Patent Grant
9955903
The invention generally relates to systems and methods for monitoring and predicting driver vigilance, and, in particular, to systems and methods for monitoring and predicting drowsiness and sleep onset of, for example, vehicle drivers. Other typical applications may include monitoring the pilot of an aircraft, and in areas involving related occupations such as train drivers and operators of equipment, such as cranes and industrial machinery in general.
Impairment of alertness in vehicle operators poses a danger not only to themselves but also often to the public at large. Thousands of deaths and injuries result each year that are fatigue related. Moreover, the financial costs as a result of the injuries and deaths are prohibitive. As a result, significant efforts have been made in the area of vigilance monitoring of the operator of a vehicle to detect the decrease in attention of the operator due to drowsiness and to alert her/him.
Conventional driver vigilance monitoring techniques fall within the following broad classes: (1) image acquisition and processing of facial features such as eye and head movements; (2) image acquisition and processing of road lane maintaining capability and (3) monitoring of the physiological responses of the body while driving.
However, there are several limitations with the existing technologies. A vigilance monitoring techniques based on monitoring physiological responses of the body like EEG and ECG, are intrusive, expensive and can distract or cause annoyance to the driver. In US 2004/0044293, for example, a system for monitoring, recording and/or analysing vigilance, alertness or wakefulness and/or a stressed state of an operator of equipment or machinery in a variety of situations including situations wherein the degree of vigilance of the operator has implications for the safety or well being of the operator or other persons.
The monitoring system according to US 2004/0044293 is designed, inter alia, to provide non-invasive monitoring of a driver's physiological data including movement activity, heart activity, respiration and other physiological functions. The monitored physiological data may undergo specific analysis processing to assist in determining of the driver's state of vigilance. The system is designed to detect various states of the driver's activity and detect certain conditions of driver fatigue or relaxation state that could lead to an unsafe driving condition or conditions.
The system includes means for gathering movement data associated with the driver including a plurality of sensors such as touch sensitive mats placed in locations of the vehicle that make contact with the driver, such as the seat, steering wheel, pedal(s), seat belt or the like. Each location may include several sensors or mats to more accurately monitor movements of the driver.
A processing means may be programmed to recognize particular movement signatures or patterns of movement, driver posture or profile and to interpret these to indicate that vigilance has deteriorated or is below an acceptable threshold. The sensors or mats may include piezoelectric, electrostatic, piezo ceramic or strain gauge material.
Moreover, lane tracking methods require visible lane markings and even if present are significantly impaired by snow, rain, hail, and/or dirt existing on the road. Nighttime and misty conditions are also impairments.
Existing image processing techniques used to track eyes and head patterns to track lane maintaining capability necessarily require expensive (both cost and computational requirement-wise) hardware to operate and are highly dependent on factors such as, the relative position of the driver's head with respect to the sensors, illumination, and facial features and/or mental state of the driver, whether happy, anxious, or angry. Each of these indicators suffers from a relatively low probability of detecting drowsiness. Many of the measurements for indicating drowsiness do not adequately represent the responsiveness of the driver because of such influences as road conditions, patterns and vehicle type. Moreover, the cost for these techniques is often prohibitive. Even yet, more often than not, the existing techniques detect drowsiness when it may be too late for accident prevention purposes.
In US 2007/0080816, a vigilance monitoring system for alerting a driver of a vehicle upon detecting a state of drowsiness by calculation of a deviation between a time derivative of force and/or displacement exerted by the driver on a driver-vehicle interface, e.g., the steering wheel or the gas pedal, and a moving average for the time derivative of force and/or displacement to thereby quantify the state of drowsiness of the driver independent of conditions inside and outside the vehicle is disclosed. The system includes a sensor connected to at least one driver-vehicle interface to monitor force on and/or displacement of the driver-vehicle interface.
The system also includes an intelligent control in communication with the sensor as well as a time derivative profile modeled from the time derivative of force and/or displacement using the intelligent control. Included also is a general trend modeled from the moving average of the time derivative of force and/or displacement using the intelligent control. In addition, the system includes a spikiness index defined by a degree of deviation between the time derivative profile and the general trend to thereby quantify the state of drowsiness of the driver independent of conditions inside and outside of the vehicle. However, the system according to US 2007/0080816 may require extensive processing capabilities in order to compute the data needed for the determination of the state of drowsiness.
In light of the problems encountered within the prior art, there is a continuing need for improved systems and methods that are capable of detecting drowsiness under different and varying conditions such as under varying light conditions, varying weather conditions and varying road conditions, for a diversity of driver physionomies and under the influence of other potentially disturbing factors such as usage of glasses etc., with a high degree of accuracy and reliability.
