JP7306332B2 - Judgment device and judgment method - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a determination device and determination method for determining whether abnormal operation is occurring.

It is described that the mental and physical states of a driver, such as a low tension state, a fatigue state, and an excessive tension state, are individually identified, and driving assistance is performed based on the identified mental and physical states (see, for example, Patent Document 1).

JP-A-2005-80970

Abnormal driving such as meandering may be performed due to the driver's poor physical condition, decreased alertness, or the like. In the method described in Patent Literature 1, the detection accuracy of the driver's abnormal driving is not sufficient, and there is a need to further improve the accuracy of determining whether or not the driver is driving abnormally.

SUMMARY OF THE INVENTION The present invention has been made in view of this point, and an object of the present invention is to provide a determination device and a determination method capable of improving the accuracy of determining whether or not an abnormal operation is being performed.

A determination device according to a first aspect of the present invention includes: a specifying unit that specifies a steering angular frequency of a vehicle; A ratio of a specific number of second integral values of the steering angular frequency included in a second angular frequency band higher than the first angular frequency band to a specific number of first integral values of the steering angular frequency and a determination unit that determines whether abnormal operation is occurring based on the value of the ratio calculated by the calculation unit.

The determination unit may determine that the abnormal operation is occurring under one of the conditions that the value of the ratio calculated by the calculation unit is lower than a determination threshold value. The determination unit determines that the abnormal operation is occurring under one of the conditions that the steering angular frequency having the maximum specified number specified by the specifying unit is included in the first angular frequency band. You may

an imaging unit configured to capture an image of a road surface around the vehicle at predetermined time intervals; A detection unit that detects the frequency of movement, and the determination unit, one of the conditions is that the frequency of the lateral movement detected by the detection unit is higher than a frequency threshold, and the abnormal operation is performed. can be determined.

an imaging unit that captures images of the road surface around the vehicle at predetermined time intervals; and based on a plurality of captured images captured by the imaging unit, the frequency of lateral movement in which the vehicle moves laterally by a first distance or more within a predetermined time. a detection unit for detecting, wherein the determination unit compares the frequency of the lateral movement detected by the detection unit with a first frequency threshold when the distance from the vehicle to the lane boundary line is equal to or greater than a reference value. One of the conditions is that the distance from the vehicle to the lane boundary line is less than the reference value. It may be determined that the abnormal operation is occurring under one of the conditions that the frequency of lateral movement is higher than a second frequency threshold indicating a value higher than the first frequency threshold.

an imaging unit that captures an image of the road surface around the vehicle at predetermined time intervals; and a detection unit that detects the frequency of lateral movement of the vehicle based on a plurality of captured images captured by the imaging unit. The detection unit detects, as the lateral movement, movement of the vehicle in a lateral direction by a first distance or more within a certain period of time when a distance from the vehicle to a lane boundary line is equal to or greater than a reference value, and detects the lateral movement of the vehicle. to the lane boundary line is less than the reference value, the lateral movement is defined as moving in the lateral direction by a second distance or more indicating a value shorter than the first distance within the certain period of time. The determination unit may determine that the abnormal operation is occurring under one of the conditions that the frequency of the lateral movement detected by the detection unit is higher than a frequency threshold.

The determination device includes a statistical processing unit that obtains statistics of a plurality of ratio values respectively corresponding to a plurality of reference periods before the determination period, and based on the statistics obtained by the statistical processing unit, the A determination unit that determines the determination threshold used for determination by the determination unit may further be provided.

The determination device further includes a driver identification unit that identifies a driver, and the determination unit associates the driver identified by the driver identification unit in the plurality of reference periods with the determined determination threshold. The determination unit acquires the determination threshold associated with the driver identified by the driver identification unit from the storage unit during the determination period, and the calculation unit calculates the determination threshold during the determination period. It may be determined that the abnormal operation is occurring under one of the conditions that the value of the obtained ratio is lower than the obtained determination threshold value.

A state identification unit that distinguishes between a driving state in which the vehicle is traveling straight ahead and a driving state in which the vehicle is traveling on a curve, wherein the determination unit performs the operation of the state identification unit during the plurality of reference periods. and the determined threshold value are associated with each other and stored in advance in a storage unit, and the determination unit stores the determination threshold value associated with the driving state identified by the state identification unit during the determination period. is acquired from the storage unit, and one of the conditions is that the value of the ratio calculated by the calculation unit in the determination period is lower than the acquired determination threshold value, and it is determined that abnormal operation is occurring. good too.

The statistical processing unit calculates the data for the plurality of reference periods excluding a period in which the speed of the vehicle is less than the reference speed and a period from when the speed of the vehicle becomes equal to or higher than the reference speed to when a first preliminary time elapses. A statistic may be determined for each of the plurality of ratio values corresponding thereto. In the plurality of reference periods excluding a period during which the direction indicator of the vehicle is blinking and a period from when the direction indicator stops blinking to when a second preliminary time elapses, A statistic may be determined for each of the plurality of ratio values corresponding thereto.

A determination method according to a second aspect of the present invention includes a step of identifying a steering angular frequency of a vehicle, executed by one or more computers, and a first angular frequency among the plurality of steering angular frequencies identified over a reference period. of a specific number of second integral values of the steering angular frequency included in a second angular frequency band higher than the first angular frequency band with respect to a specific number of first integral values of the steering angular frequency included in the band calculating a ratio value and obtaining a statistic of the plurality of ratio values respectively corresponding to the plurality of reference periods; determining a determination threshold based on the obtained statistic; and determining the reference period. Among the plurality of steering angular frequencies specified over the later determination period, the number of the steering angular frequencies included in the second angular frequency band for the first integrated value of the specific number of the steering angular frequencies included in the first angular frequency band a step of calculating a ratio value of a specific number of the second integral values of the steering angular frequency; and determining that

ADVANTAGE OF THE INVENTION According to this invention, it is effective in improving the precision which determines whether abnormal operation is performed.

It is a figure which shows the vehicle which mounts the determination apparatus of 1st Embodiment. It is a figure which shows the internal structure of a vehicle. FIG. 10 is a diagram showing an example in which the detection unit switches a threshold value for detecting lateral movement depending on the position of the vehicle; FIG. 3 is a diagram showing an example of a state when a vehicle is running; FIG. 5 is a diagram showing the running state of the vehicle in the time range indicated by the rectangular dashed line in FIG. 4; FIG. 6 is a diagram showing the state of the vehicle when a different driver from FIGS. 4 and 5 drives the vehicle; 4 is a flowchart showing a processing procedure for determining abnormal operation by a determination device; It is a figure which shows the internal structure of the vehicle of 2nd Embodiment. It is a figure for demonstrating the determination threshold value which a determination part determines. 4 is a flow chart showing a processing procedure for determining a determination threshold value by a determination device;

<First Embodiment>
[Outline of determination device]
FIG. 1 is a diagram showing a vehicle 100 equipped with the determination device of the first embodiment. Vehicle 100 is, for example, a large vehicle. The vehicle 100 may be driven abnormally due to the driver's poor physical condition, sudden change in physical condition, decreased alertness, distraction, work other than driving (for example, use of a smartphone, eating and drinking), or the like. In the example of FIG. 1, the vehicle 100 meanders due to abnormal driving. The determination device monitors driving of the vehicle 100 by the driver and determines whether or not abnormal driving such as meandering is being performed.

