US 12,094,213 B2
Control device, system and method for determining perceptual load of a visual and dynamic driving scene in real time
Jonas Ambeck-Madsen, Brussels (BE); Gabriel Othmezouri, Brussels (BE); Daniel Olmeda Reino, Brussels (BE); Nilli Lavie, London (GB); Luke Palmer, London (GB); and Petar Palasek, London (GB)
Assigned to TOYOTA MOTOR EUROPE, Brussels (BE); and MINDVISIONLABS LIMITED, London (GB)
Appl. No. 17/620,441
Filed by TOYOTA MOTOR EUROPE, Brussels (BE); and MINDVISIONLABS LIMITED, London (GB)
PCT Filed Jun. 20, 2019, PCT No. PCT/EP2019/066404
§ 371(c)(1), (2) Date Dec. 17, 2021,
PCT Pub. No. WO2020/253965, PCT Pub. Date Dec. 24, 2020.
Prior Publication US 2022/0327840 A1, Oct. 13, 2022
Int. Cl. G06V 20/56 (2022.01); A61B 5/00 (2006.01); B60W 40/04 (2006.01); B60W 40/08 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01); G06T 7/11 (2017.01); G06V 10/44 (2022.01); G06V 10/62 (2022.01); G06V 10/762 (2022.01); G06V 10/77 (2022.01); G06V 10/774 (2022.01); G06V 10/82 (2022.01)
CPC G06V 20/56 (2022.01) [A61B 5/0075 (2013.01); A61B 5/0082 (2013.01); B60W 40/04 (2013.01); B60W 40/08 (2013.01); B60W 50/0097 (2013.01); G06T 7/11 (2017.01); G06V 10/454 (2022.01); G06V 10/62 (2022.01); G06V 10/762 (2022.01); G06V 10/7715 (2022.01); G06V 10/774 (2022.01); G06V 10/82 (2022.01); B60W 60/001 (2020.02); B60W 2420/40 (2013.01); B60W 2420/403 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/20076 (2013.01); G06T 2207/30252 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A control device for a vehicle for determining perceptual load of a visual and dynamic driving scene,
the control device being configured to:
receive an image sequence representing the driving scene,
extract a set of scene features from the image sequence, the set of scene features representing at least one of static and dynamic information of the driving scene,
calculate a time-aggregated representation of the image sequence based on the extracted set of scene features,
calculate an attention map of the driving scene by attentional pooling of the time-aggregated representation of the image sequence, and
determine the perceptual load of the driving scene based on the attention map.