US 11,787,408 B2
System and method for controlling vehicle based on condition of driver
Sang Kyun Sim, Anyang-si (KR)
Assigned to HL Klemove Corp., Incheon (KR)
Filed by MANDO CORPORATION, Pyeongtaek-si (KR)
Filed on Nov. 5, 2018, as Appl. No. 16/180,468.
Claims priority of application No. 10-2017-0146215 (KR), filed on Nov. 3, 2017.
Prior Publication US 2019/0135291 A1, May 9, 2019
Int. Cl. B60W 30/18 (2012.01); B60W 40/08 (2012.01); B60Q 1/52 (2006.01); G06T 7/73 (2017.01); B60W 30/14 (2006.01); A61B 5/18 (2006.01); A61B 5/16 (2006.01); B60W 50/10 (2012.01); B60K 28/06 (2006.01); A61B 5/00 (2006.01); B60W 30/10 (2006.01); B60W 30/182 (2020.01); A61B 5/11 (2006.01); G06V 20/56 (2022.01); G06V 20/59 (2022.01); G06V 40/16 (2022.01); G06V 40/18 (2022.01); B60W 10/188 (2012.01); B60W 10/20 (2006.01); G05D 1/00 (2006.01); B60W 50/14 (2020.01)
CPC B60W 30/18163 (2013.01) [A61B 5/0077 (2013.01); A61B 5/1112 (2013.01); A61B 5/163 (2017.08); A61B 5/165 (2013.01); A61B 5/18 (2013.01); A61B 5/4809 (2013.01); A61B 5/6893 (2013.01); B60K 28/06 (2013.01); B60Q 1/52 (2013.01); B60W 10/188 (2013.01); B60W 10/20 (2013.01); B60W 30/10 (2013.01); B60W 30/143 (2013.01); B60W 30/182 (2013.01); B60W 40/08 (2013.01); B60W 50/10 (2013.01); B60W 50/14 (2013.01); G05D 1/0055 (2013.01); G05D 1/0088 (2013.01); G06T 7/73 (2017.01); G06V 20/588 (2022.01); G06V 20/597 (2022.01); G06V 40/166 (2022.01); G06V 40/193 (2022.01); A61B 5/1122 (2013.01); A61B 2560/0242 (2013.01); A61B 2562/04 (2013.01); B60W 2040/0818 (2013.01); B60W 2420/42 (2013.01); B60W 2540/26 (2013.01); B60W 2554/4041 (2020.02); B60W 2900/00 (2013.01); G05D 2201/0213 (2013.01); G06T 2207/30201 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method for controlling a vehicle comprising:
acquiring, by a driver surveillance camera, images of a driver's face and a movement of the driver's pupils;
receiving, by a controller, the acquired images as driver monitoring information;
analyzing, by the controller, a driver status using the images of the driver's face and the movement of the driver's pupils;
determining whether the analyzed driver status is normal or abnormal;
upon determining that the analyzed driver status is abnormal, controlling, by the controller, the vehicle to move toward a road shoulder,
wherein the controlling the vehicle to move toward the road shoulder includes:
upon determining that the driver status is abnormal, warning the driver of careless driving before moving to the road shoulder,
upon determination that the driver has no intention to drive the vehicle irrespective of the warning of careless driving, determining whether the vehicle is able to move toward the road shoulder,
controlling the vehicle to move toward the road shoulder when the vehicle is able to move toward the road shoulder including, upon determining that a current position of the vehicle is not in a lane nearest to the road shoulder, controlling the vehicle to move from a current lane to the lane nearest to the road shoulder, and
controlling deceleration of the vehicle when the vehicle is unable to move toward the road shoulder; and
upon determining that the analyzed driver status is normal, analyzing the movement of the driver's pupils; and
controlling, by the controller, vehicle movement based on the movement of the driver's pupils,
wherein the analyzing of the movement of the driver's pupils comprises filtering out meaningless movement irrelevant to vehicle control from among movements of the driver's pupil, and
the filtering out meaningless movement of the driver's pupils comprises:
obtaining current gaze position information of the driver acquired by the driver surveillance camera;
detecting a presence of any object within regions gazed at by the driver using information acquired by a vehicle around view monitoring (AVM) camera based on the current gaze position information; and
upon determining that the detected object is not a vehicle lane or road, determining the movement of the driver's pupils to be the meaningless movement.