The determination device sequentially identifies the steering angle frequency indicating the rotation speed of the steering wheel by the driver's operation. Although the details will be described later, the determination device integrates a number (hereinafter referred to as a specific number) specifying the steering angular frequencies included in the first angular frequency band among the steering angular frequencies specified within a certain period of time. Calculate the integral value. The determination device calculates a second integral value by integrating a specific number of steering angular frequencies included in a second angular frequency band among the steering angular frequencies identified within a certain period of time. The determination device can improve determination accuracy by determining whether abnormal operation is being performed based on the value R of the ratio of the second integral value to the first integral value.

The determination device may also determine whether abnormal driving is being performed based on the result of detecting the amount of lateral movement of the vehicle 100 . The determination device can further improve determination accuracy by determining whether abnormal operation is being performed based on these various conditions.

[Vehicle internal configuration]
FIG. 2 is a diagram showing the internal configuration of vehicle 100. As shown in FIG. A vehicle 100 includes a steering angle sensor 1 , a speaker 2 , a plurality of road surface imaging units 3 and a determination device 4 . A steering angle sensor 1 detects a steering angle of a steering wheel. The speaker 2 converts electrical signals into sound. The road surface imaging unit 3 images the road surface around the running vehicle 100 at predetermined time intervals.

The determination device 4 determines whether or not the vehicle 100 is operating abnormally. The determination device 4 is realized by, for example, an ECU (Electronic Control Unit) that electronically controls each part of the vehicle 100 by a computer. The determination device 4 includes a storage section 41 and a control section 42 . The storage unit 41 has storage media such as ROM (Read Only Memory) and RAM (Random Access Memory), for example. The storage unit 41 stores various programs and various data for causing the control unit 42 to function.

The control unit 42 functions as an imaging control unit 421 , a detection unit 422 , an identification unit 423 , a calculation unit 424 , a determination unit 425 and a notification unit 426 by executing programs stored in the storage unit 41 . The image capturing control unit 421 uses the road surface capturing unit 3 to capture an image of the road surface around the running vehicle 100 at predetermined time intervals. The predetermined time is, for example, several tens of milliseconds to several hundred milliseconds.

The detection unit 422 detects lateral movement based on a plurality of captured images captured by the imaging control unit 421 . The lateral movement is, for example, the vehicle 100 laterally moving a first distance or more within a certain period of time (for example, several seconds). The first distance is, for example, a value that is longer than the lateral movement distance that occurs during normal operation. The detector 422 detects the frequency of lateral movement by counting the number of lateral movements per reference time. The reference time is, for example, 10 seconds or more and 3 minutes or less. The reference time may be 30 seconds or more and 1 minute or less. As will be described later, the frequency of lateral movement is used by determination unit 425 to determine whether abnormal driving is occurring.

By the way, even if the driver does not have an abnormality, while the vehicle 100 is traveling in the vicinity of the center of the lane, the vehicle 100 is more difficult to drive than when the vehicle 100 is traveling in a position close to the lane boundary line. It tends to move more in the horizontal direction. Therefore, when the vehicle 100 is traveling near the lane boundary, the detection unit 422 determines that the vehicle 100 laterally moves using a smaller second distance than when the vehicle 100 is traveling near the center of the lane. Lateral movement may be detected by determining whether or not.

FIG. 3 is a diagram showing an example in which the detection unit 422 switches the threshold for detecting lateral movement according to the position of the vehicle 100. As shown in FIG. FIG. 3(a) shows an example in which the distance W from the vehicle 100 to the lane boundary line is equal to or greater than the reference value T, and FIG. 3(b) shows an example in which the distance W from the vehicle 100 to the lane boundary line is the reference value. An example of the case of less than T is shown.

As shown in FIG. 3(a), when the distance W from the vehicle 100 to the lane boundary line is equal to or greater than the reference value T, the detection unit 422 determines the movement distance of the vehicle 100 approaching the lane boundary line within a certain period of time. is detected as the frequency of lateral movement.

3B, when the distance W from the vehicle 100 to the lane boundary line is less than the reference value T, the detection unit 422 detects that the vehicle 100 has approached the lane boundary line within a certain period of time. The frequency at which the lateral component D of the movement distance is greater than or equal to the second distance is detected as the frequency of lateral movement. The second distance is a value shorter than the first distance.

Detection unit 422 detects the frequency of lateral movement when distance W from vehicle 100 to the lane boundary line is greater than or equal to reference value T, and the state in which distance W from vehicle 100 to the lane boundary line is less than reference value T. Calculate the sum of the frequency with which lateral movement is detected in . The detection unit 422 outputs the calculated total value to the determination unit 425 as the frequency of lateral movement.

Note that the detection unit 422 may detect the frequency at which the distance W from the vehicle 100 to the lane boundary becomes equal to or less than a predetermined distance as the frequency of lateral movement. The predetermined distance is, for example, 50 centimeters.

Further, the detection unit 422 may acquire the curvature indicating the degree of curve of the lane based on the captured image captured by the imaging control unit 421 . The detection unit 422 does not need to detect lateral movement when the curvature of the lane is equal to or greater than a certain value. A constant value is, for example, a value that requires manipulation of the steering wheel. With such a configuration, detection unit 422 can suppress erroneously detecting a high frequency of lateral movement due to vehicle 100 traveling on a road with many curves.

The specifying unit 423 specifies the steering angle frequency indicating the rotation speed of the steering wheel based on the measurement result of the steering angle sensor 1 . The identifying unit 423 identifies the steering angular frequency for each unit time. The unit time is, for example, 1 second to several seconds.

The calculator 424 calculates a first integral value by integrating a specific number of steering angular frequencies included in the first angular frequency band A among the plurality of steering angular frequencies identified by the identifying unit 423 over the determination period. The first integrated value is the sum of specific numbers in the first angular frequency band A. The determination period is the time required to discriminate between the tendency of the steering angular frequency during abnormal operation and the tendency of the steering angular frequency during normal operation, and is, for example, several tens of seconds to several minutes.

Further, the calculating unit 424 calculates a second integral value by integrating a specific number of steering angular frequencies included in the second angular frequency band B among the plurality of steering angular frequencies identified by the identifying unit 423 over the determination period. The second integral value is the sum of specific numbers in the second angular frequency band B. The calculator 424 calculates a value R of the ratio of the second integrated value to the first integrated value. The calculation unit 424 outputs the calculated ratio value R to the determination unit 425 .