Thus, an object of the present invention is to provide improved systems and methods for detecting drowsiness under different and varying conditions such as under varying light conditions, varying weather conditions and varying road conditions, for a diversity of driver physionomies and under the influence of other potentially disturbing factors such as usage of glasses etc., with a high degree of accuracy and reliability.
This and other objects of the present invention will become apparent from the specification and claims together with the appended drawings.
According to a first aspect of the present invention, there is provided a monitoring system for monitoring and/or predicting drowsiness of a driver of a vehicle or a machinery operator, the system being adapted to be arranged in the vehicle or at the machinery. The system comprises a set of infrared, IR, or near infrared, NIR, light sources, each light source being arranged in the vehicle or at the machinery such that an amount of the light emitted from the light source incidents on an eye of the driver or operator. The emitted light that impinges on the eye of the driver or operator thereby forms a virtual image of the signal source on the eye including the cornea.
An image sensor is arranged and oriented such that light reflected from the eye can be captured in an image and adapted to generate consecutive images forming a sequence of images over time, wherein each image contains glints from at least a subset or all of the light sources, an image processing unit adapted to extract information of the glints in the images by processing the images using an image processing algorithm, and a determining unit adapted to determine a drowsiness index based on the extracted information of the glints of the sequence of images, wherein the drowsiness index indicates a degree of drowsiness.
According to a second aspect of the present invention, there is provided a method for monitoring and/or predicting drowsiness of a driver of a vehicle or a machinery operator. The method includes emitting light using a set of infrared, IR, or near infrared, NIR, light sources, each light source being arranged in the vehicle or at the machinery such that an amount of the light emitted from the light source incidents on an eye of the driver or operator. The emitted light that impinges on the eye of the driver or operator thereby forms a virtual image of the signal source on the eye including the cornea.
Further, light reflected from the eye in an image is captured using an image sensor, consecutive images forming a sequence of images over time are generated, wherein each image contains glints from at least or all subset of the light sources, the images are processed to extract information of the glints, and a drowsiness index is determined based on the extracted information of the glints of the sequence of images, wherein the drowsiness index indicates a degree of drowsiness.
Eyelid closure has been shown to be a promising predictator of drowsiness and sleep onset but there have been problems with detecting the eyelid closure with a sufficient degree of accuracy and reliability, in particular, in varying conditions such as, for example, in varying light conditions, with respect to diversity of drive or operator physiognomies, with respect to usage of glasses, etc. The present invention provides systems and methods that are capable of detecting eye-lid position and eye opening/closure amplitude with a high degree of accurate and reliability under varying conditions. The present invention is based on the insight that a structured illumination of an eye, or a cornea, of a driver of a vehicle or a machine operator can be used to detect an eye-lid position and an amplitude of eye opening/closure with a high degree of accuracy and reliability. This information may, in turn, be used to determine a drowsiness index indicating a degree of drowsiness of the driver or operator.
In particular, the present invention is based on the idea of arranging a set of IR or NIR illuminators or sources (e.g., LEDs), e.g., an array of IR illuminators, such that at least an amount of the light emitted from each illuminator directly, or via one or more reflections on surfaces in a vehicle or of a machinery, impinges on an eye (cornea and/or sclera) of the driver or operator. Each illuminator will thereby produce a virtual image of itself on the cornea and, optionally, the sclera, and thus forms a virtual image of the illuminator on the eye of the driver or operator. The light will be reflected by the eye and the glints or reflections are captured or acquired by means of an image sensor. Thereafter, the respective reflection from each illuminator is identified by means of image processing. When the eye is wide open, the glints from all illuminators can be identified in the sensor image of the eye and, for a semi-closed eye, the eye-lid will occlude some or all of the glints, and consequently, only a sub-set of the glints from the set of illuminators can be identified in the sensor image. Based on this information regarding the identified glints, a position of the eye-lid can be determined.
In principle, the glint pattern of the sensor image functions as a measuring-rod in that depending on the number of reflections being visible/occluded at a given point of time, a measure of the closuring/opening degree of the eye can be determined and hence the eye lid position. By determining an amplitude measure corresponding to the closuring/opening degree over time, for example, an eye closure pattern over time can be determined. Such an amplitude measure may correspond to:
The amplitude measures for successive images may form an amplitude curve over time corresponding to the eye movement cycles or eye lid positions over time of the driver or operator.
