the front camera 8a.

[0023] The surroundings detection unit 8b is a millimeter wave radar (hereinafter, may be referred to as radar 8b), and uses radio waves to detect targets around the vehicle V, and detect (measure) the distance to the target and the direction (azimuth) of the target relative to the vehicle V. In the example shown in FIG. 1, five radars 8b are provided: one in the center of the front of the vehicle V, one at each of the left and right corners of the front, and one at each of the left and right corners of the rear.

[0024] The surrounding detection unit installed in the vehicle V is not limited to the above configuration, and the number of cameras and the number of radars may be changed, or a lidar (Light Detection and Ranging: LIDAR) that detects targets around the vehicle V may be installed.

[0025] The in-vehicle detection unit 9a is an imaging device that captures images of the interior of the vehicle (hereinafter, sometimes referred to as in-vehicle camera 9a), and is attached, for example, to the inside of the vehicle cabin at the front of the roof of the vehicle interior V. In this embodiment, the in-vehicle camera 9a is a driver monitor camera that captures images of the driver (for example, the driver's eyes and face). The controller 1 can determine the driver's line of sight and facial direction by analyzing the image (image of the driver's face) captured by the in-vehicle camera 9a.

[0026] The in-vehicle detection unit 9b is a grip sensor that detects the driver's grip of the steering wheel ST (hereinafter, may be referred to as grip sensor 9b), and is provided, for example, on at least a part of the steering wheel ST. As the in-vehicle detection unit, a torque sensor 4c that detects the steering torque of the driver may be used.

[0027] <Visual field measurement method> A method for measuring a person's visual field according to some embodiments will be described with reference to Fig. 2. In the following description, a person whose visual field is being measured will be referred to as a subject, and a person measuring the visual field will be referred to as an measurer. The method of Fig. 2 may be performed for each of multiple subjects. Measurement of the visual field of one subject may also be performed by multiple measurers.

[0028] In the method of FIG. 2, the subject's visual field is measured in one test case. To start the method of FIG. 2, the subject guides the subject to a fixed position at the measurement location. The subject may remain in the same position without moving from the fixed position during the visual field measurement. Alternatively, the subject may continue to move during the visual field measurement. In this specification, when a description of an object moving is provided without specifying a reference, it means that the object moves relative to the ground. The subject may be standing upright, sitting in a chair, or walking during the visual field measurement. Alternatively, the subject's visual field may be measured while the subject is riding in a moving object such as a vehicle V. This allows the subject's visual field to be measured under conditions similar to those when the moving object is being driven. The moving object may be any moving object such as a car, bicycle, electric wheelchair, etc. During the visual field measurement, the subject may move the vehicle V or may keep the vehicle V stationary. The vehicle V may be driven automatically or by the person performing the measurement during the visual field measurement.

[0029] In S201, the measurer determines the values ​​of parameters to be used in the test case to be executed. The parameter values ​​may be set in advance for each test case. The parameters may include at least one of: (1) the movement characteristics of the test object; (2) the movement characteristics of the person being measured; (3) the direction of the person being measured's line of sight; (4) the color of the test object; (5) the lighting environment in which the visual field measurement is performed; (6) an indicator representing the number of traffic participants to be placed around the test object; and (7) the shape of the test object. Any of these parameters may affect the visual field of the person being measured. Each parameter will be described below.

[0030] (1) Moving characteristics of the test target The test object is an object that is moved relative to the subject to identify the boundaries of the subject's field of vision. The test object may be a traffic participant. The traffic participant may include a pedestrian, a bicyclist, a vehicle, etc. The test object may be an aerial object such as a drone. The test object may also be an object other than a traffic participant.