The determination unit 425 determines whether abnormal operation is occurring based on a plurality of conditions. For example, the determination unit 425 determines whether abnormal operation is being performed based on the value R of the ratio of the second integral value to the first integral value calculated by the calculation unit 424 . Further, the determination unit 425 determines whether abnormal driving is being performed based on whether the steering angular frequency that maximizes the specific number specified by the specifying unit 423 is included in a predetermined angular frequency band. do. Further, the determination unit 425 determines whether abnormal driving is being performed based on whether the frequency of lateral movement detected by the detection unit 422 is higher than the frequency threshold. Details of the operation of the determination unit 425 will be described below with reference to an example of the running state of the virtual vehicle 100 .

FIG. 4 is a diagram showing an example of the state of vehicle 100 when it is running. The time shown on the horizontal axis in FIGS. 4(a) to 4(f) is common. FIG. 4A is a diagram showing the relationship between time and vehicle speed of the vehicle 100. FIG. FIG. 4B is a diagram showing the relationship between time and lane curvature. FIG. 4(c) is a diagram showing the relationship between time and steering angle. FIGS. 4A and 4C show how the vehicle speed of the vehicle 100 and the steering angle of the steering wheel change over time. FIG. 4B shows how the curvature of the lane at the travel position of the vehicle 100 changes as the vehicle 100 travels.

FIG. 4(d) is a diagram showing the relationship between time and the amount of lateral movement within a certain period of time. A dashed line extending horizontally indicates the first distance. FIG. 4(e) is a diagram showing the relationship between time and steering angle frequency. A first angular frequency band A and a second angular frequency band B are shown, respectively. FIG. 4(f) is a diagram showing the relationship between time and the steering angle frequency that maximizes the specific number.

FIG. 5 is a diagram showing the running state of vehicle 100 in the time range indicated by the rectangular dashed line S in FIG. FIG. 5(a) is a diagram showing the relationship between the lateral position of vehicle 100 during travel (indicated as lateral position in the figure) and the lateral component of velocity (indicated as lateral velocity in the figure). . As used herein, the lateral direction is the direction perpendicular to the direction of travel of the lane. Two dashed lines extending vertically in FIG. 5(a) indicate positions inside the white lines indicating left and right lane boundary lines, respectively. As shown in FIG. 5(a), in the running vehicle 100, the lateral position and the lateral component of the velocity fluctuate.

FIG. 5(b) is a diagram showing the relationship between the lateral position of the vehicle 100 during running and the steering angle of the vehicle 100. As shown in FIG. The dashed lines indicate positions inside the white lines indicating left and right lane boundary lines, respectively. As shown in FIG. 5B, the lateral position and the steering angle of the running vehicle 100 fluctuate.

FIG. 5(c) is a diagram showing the specific number of steering angular frequencies identified by the identifying unit 423 within the time range indicated by the dashed line S in FIG. 4(e). The horizontal axis of FIG. 5(c) indicates the steering angular frequency, and the vertical axis of FIG. 5(c) indicates the specific number of each steering angular frequency. A boundary between the first angular frequency band A and the second angular frequency band B is indicated by a dashed line. The second angular frequency band B has the same frequency width as the first angular frequency band A and a frequency band higher than that of the first angular frequency band A. In the example of FIG. 5C, the first angular frequency band A and the second angular frequency band B are adjacent to each other, but the first angular frequency band A and the second angular frequency band B are adjacent to each other. It doesn't have to be.

FIG. 5(d) is an enlarged view of the rectangular dashed line S in FIG. 4(d), showing the relationship between time and the amount of lateral movement within a given period of time. In FIG. 5(d), the dashed line extending horizontally indicates the first distance. A circle positioned above the dashed line indicates lateral movement detected by the detector 422 .

FIG. 6 is a diagram showing the state of vehicle 100 when a different driver from FIGS. 4 and 5 drives vehicle 100. In FIG. FIG. 6(a) is a diagram showing the relationship between the lateral position of the vehicle 100 during travel and the lateral speed. FIG. 6B is a diagram showing the relationship between the lateral position of vehicle 100 during running and the steering angle of vehicle 100 . FIG. 6(c) is a diagram showing the relationship between the steering angular frequency and the specific number. FIG. 6(d) is a diagram showing the relationship between time and the amount of lateral movement within a certain period of time.

[Determination of abnormal operation by integral value]
As described above, determination unit 425 determines whether abnormal operation is being performed based on value R of the ratio of the second integral value to the first integral value calculated by calculation unit 424 . In a state where abnormal driving is being performed, the steering angular frequency included in the relatively low first angular frequency band is reduced due to the fact that the driver is not conscious of operating the steering wheel for a long time. There is a tendency that the proportion of the specific number increases and the proportion of the specific number of steering angular frequencies included in the relatively high second angular frequency band tends to decrease. Therefore, the value R of the ratio of the second integral value to the first integral value becomes small.

The determination unit 425 uses such a tendency to determine that abnormal operation is occurring on condition that the ratio value R calculated by the calculation unit 424 is lower than the determination threshold. That the value R of the ratio calculated by the calculator 424 is lower than the determination threshold is a first condition for the determination unit 425 to determine that abnormal operation is occurring.

The determination threshold is determined, for example, by the following procedures (1) and (2). (1) Acquire a record of the operation when the abnormal operation was performed and a record of the operation when the normal operation was performed. (2) Higher than the average value of the ratio values R calculated by the calculation unit 424 in the record of the operation in which the abnormal operation was performed, and the average of the ratio values R calculated by the calculation unit 424 in the record of normal operation A value lower than the value is determined as the decision threshold.

For example, in the example of FIG. 5C, the ratio value R calculated by the calculation unit 424 is equal to or greater than the first threshold, and the determination unit 425 determines that the first condition is not satisfied. On the other hand, in the example of FIG. 6C, the ratio value R calculated by the calculation unit 424 is lower than the first threshold, and the determination unit 425 determines that the first condition is satisfied.

With such a configuration, the determination unit 425 determines whether or not the driver is not conscious of operating the steering wheel for a long period of time. can be improved.

The determination unit 425 may use different determination thresholds according to the distance W from the vehicle 100 to the lane boundary line. For example, when the distance W from the vehicle 100 to the lane boundary line is greater than or equal to the reference value, the determination unit 425 sets the first condition that the ratio value R calculated by the calculation unit 424 is lower than the first determination threshold. As such, it is determined that the abnormal operation is occurring. The determination unit 425 determines that the first condition is not satisfied if the ratio value R calculated by the calculation unit 424 is greater than or equal to the first determination threshold. On the other hand, when the distance W from the vehicle 100 to the lane boundary line is less than the reference value, the determination unit 425 sets the first condition that the ratio value R calculated by the calculation unit 424 is lower than the second determination threshold. As such, it is determined that the abnormal operation is occurring. The second determination threshold is a value greater than the first determination threshold. The determination unit 425 determines that the first condition is not satisfied if the ratio value R calculated by the calculation unit 424 is greater than or equal to the second determination threshold.

