SUBARU CORP 2020-10-014 Oct 2020 00:42
AUTOMATIC DRIVING SYSTEM
An automatic driving system includes a driver monitor, a driver state determining unit, a first automatic driving controller, and a second automatic driving controller. The first automatic driving controller controls a first automatic driving mode for causing a vehicle to travel by automatic driving under a preset first traveling environment regardless of whether a driver is in a forward monitoring state. The second automatic driving controller controls a second automatic driving mode for causing the vehicle to travel by the automatic driving in a situation where the driver state determining unit determines, based on a driver state detected by the driver monitor, that the driver is in the forward monitoring state, and the vehicle is under a second traveling environment which is more complicated than the first traveling environment.
The driver state includes the driver's wakefulness level and physical condition, a motion associated with the driver's driving operation, and the like, and is detected by a plurality of sensors such as a visual sensor 41, a biological sensor 42, and the like, which are installed in the vehicle compartment. A camera, a near infrared LED, a radar, an ultrasonic sensor, or the like, which is installed in the vehicle compartment, is used as the visual sensor 41. Furthermore, a camera, a near infrared LED, a radar, an ultrasonic sensor, a temperature sensor, a vibration sensor, or the like is used as the biological sensor 42.
The driver monitoring device 40 detects the driver's facial expression or visual-line direction, the driver's hand motion and the like by the visual sensor 41, and also detects biological information such as presence/absence of the driver's breathing, heart rate, blood pressure, body temperature, and brain waves by the biological sensor 42. As described later, the automatic driving control device 100 determines the driver's reaction to a forward monitoring request or a driving takeover request to the driver based on information from the driver monitoring device 40.
For instance, when the behavior of a visual line based on movement of a virtual image on a cornea caused by the driver's eye motion, a wakefulness level based on variation in the visual-line behavior and change in pupil area, biological information on the presence or absence of the driver's breathing, heart rate, blood pressure, body temperature, brain waves, etc., the driver's face direction, the driver's hand motion, etc., are detected as the driver state, the driver state determining unit 102 determines, based on these information, whether the driver has gazed forward. For instance, the driver state determining unit 102 determines that the driver has gazed forward in response to the forward monitoring request when the driver is in a normal health condition and is awake and the driver's face direction and visual-line direction are within set ranges.
https://patents.justia.com/patent/20200307641