[0031] The field of view to be measured may vary depending on the movement characteristics of the test object. Therefore, the test case may specify the movement characteristics of the test object. The test object moves according to the movement characteristics specified in the test case during field of view measurement. The movement characteristics may be specified by at least one of speed, acceleration, movement direction, movement path, straightness of movement, and movement rhythm. The speed may be, for example, 0 km / h (i.e., stationary), 10 km / h, 20 km / h, 30 km / h, etc. The acceleration may be, for example, 0 G (i.e., constant speed), 0.5 G, 1 G (e.g., free fall), etc. The movement direction may be specified, for example, by the angle between the subject's line of sight and the movement direction of the test object (e.g., at the start of measurement). The movement path may be specified, for example, by curvature. The straightness of movement may be specified, for example, as moving in a straight line or moving in a meandering pattern. The rhythm of movement may be defined as continuous movement at a constant rhythm or movement with intermittent stops.

[0032] (2) Subject's movement characteristics The visual field of the subject may vary depending on the movement characteristics of the subject. Therefore, the test case may specify the movement characteristics of the subject. The subject moves according to the movement characteristics specified in the test case during the measurement of the visual field. Examples of the movement characteristics of the subject may be the same as examples of the movement characteristics of the test object.

[0033] (3) The subject's line of sight The subject's field of view may vary depending on the subject's line of sight during measurement. Therefore, the test case may specify the subject's line of sight during measurement. The subject's line of sight may be determined by a combination of elevation / depression angles and azimuth angles relative to the front of the subject's torso. For example, the test case may specify that the subject's line of sight be directed toward the front of the subject's torso, or that the subject's line of sight be directed 45 degrees to the right of the front of the subject's torso, or that the subject's line of sight be directed 45 degrees above the front of the subject's torso.

[0034] (4) Color of the test target The field of view to be measured may vary depending on the color of the test object. Therefore, the test case may specify the color of the test object. The color of the test object may be selected from a plurality of colors (e.g., black, red, blue, yellow, etc.). If the test object is not monochromatic, the color that occupies the majority of the appearance of the test object may be considered to be the color of the test object.

[0035] (5) Light environment The field of view of the subject may vary depending on the lighting environment at the measurement location. Therefore, the test case may specify the lighting environment. The lighting environment may refer to the environment related to the amount of light, the position of the light source, the color (wavelength) of light, etc. Examples of lighting environments include daytime, nighttime, backlight, frontlight, and specific weather conditions (sunny, cloudy). The measurer may illuminate the measurement location with a light or other device to adjust the lighting environment.

[0036] (6) An index representing the number of traffic participants to be placed around the test target. The field of view of the subject may vary depending on the number of traffic participants included in the field of view of the subject. Therefore, the test case may specify an index representing the number of traffic participants to be placed around the test object. The index representing the number of traffic participants may be the actual number of traffic participants or a category of the number of traffic participants (for example, four categories: 0, 1 to 5, 6 to 10, and 11 or more).

[0037] (7) Test target shape The field of view to be measured may vary depending on the shape of the test object. Therefore, the test case may specify the shape of the test object. The shape of the test object may be, for example, a human (pedestrian), a cyclist, a vehicle, etc.

[0038] In S202, the measurer moves the test object relative to the person being measured. Specifically, the measurer may move the test object with the color and movement characteristics determined in S201, or may move the person being measured with the movement characteristics determined in S201, or may do both. This movement may be performed in the lighting environment determined in S201. The measurer may place one or more traffic participants, the number of which is determined in S201, around the target.

[0039] Before starting to move, the person being measured instructs the person being measured to look in the direction determined in S201. Furthermore, before starting to move, the person being measured instructs the person being measured to look at a test target that is about to leave the field of view and a test target that has entered the field of view from outside the field of view.

[0040] In S203, the examiner records the position of the test target when the examinee directs his or her gaze toward the test target, which is moving relative to the examinee. The examiner may determine the time when the examinee directs his or her gaze toward the test target based on the examinee's report. Alternatively or additionally, if the examinee is riding in a vehicle V, the examinee's gaze direction may be detected using the in-vehicle camera 9a of the vehicle V. The examiner may determine the time when the examinee directs his or her gaze toward the test target based on the gaze change detected by the in-vehicle camera 9a. The position of the test target may be determined by a combination of the elevation / depression angle and azimuth angle of the test target relative to the direction in front of the examinee's torso and the distance from the examinee's torso to the test target. The position of the test target may be the position of any point on the test target, for example, the center of the test target.