[Determination of Abnormal Operation by Specified Maximum Steering Angular Frequency]
Determining unit 425 determines that abnormal driving is occurring on the condition that the steering angular frequency that maximizes the specified number specified by specifying unit 423 is included in the first angular frequency band. The fact that the steering angular frequency with the largest specific number specified by the specifying unit 423 is included in the first angular frequency band is a second condition for the determination unit 425 to determine that abnormal driving is occurring. The determining unit 425 determines that the second condition is not satisfied when the steering angular frequency with the largest specified number specified by the specifying unit 423 is not included in the first angular frequency band.

For example, in the example of FIG. 5(c), the steering angular frequency with the largest specific number is included in the second angular frequency band B. As shown in FIG. Therefore, the determination unit 425 determines that the second condition is not satisfied. In the example of FIG. 6C, the steering angular frequency with the largest specific number is included in the first angular frequency band A. In the example of FIG. Therefore, the determination unit 425 determines that the second condition is satisfied.

[Determination of abnormal operation based on frequency of lateral movement]
The determination unit 425 determines that abnormal driving is occurring on condition that the frequency of lateral movement detected by the detection unit 422 is higher than the frequency threshold. That the frequency of lateral movement detected by the detection unit 422 is higher than the frequency threshold is a third condition for the determination unit 425 to determine that abnormal driving is occurring.

The determination unit 425 determines whether the frequency of lateral movement detected by the detection unit 422 is higher than a frequency threshold. The determination unit 425 determines that the third condition is satisfied when the frequency of lateral movement detected by the detection unit 422 is higher than the frequency threshold. On the other hand, the determination unit 425 determines that the third condition is not satisfied when the frequency of lateral movement detected by the detection unit 422 is equal to or less than the frequency threshold.

For example, the frequency threshold is determined by procedures (1) and (2) below. (1) Acquire the frequency of lateral movement from the driving record of the vehicle in which the abnormal driving was performed and the driving record of the vehicle in which the normal driving was performed. (2) A value lower than the lateral movement frequency obtained from the driving record of the abnormally driven vehicle and higher than the lateral movement frequency obtained from the normal driving vehicle driving record is determined as the frequency threshold. be.

In the example of FIG. 5D, the frequency of lateral movement detected by the detection unit 422 is higher than the frequency threshold, and the determination unit 425 determines that the third condition is satisfied. On the other hand, in the example of FIG. 6D, the frequency of lateral movement detected by the detection unit 422 is equal to or less than the frequency threshold, and the determination unit 425 determines that the third condition is not satisfied.

When the vehicle 100 is meandering during abnormal driving, the frequency of lateral movement may increase. Since the determination unit 425 determines whether or not abnormal operation is being performed based on the frequency of lateral movement, it is possible to improve the accuracy of determining whether or not abnormal operation is being performed.

The determination unit 425 may use different frequency thresholds according to the distance W from the vehicle 100 to the lane boundary. For example, when the distance W from the vehicle 100 to the lane boundary is greater than or equal to the reference value, the determination unit 425 determines that the frequency of lateral movement detected by the detection unit 422 is higher than the first frequency threshold. As condition 3, it is determined that an abnormal operation is being performed. If the frequency of lateral movement detected by the detection unit 422 is equal to or less than the first frequency threshold, the determination unit 425 determines that the third condition is not satisfied.

On the other hand, when the distance W from the vehicle 100 to the lane boundary line is less than the reference value, the determination unit 425 determines that the frequency of lateral movement detected by the detection unit 422 is higher than the second frequency threshold. As three conditions, it is determined that abnormal operation is being performed. The second frequency threshold is a value higher than the first frequency threshold. If the frequency of lateral movement detected by the detection unit 422 is equal to or less than the second frequency threshold, the determination unit 425 determines that the third condition is not satisfied.

[Determination of abnormal operation based on multiple conditions]
Determination unit 425 determines that abnormal driving is being performed when the running state of vehicle 100 satisfies all of the first to third conditions. In the example of FIG. 5, the determination unit 425 determines that the frequency of lateral movement detected by the detection unit 422 is higher than the frequency threshold and that the third condition is satisfied, as described above. On the other hand, determination unit 425 determines that the second condition is not satisfied because the second angular frequency band B includes the steering angular frequency with the largest specific number. The determination unit 425 determines that the ratio value R calculated by the calculation unit 424 is equal to or greater than the determination threshold, and that the first condition is not satisfied. Therefore, determination unit 425 determines that abnormal operation is not being performed. In the example of FIG. 6, the determination unit 425 determines that the first condition and the second condition are satisfied as described above, but the third condition is not satisfied and the abnormal operation is not performed. I judge.

Further, determination unit 425 is not limited to the example of determining that abnormal operation is occurring when all of the first to third conditions are satisfied. For example, the determination unit 425 may determine that abnormal operation is occurring when any one or more of the first to third conditions are satisfied. In addition to the first condition and the like, the determination unit 425 may determine whether or not the abnormal operation is being performed according to another condition.

[Notification of judgment result]
Returning to the description of FIG. When the determination unit 425 determines that the vehicle is operating abnormally, the notification unit 426 outputs a message through the speaker 2 to notify the driver that the vehicle is operating abnormally. The notification unit 426 may display, on a display (not shown), a message for notifying the driver of abnormal driving when the determination unit 425 determines that abnormal driving is occurring.

Further, the determination device 4 of the present embodiment is not limited to notifying the driver that abnormal driving is occurring when the determining unit 425 determines that abnormal driving is occurring. For example, when the determination unit 425 determines that abnormal driving is being performed, an automatic driving device (not shown) mounted on the vehicle 100 may stop the vehicle 100 on the road shoulder using automatic driving technology.

[Procedure for judging abnormal operation by judging device]
FIG. 7 is a flow chart showing a processing procedure for determining abnormal operation by the determining device 4. As shown in FIG. This processing procedure is started, for example, while the vehicle 100 is running. First, the identifying unit 423 identifies the steering angle frequency indicating the rotation speed of the steering wheel based on the measurement result of the steering angle sensor 1 (S101). The calculator 424 calculates a first integral value obtained by integrating a specific number of first angular frequency bands and a second integral value obtained by integrating a specific number of second angular frequency bands (S102). The calculator 424 calculates a value R of the ratio of the second integrated value to the first integrated value. The detection unit 422 detects the frequency of lateral movement (S103).

The determination unit 425 determines whether the ratio value R calculated by the calculation unit 424 is lower than the determination threshold (S104). If the value R of the ratio calculated by the calculation unit 424 is lower than the determination threshold value (YES in S104), the determination unit 425 determines whether the steering angular frequency that maximizes the specific number is included in the first angular frequency band. (S105).

If the steering angular frequency with the maximum specific number is included in the first angular frequency band (YES in S105), determination unit 425 compares the frequency of lateral movement detected by detection unit 422 with the frequency threshold. It is determined whether or not it is high (S106). If the frequency of lateral movement detected by the detection unit 422 is higher than the frequency threshold (YES in S106), the determination unit 425 determines that abnormal operation is occurring, and terminates the process (S107).

