Toyota Jidosha Kabushiki Kaisha

Aisin Corporation

Aisin Seiki Kabushiki Kaisha

Taku Mitsumori

Yuki Horiuchi

Masahiro Ishihara

Yuji Yamanishi

Yuki Takeda

Koichiro Yamauchi

Takuya Sakata

Masataka Sano

Yosuke Morino

Kimimasa Tamura

An apparatus for emotion estimation sets a face feature threshold based on a plurality of face features indicating a deviation from a reference state of a predetermined part of a face detected from each of a plurality of face images representing a face of a driver of a vehicle generated by a camera mounted on the vehicle in a predetermined time range, specifies face features larger than the face feature threshold among the plurality of face features detected from each of the face images generated by the camera at a time not included in the predetermined time range, and estimates an emotion of the driver by using normalized features obtained by normalizing the specified face features downward.

Apparatus and method for emotion estimation

An apparatus for determining a driver's behavior includes a processor configured to detect a looking direction of a driver of a vehicle, based on an image obtained by a camera provided to capture the interior of the vehicle, calculate an angle formed between the looking direction and a normal direction of an operation screen of a portable device in the vehicle, the normal direction being indicated by information received from the portable device via a communication device capable of communicating with the portable device, and determine that the driver is operating the portable device when the angle is within a predetermined angle range.

Apparatus, method, and computer program for determining driver's behavior

A travel controller detects objects from an environmental image representing surroundings of a vehicle capable of traveling under autonomous driving control satisfying a predetermined safety standard; detects a looking direction of a driver of the vehicle from a face image of the driver; identifies an object in the looking direction of the driver out of the objects; stores the identified object and a situation condition indicating the situation at detection of the identified object in a memory in association with each other when a danger avoidance action performed by the driver is detected during travel of the vehicle; and changes the predetermined safety standard so that the driver can feel safer, in the case where an object stored in the memory is detected during travel of the vehicle under the autonomous driving control and where the situation at detection of the object satisfies the situation condition.

Travel controller and method for travel control

An eye opening degree calculation device includes: a processor configured to: calculate a degree of eye opening of a crew, based on an image in which a face of the crew appears; calculate a face direction angle of the crew with respect to a predetermined reference direction, based on the image; calculate a line-of-sight angle of the crew with respect to the predetermined reference direction, based on the image; correct the degree of eye opening or a threshold value which will be compared with the degree of eye opening, when a difference between the face direction angle and the line-of-sight angle is equal to or greater than a predetermined value; and determine an eye opening state of the crew, based on the corrected degree of eye opening or a comparison result of the degree of eye opening with the corrected threshold value.

Eye opening degree calculation device

A closed eye determination device includes an eye opening degree detection unit that detects a degree of eye opening of a driver from each of a series of face images of a driver in time series in a latest certain period of time being acquired by a driver monitor camera, a local minimum value extraction unit that extracts a local minimum value of the degree of eye opening from a change in time series of the degree of eye opening in the certain period of time, a reference lower limit value-setting unit that sets, as a reference lower limit value of the degree of eye opening, a local minimum value in order corresponding to a blinking number of the driver in the certain period of time in order from the smallest local minimum value among local minimum values of the degree of eye opening in the certain period of time, a threshold value setting unit that sets a closed eye determination threshold value, based on the reference lower limit value, and a closed eye determination unit that determines that an eye of the driver is closed when the degree of eye opening detected from an image acquired by the driver monitor camera after the certain period of time is less than or equal to the closed eye determination threshold value.

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Kariya, Japan

Taku Mitsumori