[0041] In S204, the measurer determines whether to place the test target at a different position relative to the person being measured and perform measurement. If it is determined that the test target will be placed at a different position and measurement will be performed ("YES" in S204), the measurer repeats steps S202 to S203. If it is determined that the test target will not be placed at a different position and measurement will not be performed ("NO" in S204), the measurer executes S205. In this way, the measurer records various positions relative to the person being measured in S203.

[0042] In S205, the subject specifies the visual field based on the record made in S205, which has been executed one or more times. Specifically, the subject specifies the visual field as a three-dimensional area whose outer edge is the position recorded in S205, which has been executed one or more times.

[0043] In S206, the measurer records the visual field information in database 10. The visual field information includes the values ​​of the parameters used in measuring the visual field and the visual field identified in S205. The parameters may include at least one of: (1) the movement characteristics of the test object; (2) the movement characteristics of the person being measured; (3) the direction of the person's gaze; (4) the color of the test object; (5) the lighting environment in which the visual field measurement was performed; (6) an indicator representing the number of traffic participants positioned around the test object; and (7) the shape of the test object. The person's gaze direction may match the direction of the person's gaze before directing their gaze toward the test object.

[0044] The visual field may be measured for a single subject using multiple test cases. In this case, the method of FIG. 2 may be performed for each of the multiple test cases. The multiple test cases may specify different values ​​of parameters. For example, the examiner may determine the visual field of the subject when a test object is moved while the subject's gaze is directed in each of multiple directions relative to the subject. The examiner may determine the visual field of the subject when each test object is moved relative to the subject for each of multiple test targets having different shapes. The examiner may determine the visual field of the subject when the test object is moved with each of multiple movement characteristics. The examiner may determine the visual field of the subject when the subject is moved with each of multiple movement characteristics. The examiner may determine the visual field of the subject in each of multiple light environments. The examiner may determine the visual field of the subject in each of multiple light environments for each of multiple test targets having different colors. The measurer may specify, for each of a plurality of indicators representing the number of traffic participants, the field of view of the subject to be measured when the traffic participants of each indicator are positioned.

[0045] An example of a test case will be described with reference to Figures 3 and 4. Figures 3 and 4(b) to (d) show the state of the measurement location as seen from above the head of the person being measured 300. Figure 4(a) shows the field of view of the person being measured 300. In the example of Figure 3, the person being measured 300 is instructed to direct his or her gaze in direction 301 while the visual field is being measured. That is, direction 301 represents the gaze direction of the person being measured 300 while the visual field is being measured.

[0046] The measurer moves test object 302 along path 303 so as to approach direction 301. The measurer also moves test object 305 along path 306 so as to move away from direction 301. Assume that person 300 looks at test object 302 when test object 302 reaches position 304. In this case, the measurer records position 304 relative to person 300 at this time. Similarly, assume that person 300 looks at test object 305 when test object 305 reaches position 307. In this case, the measurer records position 307 relative to person 300 at this time.

[0047] 3, two test targets 302 and 305 move in one execution of S202 to S203. Alternatively, only one test target may move in one execution of S202 to S203, or three or more test targets may move. Also, a route may be set at any angle relative to direction 301.

[0048] In the example of Fig. 3, the test target moves on the ground. Alternatively, as shown in Fig. 4(a), a test target 402 may move along a path 403 that flies above the ground 401. Alternatively, a test target 404 may move along a path 405 that falls toward the ground 401.

[0049] In the test cases shown in Figures 4(b) and (c), the person being measured instructs the person being measured 300 to face a direction 301 away from a direction 406 in front of the torso 300b of the person being measured 300. The person being measured may instruct the person being measured 300 to face a face 300a in a direction 406 in front of the torso 300b, as shown in Figure 4(b). Alternatively, the person being measured may instruct the person being measured 300 to face a face 300a in a direction 301, as shown in Figure 4(c).