When the ratio value R calculated by the calculation unit 424 is equal to or greater than the determination threshold value in the determination of S104 (NO in S104), the specifying unit 423 returns to the process of S101. If the steering angular frequency with the maximum specific number is not included in the first angular frequency band in the determination of S105 (NO in S105), the identifying unit 423 returns to the process of S101. If the frequency of lateral movement detected by the detection unit 422 is equal to or less than the frequency threshold in the determination of S106 (NO in S106), the specifying unit 423 returns to the process of S101.

[Effects of the determination device of the first embodiment]
According to the first embodiment, the determination unit 425 determines whether abnormal operation will occur based on the value R of the ratio of the second integral value to the first integral value. Therefore, the determination unit 425 can determine whether or not the driver is not conscious of operating the steering wheel for a long period of time. can be improved.

<Second embodiment>
In the second embodiment, an example will be described in which the determination threshold used for determination by the determination unit 425 is determined based on the statistic of the ratio value R calculated by the calculation unit 424 .

There are individual differences in the driving behavior of a vehicle, depending on the type of vehicle, such as a medium-sized vehicle or a large-sized vehicle. The value R of the ratio calculated by the calculation unit 424 when the abnormal driving is not performed fluctuates due to these individual differences, vehicle type, and the like. Therefore, there is a problem that the determination unit 425 cannot accurately determine whether or not the ratio value R calculated by the calculation unit 424 indicates that abnormal operation is being performed.

To solve this problem, the determination device 4 obtains statistics of a plurality of ratio values R corresponding to a plurality of reference periods in which the possibility of abnormal operation is relatively low. The determination device 4 determines a determination threshold based on the obtained statistic. In this manner, the determination device 4 can suppress deterioration in the accuracy of determination of the presence or absence of abnormal driving by the determination unit 425 due to individual differences, vehicle types, and the like. Although the details of the reference period during which the possibility of abnormal operation is relatively low will be described later, this reference period is the period during which it is detected that the operation that satisfies a predetermined criterion is being performed.

[Internal Configuration of Vehicle of Second Embodiment]
FIG. 8 is a diagram showing the internal configuration of a vehicle 200 according to the second embodiment. A vehicle 200 includes a steering angle sensor 1 , a speaker 2 , a road surface imaging section 3 , an in-vehicle imaging section 501 and a determination device 4 . The control unit 42 of the determination device 4 includes an imaging control unit 421, a detection unit 422, an identification unit 423, a calculation unit 424, a determination unit 425, a notification unit 426, a driver identification unit 502, a state identification unit 503, a statistical processing unit 504 and A decision unit 505 is provided. Among the functional blocks shown in FIG. 8, the same reference numerals are assigned to the same configurations as in FIG. 2, and the description thereof will be omitted.

The in-vehicle imaging unit 501 is attached to the rearview mirror of the vehicle 200, for example. The in-vehicle imaging unit 501 generates a captured image in which a predetermined range including the driver's face is captured. The predetermined range is, for example, the driver's upper body.

Driver identification unit 502 identifies the driver of vehicle 200 . More specifically, the driver identification unit 502 extracts feature information of the driver's face from the captured image generated by the in-vehicle imaging unit 501 . The storage unit 41 stores a feature table in which registered drivers are associated with registered face feature information. Driver identification unit 502 reads the feature table stored in storage unit 41 . The driver identification unit 502 refers to the read feature table to identify the registered driver associated with the registered feature information similar to the extracted facial feature information, and identifies the identified registered driver as the driver of the vehicle 200. identify as The driver identification unit 502 notifies the determination unit 505 of the identification result of the driver.

State identification unit 503 distinguishes between a running state in which vehicle 200 is running straight and a running state in which vehicle 200 is running on a curve. For example, the state identification unit 503 acquires the acceleration in the width direction of the vehicle 200 measured by an acceleration sensor (not shown). When the acceleration in the width direction of vehicle 200 is less than a reference value, state identification unit 503 identifies that vehicle 200 is in a straight-ahead traveling state. The reference value is, for example, a value smaller than the lateral acceleration that occurs when the driver normally operates the steering wheel. On the other hand, when the acceleration in the width direction of vehicle 200 is greater than or equal to the reference value, state identification unit 503 identifies that vehicle 200 is traveling on a curve. The state identification unit 503 notifies the decision unit 505 of the identification result of the running state.

[Calculation of ratio value corresponding to reference period]
The calculation unit 424 calculates the first integral value and the second integral value based on the plurality of steering angular frequencies identified by the identification unit 423 over the reference period before the determination period, in the same manner as in the first embodiment. do. The calculator 424 calculates a value R of the ratio of the second integrated value to the calculated first integrated value. The reference period is, for example, several tens of seconds to several minutes. The calculator 424 calculates a plurality of ratio values R respectively corresponding to a plurality of reference periods preceding the determination period. The plurality of reference periods may be periods that are continuous with each other or periods that are not continuous with each other. There may be a period during which the engine (not shown) of vehicle 200 is stopped between one reference period and the next reference period. Hereinafter, a plurality of reference periods may be collectively referred to as a measurement period. The measurement time is, for example, several minutes to several tens of minutes.

The calculation unit 424 calculates a plurality of ratio values R corresponding to the measurement period excluding the specific period in which the abnormal operation is likely to occur. For example, the calculation unit 424 defines a period during which the speed of the vehicle 200 is less than the reference speed and a period from when the speed of the vehicle 200 becomes equal to or higher than the reference speed until the first preliminary time elapses as the first specific period. A plurality of ratio values R corresponding to the excluded measurement periods are calculated. The reference speed is, for example, a value within the range of 50 km/h to 75 km/h. The first preliminary time is, for example, a value obtained statistically as a period from when the speed of vehicle 200 reaches a reference speed or higher until the speed of vehicle 200 becomes constant. Specifically, the first spare time is several tens of seconds to several minutes. Since the calculation unit 424 calculates the ratio value R corresponding to the measurement period excluding the first specific period, it calculates the ratio value R corresponding to the period in which the possibility of abnormal operation is relatively low. be able to.

Further, calculation unit 424 calculates a period during which a direction indicator (not shown) of vehicle 200 is blinking and a period from when the direction indicator stops blinking to when the second preliminary time elapses as a second It is also possible to calculate a plurality of ratio values R corresponding to measurement periods excluded from the specific period of . The second preliminary time is, for example, when the vehicle 200 changes lanes or turns right or left while the direction indicator is blinking, the speed of the vehicle 200 is kept constant after the direction indicator stops blinking. It is a value obtained statistically as the period until the Specifically, the second spare time is several tens of seconds to several minutes. The calculation unit 424 calculates the ratio value R corresponding to the period during which the possibility of abnormal operation is relatively low by calculating the ratio value R corresponding to the measurement period excluding the second specific period. can do.