[0050] In the test case shown in FIG. 4(c), three pedestrians 407 are placed around a test target 408 as traffic participants. The pedestrians 407 may walk around freely or remain in the same position during the field of view measurement. Traffic participants other than pedestrians may also be placed, or no traffic participants may be placed as shown in FIG. 3(b). The test target 408 moves along a meandering path 409.

[0051] Figure 5 shows an example of a field of view obtained through an experiment by the inventors. Figure 5(a) shows a field of view 501 seen from above the head of the person being measured 300. Figure 5(b) shows a field of view 501 seen from the side of the person being measured 300. The field of view 501 has a shape formed by a cone portion 501a with the person being measured 300 at its apex and a cylindrical portion 501b extending from the bottom surface of the cone portion 501a.

[0052] FIG. 6 shows an example of visual field information 600 recorded in the database 10 in S206 of FIG. 2. In FIG. 6, the visual field information 600 is recorded in table format, but the visual field information 600 may be recorded in other formats. The visual field information 600 has one entry for each execution of the method of FIG. 2. In the visual field information 600, information in columns 601 to 605 is recorded in association with each other. Column 601 stores identification information for identifying each test. Column 602 stores identification information for identifying the subject. Column 603 stores attribute values ​​of the subject. The subject may record attribute values ​​that may affect the visual field as part of the visual field information 600. Such attributes may include, for example, at least one of age category, visual acuity category, whether or not the subject wears glasses, whether or not the subject wears contact lenses, and whether or not the subject suffers from a specific disease (e.g., glaucoma). The age category may be divided, for example, in increments of 10 years, or at other granularities. The visual acuity divisions may be divided in increments of 0.1, for example, or may be divided at other granularities. Column 604 stores the values ​​of the parameters used to measure the visual field. Column 605 stores the visual field identified in S205.

[0053] The administrator of the database 10 may combine multiple entries in the field of view information 600 to generate a new entry. For example, the administrator may combine multiple entries having the same attribute (column 603) value and parameter (column 604) value to generate a new entry. Columns 603 and 604 of this new entry store information before the combination. Column 605 of this new entry stores a field of view (e.g., union, intersection, etc.) that represents the field of view of the multiple entries before the combination. The newly generated entry may be used as general-purpose field of view information related to a specific value of the attribute. Furthermore, the administrator may combine multiple entries having the same parameter (column 604) value to generate a new entry. Column 604 of this new entry stores information before the combination. Column 605 of this new entry stores a field of view (e.g., union, intersection, etc.) that represents the field of view of the multiple entries before the combination. The newly generated entry may be used as general-purpose field of view information that is independent of attributes.

[0054] <Driving assistance method> A driving assistance method executed by the vehicle V will be described with reference to FIG. 7. Each step in FIG. 7 may be executed by the control device CNT. Specifically, each step in FIG. 7 may be performed by a processor of the control device CNT executing a program loaded into the memory of the control device CNT. Alternatively, some or all of the steps in FIG. 7 may be executed by a dedicated integrated circuit such as an ASIC (Application Specific Integrated Circuit). The method in FIG. 7 may be started in response to an instruction to start driving assistance from the driver of the vehicle V (hereinafter simply referred to as the driver), or may be started automatically in response to the power of the vehicle V being turned on. The method in FIG. 7 may be executed by a moving body other than the vehicle V (for example, an airplane, a ship, etc.).

[0055] In S701, the control device CNT acquires the visual field information 600 from the database 10. If the control device CNT can identify the driver and the visual field information 600 regarding this driver is recorded in the database 10, the control device CNT may acquire the visual field information 600 regarding this driver. In other cases, the control device CNT may acquire general-purpose visual field information 600.

[0056] In S702, the control device CNT starts measuring parameters for estimating the field of view of the driver of the vehicle V. After this, the control device CNT continues to measure the parameters. The parameters may include at least one of: (1) movement characteristics of targets around the vehicle V; (2) movement characteristics of the driver; (3) the direction of the driver's line of sight; (4) color of targets around the vehicle V; (5) the light environment around the vehicle V; (6) an index representing the number of traffic participants located around the vehicle V; and (7) shape of targets around the vehicle V.