Further, the calculation unit 424 calculates a plurality of ratio values R corresponding to a measurement period excluding a period in which the captured image captured by the road surface capturing unit 3 does not include a lane boundary line as the third specific period. good too. If vehicle 200 does not run along the lane boundary line, vehicle 200 may be driving abnormally. Therefore, it is conceivable that the calculation unit 424 excludes a period during which the vehicle 200 is not traveling along the lane boundary line from the measurement period, thereby ensuring that the vehicle 200 is not operating abnormally during the measurement period. .

However, when the captured image captured by the road surface imaging unit 3 does not include the lane boundary line, the calculation unit 424 cannot determine whether the vehicle 200 is traveling along the lane boundary line. Therefore, by excluding the third specific period during which the vehicle 200 may not be traveling along the lane boundary line from the measurement period, the possibility of abnormal driving being performed during the measurement period can be further reduced. be possible. In order to calculate the ratio value R corresponding to a period in which abnormal operation is not performed as much as possible, a plurality of values corresponding to the measurement period excluding all of the first specific period, the second specific period, and the third specific period It is desirable to calculate the value R of the ratio. As in the first embodiment, the calculator 424 calculates the ratio value R corresponding to the plurality of steering angular frequencies identified by the identifying unit 423 over the determination period after the measurement period.

The statistical processing unit 504 acquires a plurality of ratio values R corresponding to a plurality of reference periods from the calculation unit 424 . At this time, the statistical processing unit 504 acquires from the calculation unit 424 a plurality of ratio values R respectively corresponding to a plurality of reference periods excluding the specific period. The statistical processing unit 504 obtains a statistic of the plurality of ratio values R obtained. The statistic is, for example, an average value, but may also be a median value, a variance, or a standard deviation. The statistical processing unit 504 notifies the determination unit 505 of the obtained statistics.

[Determination of judgment threshold]
The determination unit 505 determines a determination threshold value used for determination by the determination unit 425 based on the statistic obtained by the statistical processing unit 504 . FIG. 9 is a diagram for explaining the determination threshold determined by the determination unit 505. As illustrated in FIG. FIG. 9( a ) is a diagram showing temporal changes in the value of the ratio of the second integral value to the first integral value calculated by the calculator 424 . FIG. 9(b) is a diagram showing the distribution of the specific number of steering angular frequencies identified by the identifying unit 423 at the timing indicated by the dashed line (i) in FIG. 9(a). FIG. 9(c) is a diagram showing the distribution of the specific number of steering angular frequencies identified by the identifying unit 423 at the timing indicated by the dashed line (ii) in FIG. 9(a).

The horizontal axis of FIG. 9A indicates time, and the vertical axis of FIG. The horizontal axis in FIGS. 9B and 9C indicates the steering angle frequency, and the vertical axis indicates the specific number. A horizontal dashed line in FIG. 9A indicates a determination threshold. In FIGS. 9B and 9C, the first angular frequency band A and the second angular frequency band B are indicated by double arrows, respectively.

The graph shown in FIG. 9B shows the distribution of a specific number of steering angular frequencies when no abnormal operation is performed, and the graph shown in FIG. Let us show the distribution of a certain number of angular frequencies. At this time, the determining unit 505 determines that the timing ratio R is smaller than the value R of the timing ratio indicated by the dashed line (i) corresponding to FIG. It is necessary to determine the decision threshold so that it is greater than the value R of the ratio.

The storage unit 41 preliminarily stores statistics such as the average value of the ratio value R of the second integral value B to the first integral value A when the abnormal operation is performed. The statistic of the ratio value R when abnormal driving is performed is stored in the storage unit 41, for example, before the vehicle 200 is shipped from the factory. The determining unit 505 reads from the storage unit 41 the statistic of the ratio value R when the abnormal operation is performed.

The possibility of abnormal operation occurring during the measurement period other than the specific period is relatively low. Therefore, the statistic of the ratio value R obtained by the statistical processing unit 504 can be regarded as the statistic of the ratio value R when the abnormal operation is not performed. When the statistical processing unit 504 obtains the average value of the ratio values R corresponding to the measurement period excluding the specific period as a statistic, the determination unit 505 determines the average value obtained by the statistical processing unit 504 and the storage unit 41 and the average value of the ratio values R read out from when the abnormal operation is performed, and the obtained value is determined as the determination threshold value.

Further, when the statistical processing unit 504 obtains the variance or standard deviation of the ratio value R corresponding to the reference period as a statistic, the determining unit 505 determines that the larger the variance or standard deviation obtained by the statistical processing unit 504, , the lower value is determined as the decision threshold. In this way, the determination unit 505 lowers the determination threshold value when there is a large variation in the values R of the multiple ratios corresponding to the measurement period excluding the specific period. It is possible to prevent the value R of the ratio calculated by the unit 424 from becoming lower than the determination threshold. Therefore, determination unit 505 can prevent determination unit 425 from erroneously determining that abnormal operation is occurring even though abnormal operation is not being performed.

The determination unit 505 causes the storage unit 41 to store the determined determination threshold. The determination unit 505 may replace the determination threshold stored in the storage unit 41 with a determination threshold newly determined every predetermined period. The predetermined period is, for example, several weeks to several months. The determination unit 505 associates the driver identified by the driver identification unit 502 in the measurement period with the determined determination threshold, and causes the storage unit 41 to store them. The determination unit 425 acquires the ratio value R calculated by the calculation unit 424 in the same manner as in the first embodiment during the determination period after the measurement period. The determination unit 425 determines that the abnormal operation is occurring on condition that the obtained ratio value R is lower than the determination threshold value. For example, the determination unit 425 acquires the determination threshold associated with the driver identified by the driver identification unit 502 in the storage unit 41 during the determination period. The determination unit 425 determines that abnormal operation is occurring under one of the conditions that the ratio value R calculated by the calculation unit 424 in the determination period is lower than the acquired determination threshold value.

[Modified Example of Determination Based on Running State]
Further, the determination unit 505 may cause the storage unit 41 to store in advance a driving state table that associates the driving state identified by the state identification unit 503 in the measurement period with the determined determination threshold value. The determination unit 425 reads the running state table stored in the storage unit 41 . The determination unit 425 acquires a determination threshold associated with the driving state identified by the state identification unit 503 in the driving state table during the determination period. The determination unit 425 determines that abnormal operation is occurring under one of the conditions that the ratio value R calculated by the calculation unit 424 in the determination period is lower than the acquired determination threshold value.

In this manner, determination unit 505 determines different determination threshold values for the driving state in which vehicle 200 is traveling straight ahead and the driving state in which vehicle 200 is traveling on a curve. For this reason, determination unit 505 determines whether the value R of the ratio calculated by calculation unit 424 varies between when vehicle 100 is traveling straight ahead and when vehicle 100 is traveling on a curve. It is possible to suppress deterioration in driving determination accuracy.