[0057] The movement characteristics of targets around the vehicle V are measured based on, for example, the detection results of the front camera 8a and radar 8b. The movement characteristics of the driver are measured based on the detection results of the rotation speed sensor 2c, gyro sensor 7a, etc. The direction of the driver's line of sight is measured based on, for example, the detection results of the in-vehicle camera 9a. The color of targets around the vehicle V is measured based on, for example, the detection results of the front camera 8a. The light environment around the vehicle V is measured based on, for example, the detection results of the front camera 8a. An index representing the number of traffic participants located around the vehicle V is measured based on, for example, the detection results of the front camera 8a and radar 8b. The shape of targets around the vehicle V is measured based on, for example, the detection results of the front camera 8a and radar 8b.

[0058] In S703, the control device CNT estimates the field of view associated with the value of the parameter measured in S702 in the field of view information 600 as the driver's field of view. If there is no field of view information 600 having a value matching the value of the parameter measured in S702, the control device CNT may identify the field of view information 600 having a value closest to the value of the parameter measured in S702. The field of view included in the field of view information 600 has the shape of the field of view 501 described in FIG. 5. Therefore, the control device CNT estimates the driver's field of view to have a shape formed by a cone portion with the driver at the apex and a cylindrical portion extending from the base of this cone portion.

[0059] In S704, the control device CNT provides driving assistance based on the field of view estimated in S703. The driving assistance may include notifying the driver of the presence of a traffic participant. For example, the control device CNT may notify the driver of the presence of an object (e.g., a traffic participant or a fallen object) located outside the driver's field of view when there is a possibility that the object may collide with the vehicle V. Alternatively or in addition, the control device CNT may notify the driver of the presence of a traffic participant when the traffic participant is located in the driver's field of view for a predetermined period of time but the driver is not looking at it.

[0060] In S705, the control device CNT determines whether the value of the parameter whose measurement was started in S702 has changed. If it is determined that the value of the parameter has changed ("YES" in S705), the control device CNT transitions the process to S706, and otherwise ("NO" in S705) repeats S705. In this way, the control device CNT waits until the value of the parameter has changed.

[0061] In S706, the control device CNT estimates the field of view associated with the changed value of the parameter as the field of view of the driver, in the same manner as in S703. In this way, the control device CNT updates the field of view used for driving assistance every time the value of the parameter changes.

[0062] An example of a driving assistance situation will be described with reference to FIG. 8. Assume that a driver 801 of a vehicle V is driving while looking at a preceding vehicle 802. The control device CNT may determine that the driver's line of sight is facing forward with respect to the torso of the driver 801. The control device CNT may also determine that the light environment around the vehicle V is sunny during the day and that the only traffic participant around the preceding vehicle 802 is a pedestrian 803. The control device CNT may also measure the color of the pedestrian's 803's clothing. The control device CNT may estimate the field of view of the driver 801 based on the values ​​of these parameters and provide driving assistance based on this field of view. The movement characteristics and colors of targets around the vehicle V may differ for each target. Therefore, the control device CNT may provide driving assistance for each traffic participant based on the field of view estimated for each target.

[0063] <Summary of the embodiment> [Item 1] A method for determining a visual field of a subject (300), comprising: a moving step (S202) of moving targets (302, 305) relative to the subject; and a determination step (S205) of determining the subject's field of view based on the position (304, 307) of the target at the time the subject turns his or her gaze toward the target that is moving relative to the subject. This item allows you to measure your field of view depending on the situation. [Item 2] The moving step includes: Moving the target so that it approaches the line of sight (301) of the subject; and moving the target away from the line of sight of the subject. This item allows the field of view to be measured according to the situation in which driving assistance is provided. [Item 3] 3. The method according to claim 1, wherein the moving step includes moving the subject. This item allows the field of view to be measured according to the situation in which driving assistance is provided. [Item 4] 4. The method according to any one of items 1 to 3, wherein the specifying step includes detecting a gaze direction of the subject using a measuring device (9a). According to this item, the line of sight direction of the subject can be detected with high accuracy. [Item 5] 5. The method according to any one of items 1 to 4, wherein the specifying step includes specifying, for each of a plurality of directions relative to the subject, the field of view of the subject when the target is moved while the subject's line of sight is directed in each of the directions. This item allows for the measurement of visual field in individual situations. [Item 6] 6. The method according to any one of items 1 to 5, wherein the specifying step includes specifying the field of view of the subject when each target having a different shape is moved relative to the subject. This item allows for the measurement of visual field in individual situations. [Item 7] 7. The method according to any one of items 1 to 6, wherein the specifying step includes specifying, for each of a plurality of movement characteristics, the field of view of the subject when the target or the subject moves with each of the movement characteristics. This item allows for the measurement of visual field in individual situations. [Item 8] 8. The method according to any one of items 1 to 7, wherein the specifying step includes specifying the field of view to be measured in each of a plurality of light environments. This item allows for the measurement of visual field in individual situations. [Item 9] 9. The method according to any one of items 1 to 8, wherein the specifying step includes specifying, for each of a plurality of targets having different colors, the field of view of the subject when each target is moved relative to the subject. This item allows for the measurement of visual field in individual situations. [Item 10] The method further includes a recording step (S206) of recording the visual field measured for the subject in a database (10) in association with the values ​​of the parameters used in the measurement, The parameters are: a movement characteristic of the target; The movement characteristics of the subject; The color of the target; The direction of the subject's line of sight before directing their line of sight toward the target; The lighting environment in which the measurements were taken, 10. The method according to any one of items 1 to 9, comprising at least one of: This item makes available the field of view measured for each individual situation. [Item 11] A moving body (V), an estimation means for estimating the field of view of the driver of the vehicle so as to have a shape formed by a cone portion (501a) having a vertex at the driver (801) of the vehicle and a cylindrical portion (501b) extending from the bottom surface of the cone portion; and an assistance means for providing driving assistance based on the estimated field of view. According to this item, the field of view used for driving assistance can be estimated with high accuracy.

[0064] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0065] V Vehicle, CNT Control Device, 300 Subject, 801 Driver

Claims

1. A method for identifying a field of view to be measured, comprising: a moving step of moving a target relative to the subject; and a determination step of determining the subject's field of view based on the position of the target at the time the subject turns his or her gaze toward the target that is moving relative to the subject.

2. The moving step includes: moving the target so as to approach the line of sight of the subject; The method of claim 1 , further comprising: moving the target away from the subject's line of sight.

3. The method of claim 1 , wherein the moving step includes moving the subject.

4. The method according to claim 1 , wherein the step of identifying includes detecting a gaze direction of the subject using a measurement device.

5. 2. The method according to claim 1, wherein the specifying step includes specifying, for each of a plurality of directions relative to the subject, the field of view of the subject when the target is moved while the subject's line of sight is directed in each of the directions.

6. 2. The method according to claim 1, wherein the specifying step includes specifying, for each of a plurality of targets having different shapes, a field of view of the subject when each target is moved relative to the subject.

7. The method according to claim 1 , wherein the specifying step includes specifying, for each of a plurality of movement characteristics, the field of view of the subject when the target or the subject moves with each of the movement characteristics.

8. The method of claim 1 , wherein the step of identifying includes identifying the field of view to be measured in each of a plurality of lighting environments.

9. 2. The method according to claim 1, wherein the specifying step includes specifying, for each of a plurality of targets having different colors, the field of view of the subject when each target is moved relative to the subject.

10. The method further includes a recording step of recording the visual field measured for the subject in a database in association with the values ​​of the parameters used in the measurement, The parameters are: a movement characteristic of the target; The movement characteristics of the subject; The color of the target; The direction of the subject's line of sight before directing their line of sight toward the target; The lighting environment in which the measurements were taken, The method of claim 1 , comprising at least one of:

11. A mobile object, an estimation means for estimating the field of view of the driver of the vehicle so as to have a shape formed by a cone portion having the driver at the apex and a cylindrical portion extending from the bottom surface of the cone portion; and an assistance means for providing driving assistance based on the estimated field of view.

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