[Processing Procedure for Determining Judgment Threshold]
FIG. 10 is a flowchart showing a processing procedure for determining the determination threshold value by the determination device 4. As shown in FIG. This processing procedure is started, for example, while the vehicle 200 is running. First, the identifying unit 423 identifies the steering angle frequency indicating the rotation speed of the steering wheel based on the measurement result of the steering angle sensor 1 (S201). Calculation unit 424 determines whether the speed of vehicle 200 is less than the reference speed, or whether the first specific time period has not elapsed since the speed of vehicle 200 became equal to or greater than the reference speed. (S202). If the calculation unit 424 determines in the determination in S202 that the first specific period does not apply (NO in S202), the direction indicator of the vehicle 200 is blinking, or the direction indicator has finished blinking. It is determined whether or not the current period corresponds to the second specific period in which the second spare time has not elapsed since the current time (S203). When the calculation unit 424 determines in the determination in S203 that it does not correspond to the second specific period (NO in S203), the captured image captured by the road surface imaging unit 3 does not include the lane boundary line in the third specific period. (S204).

If the calculation unit 424 determines in the determination in S204 that the vehicle 200 does not fall under the third specific period (NO in S204), the calculation unit 424 calculates the second time period for the first integral value based on the steering angle frequency specified by the specification unit 423. A value R of the ratio of the integral values is calculated (S205). The statistical processing unit 504 determines whether or not the measurement period has ended (S206). When the statistical processing unit 504 determines that the measurement period has ended (YES in S206), it obtains statistical values of the multiple ratio values R calculated by the calculating unit 424 (S207). The determination unit 505 determines a determination threshold value used for determination by the determination unit 425 based on the statistics obtained by the statistical processing unit 504 (S208), and ends the process.

If the calculation unit 424 determines in the determination of S202 that the period corresponds to the first specific period (YES in S202), the calculation unit 424 discards the steering angular frequency specified by the specification unit 423, and returns to the process of S201. If the calculation unit 424 determines in the determination of S203 that the current period corresponds to the second specific period (YES in S203), the calculation unit 424 discards the steering angular frequency specified by the specification unit 423, and returns to the process of S201. If the calculation unit 424 determines in the determination of S204 that the period corresponds to the third specific period (YES in S204), the calculation unit 424 discards the steering angular frequency specified by the specification unit 423, and returns to the determination of S201. When the statistical processing unit 504 determines that the measurement period has not ended in the determination of S206 (NO in S206), the process returns to S201.

In the second embodiment, an example in which the determination device 4 determines the determination threshold has been described. However, the invention is not so limited. For example, an external device (not shown) connected to vehicle 200 via a wireless communication line may determine the determination threshold. The external device has a statistical processing section 504 and a determination section 505 . The statistical processing unit 504 of the external device acquires a plurality of ratio values R corresponding to the measurement period from the calculation unit 424 of the vehicle 200 via wireless communication. The statistical processing unit 504 obtains a statistic of the plurality of ratio values R obtained. The determination unit 505 may determine the determination threshold used by the determination unit 425 of the vehicle 200 for determination, based on the statistic obtained by the statistical processing unit 504, as in the second embodiment. The determination unit 505 transmits the determined determination threshold to the vehicle 100, but the determination threshold may be stored in the storage unit of the external device.

[Effects of the determination device of the second embodiment]
According to the second embodiment, the determination unit 505 determines the determination threshold used by the determination unit 425 for determination based on the statistic obtained by the statistical processing unit 504 . Therefore, the determination unit 505 can determine the determination threshold according to the driving tendency of the driver, the vehicle type of the vehicle 200, and the like. Therefore, the determination unit 505 can suppress deterioration in the accuracy of determination of the presence or absence of abnormal driving by the determination unit 425 due to individual differences in driving, vehicle types, and the like.

As described above, the present invention has been described using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist thereof. . For example, all or part of the device can be functionally or physically distributed and integrated in arbitrary units. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

1 steering angle sensor 2 speaker 3 road surface imaging unit 4 determination device 41 storage unit 42 control unit 100 vehicle 200 vehicle 421 imaging control unit 422 detection unit 423 identification unit 424 calculation unit 425 determination unit 426 notification unit 501 vehicle interior imaging unit 502 driver identification Unit 503 State identification unit 504 Statistical processing unit 505 Determination unit

Claims (12)

an identifying unit that identifies the steering angular frequency of the vehicle;
In a band higher than the first angular frequency band, for a first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band among the plurality of steering angular frequencies identified by the identifying unit over the determination period. a calculation unit that calculates a ratio of a specific number of second integral values of the steering angular frequency included in a certain second angular frequency band;
a determination unit that determines whether abnormal operation is being performed based on the value of the ratio calculated by the calculation unit;
an imaging unit that captures an image of the road surface around the vehicle at predetermined time intervals;
a detection unit that detects the frequency of lateral movement of a first distance or more in a lateral direction within a certain period of time based on a plurality of captured images captured by the imaging unit;
The judging unit determines, as one condition, that the frequency of the lateral movement detected by the detecting unit is higher than a first frequency threshold when the distance from the vehicle to the lane boundary line is equal to or greater than a reference value. As one, when it is determined that the abnormal driving is occurring and the distance from the vehicle to the lane boundary line is less than the reference value, the frequency of the lateral movement detected by the detection unit is One of the conditions is that it is higher than a second frequency threshold that indicates a value higher than the frequency threshold of 1, and it is determined that the abnormal operation is being performed.
judgment device. an identifying unit that identifies the steering angular frequency of the vehicle;
In a band higher than the first angular frequency band, for a first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band among the plurality of steering angular frequencies identified by the identifying unit over the determination period. a calculation unit that calculates a ratio of a specific number of second integral values of the steering angular frequency included in a certain second angular frequency band;
a determination unit that determines whether abnormal operation is being performed based on the value of the ratio calculated by the calculation unit;
an imaging unit that captures an image of the road surface around the vehicle at predetermined time intervals;
a detection unit that detects the frequency of lateral movement in which the vehicle moves in a lateral direction based on a plurality of captured images captured by the imaging unit;
The detection unit detects, as the lateral movement, movement in the lateral direction by a first distance or more within a predetermined period of time when the distance from the vehicle to the lane boundary line is equal to or greater than a reference value, and When the distance to the lane boundary line is less than the reference value, the movement in the lateral direction by a second distance or more indicating a value shorter than the first distance within the predetermined time is detected as the lateral movement. ,
The determination unit determines that the abnormal operation is occurring under one condition that the frequency of the lateral movement detected by the detection unit is higher than a frequency threshold.
judgment device. The determination unit determines that the abnormal operation is occurring under one of the conditions that the ratio value calculated by the calculation unit is lower than a determination threshold.
The determination device according to claim 1 or 2 . The determination unit determines that the abnormal operation is occurring under one of the conditions that the steering angular frequency having the maximum specified number specified by the specifying unit is included in the first angular frequency band. do,
The determination device according to claim 1 or 2. an imaging unit that captures an image of the road surface around the vehicle at predetermined time intervals;
a detection unit that detects the frequency of lateral movement in which the vehicle has fallen below a predetermined distance from a lane boundary line on the road surface based on a plurality of captured images captured by the imaging unit;
The determination unit determines that the abnormal operation is occurring under one condition that the frequency of the lateral movement detected by the detection unit is higher than a frequency threshold.
The determination device according to any one of claims 1 to 3. an identifying unit that identifies the steering angular frequency of the vehicle;
In a band higher than the first angular frequency band, for a first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band among the plurality of steering angular frequencies identified by the identifying unit over the determination period. a calculation unit that calculates a ratio of a specific number of second integral values of the steering angular frequency included in a certain second angular frequency band;
Based on the ratio value calculated by the calculation unit, it is determined whether or not abnormal operation is being performed, and one of the conditions is that the ratio value calculated by the calculation unit is lower than the determination threshold, a determination unit that determines that the abnormal operation is being performed;
a statistical processing unit that obtains a statistic of a plurality of ratio values respectively corresponding to a plurality of reference periods preceding the determination period;
a determination unit that determines the determination threshold value used for determination by the determination unit based on the statistic obtained by the statistical processing unit;
a state identification unit that distinguishes between a running state in which the vehicle is running straight and a running state in which the vehicle is running on a curve,
The determination unit associates the driving state identified by the state identification unit in the plurality of reference periods with the determined determination threshold value and causes the storage unit to store in advance,
The determination unit acquires the determination threshold associated with the running state identified by the state identification unit during the determination period from the storage unit, and acquires the value of the ratio calculated by the calculation unit during the determination period. Determine that abnormal operation is being performed as one of the conditions that it is lower than the determination threshold value that was determined,
judgment device. further comprising a driver identification unit that identifies the driver,
The determination unit associates the driver identified by the driver identification unit in the plurality of reference periods with the determined determination threshold value and causes the storage unit to store the determined determination threshold value, and
The determination unit acquires from the storage unit the determination threshold value associated with the driver identified by the driver identification unit during the determination period, and the value of the ratio calculated by the calculation unit during the determination period is 7. The determination device according to claim 6 , wherein it is determined that the abnormal operation is being performed under one of the conditions that it is lower than the acquired determination threshold value. The statistical processing unit calculates the data for the plurality of reference periods excluding a period in which the speed of the vehicle is less than the reference speed and a period from when the speed of the vehicle becomes equal to or higher than the reference speed to when a first preliminary time elapses. determining a statistic for each corresponding one of the plurality of ratio values;
The determination device according to claim 6 . In the plurality of reference periods excluding a period during which the direction indicator of the vehicle is blinking and a period from when the direction indicator stops blinking to when a second preliminary time elapses, determining a statistic for each corresponding one of the plurality of ratio values;
The determination device according to claim 6 . executed by one or more computers,
determining the steering angular frequency of the vehicle;
A second angle, which is a band higher than the first angular frequency band, for a first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band, among the plurality of steering angular frequencies identified over the reference period. a step of calculating a ratio of a specific number of second integral values of the steering angular frequencies included in the frequency band, and obtaining a statistic of a plurality of the ratio values respectively corresponding to the plurality of the reference periods;
Determining a judgment threshold based on the obtained statistic;
the second angular frequency band for the first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band, among the plurality of steering angular frequencies identified over the determination period after the reference period; calculating a value of the ratio of the second integral values of the specific number of the steering angular frequencies included in
a step of capturing an image of the road surface around the vehicle at predetermined time intervals;
a step of detecting the frequency of lateral movement in which a first distance or more has been laterally moved within a certain period of time based on a plurality of captured images;
One of the conditions is that the value of the ratio corresponding to the determination period is lower than the determination threshold value. In a certain case, it is determined that the abnormal driving is being performed, with one of the conditions being that the frequency of the detected lateral movement is higher than a first frequency threshold, and the distance from the vehicle to the lane boundary is determined. One of the conditions is that the frequency of the detected lateral movement is higher than a second frequency threshold indicating a value higher than the first frequency threshold when the distance of is less than the reference value, a step of determining that the abnormal operation is being performed ;
A determination method. executed by one or more computers,
determining the steering angular frequency of the vehicle;
A second angle, which is a band higher than the first angular frequency band, for a first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band, among the plurality of steering angular frequencies identified over the reference period. a step of calculating a ratio of a specific number of second integral values of the steering angular frequencies included in the frequency band, and obtaining a statistic of a plurality of the ratio values respectively corresponding to the plurality of the reference periods;
Determining a judgment threshold based on the obtained statistic;
the second angular frequency band for the first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band, among the plurality of steering angular frequencies identified over the determination period after the reference period; calculating a value of the ratio of the second integral values of the specific number of the steering angular frequencies included in
a step of capturing an image of the road surface around the vehicle at predetermined time intervals;
Based on a plurality of captured images, the frequency of lateral movement of the vehicle is detected, and if the distance from the vehicle to the lane boundary line is equal to or greater than a reference value, the first A lateral movement of a distance or more is detected as the lateral movement, and if the distance from the vehicle to the lane boundary line is less than the reference value, the distance is shorter than the first distance within the predetermined time. detecting, as the lateral movement, movement in the lateral direction by a second distance or more indicating a value;
One of the conditions is that the value of the ratio corresponding to the determination period is lower than the determination threshold. A step of determining that the abnormal operation is being performed with one of the conditions being high ;
A determination method. executed by one or more computers,
a step of discriminating between a driving state in which the vehicle is traveling straight ahead and a driving state in which the vehicle is traveling on a curve;
identifying a steering angular frequency of the vehicle;
A second angle, which is a band higher than the first angular frequency band, for a first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band, among the plurality of steering angular frequencies identified over the reference period. a step of calculating a ratio of a specific number of second integral values of the steering angular frequencies included in the frequency band, and obtaining a statistic of a plurality of the ratio values respectively corresponding to the plurality of the reference periods ;
the second angular frequency with respect to the first integrated value of a specific number of the steering angular frequencies included in the first angular frequency band among the plurality of steering angular frequencies identified over the determination period after the reference period; calculating a ratio of the second integrated values of a specific number of the steering angular frequencies included in the band;
obtaining a statistic of a plurality of said ratio values respectively corresponding to a plurality of said reference periods preceding said determination period;
Determining a determination threshold value to be used for determination based on the obtained statistic;
a step of associating the driving state identified in the plurality of reference periods with the determined determination threshold value and pre-storing them in a storage unit;
One of the conditions is that the value of the ratio corresponding to the determination period is lower than the determination threshold, and it is determined that abnormal driving is occurring , and the driving state associated with the driving state identified in the determination period is determined. A determination threshold value is acquired from the storage unit, and one of the conditions is that the value of the ratio calculated in the determination period is lower than the acquired determination threshold value, and a step of determining that abnormal operation is being performed;
A determination method.

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