The drowsiness index may be based on one of or a combination of two or several of the following parameters (a)-(h) calculated from the time series of the amplitude measure (the amplitude curve over time):
As the skilled person realizes, there are other parameters that also are conceivable. In one embodiment, the predetermined period of time corresponds to an eye lid movement cycle, i.e. a period starting when the amplitude of the eye opening reaches a local peak value and ending when the amplitude of the eye opening has reached another peak value again after a period of eye closure, which corresponds to local minimum value of a period of time when the amplitude measure is below a predetermined threshold (i.e. a blink cycle of the eye). A minimum period of time depends on the sampling rate. The number of images obtained during such a cycle will of course depend on the sampling rate of the image sensor and image processing unit.
An alert person blinks, to a large extent, with rapid, “re-wetting” blinks. The typical movement pattern of such rapid blink is that the eye is closed very rapidly and is opened somewhat slower (the total blink length, i.e. the cycle from a fully open eye to a closed eye and back again to a fully opened eye, is about 100-300 ms). For a tired person, this rate of speed will be inverted or evened out in that the closure movement and the opening movement will occur at approximately the same speed. This often occurs without an increased total length of the total blink length. An increased tiredness may also result in longer periods when the eye is closed. This is often accompanied by a much slower closure speed than the opening speed. Furthermore, an increased tiredness may also result in a higher blinking frequency and more incomplete blinks (i.e. the eye is not completely closed, which is the case in “re-wetting” blinks).
These characteristics of increased tiredness can be approximated using the calculated parameters a-h, and the drowsiness index may based on any one of or a combination of:
According to an embodiment of the present invention, the set of IR light sources is an array of LEDs arranged in a straight line. However, alternative designs are also conceivable such as, for example, in a curved fashion. If the invention is implemented in vehicle, e.g., a car, an array of IR light sources may be arranged on a windscreen post arranged such that the light emitted is directed onto the eye or eyes of the driver. In an alternative design, an array of IR light sources may be arranged on the upper side of the instrument panel such that light emitted is reflected by the windscreen onto the eye or eyes of the driver. The image sensor may be arranged such that the light reflected from the eyes can be captured directly or via a further reflection on the windscreen.
According to embodiments of the present invention, the IR or NIR sources may emit modulated IR light for thereby being distinguishable from disturbing background light, for example, in a vehicle application background light from traffic signs, street lights, etc. In other words, the IR sources may transmit multiplexed signals over the IR spectrum. This facilitates identifying of the glints in the sensor image sequence generated by the image sensor. Suitable modulation schemes include modulation with respect to time, such as frequency modulation, phase-locking, pulse-width modulation and modulation by orthogonal codes. Alternatively, the IR sources are synchronised and adapted to emit signals in separate time slots of a repetitive time frame. As another alternative, optical modulation can be used, wherein the IR sources emit at a specific wavelength, such as 750 nm, 850 nm and 950 nm, and absorption filters or dielectric filters are provided at the IR sensor to separate the light emitted by the sources from other light in the environment. As yet another alternative, IR signal sources can be made distinguishable from other disturbing light sources in the environment by providing them with a specific polarization characteristic.
The image sensor can be a 1D or 2D imaging device and IR or NIR image sensor may comprise a sensor surface, which is preferably plane, and which is arranged at some known distance from an optical aperture, such as a fixed or variable diaphragm, of the image sensor. This way, all light rays incident on the sensor surface will pass essentially through a common point, namely the center of the optical aperture in the case of a pinhole camera model. In Gaussian optics, nodal points define the incident angles of the IR beams. It is further possible to detect a position of an incident light ray from a reflection from an eye on the sensor surface. The position of the reflection may be a peak-intensity point, in which the maximal intensity is received or the centroid for sub-pixel resolution.
Thus, the virtual image of the light sources on the eye, i.e. the pattern formed on the sclera and/or the cornea, which is reflected back to the image sensor, will produce a glint pattern on the sensor surface. That, is a glint image will be created. The glint image can be analysed in the spatial domain using, for example, techniques based on morphology such as connected components, techniques based on gradients such as star bursts, techniques based on energy minimizing such as active contours, or techniques based on feature detection such as mean-shift or Viola-Jones, or in the frequency domain using, for example, fast Fourier transforms, or in both using wavelet-based analysis. However, the way of obtaining information from the glint pattern is not limited to these methods.
In one embodiment of the present invention, the size of the glint pattern on the image, e.g., the length of the arrays of glints, is used to determine the distance to the eye of the driver or operator to the array of LEDs. The radius of curvature of the human eye can be approximated to r mm and may therefore be modeled as a convex mirror with a focal length: f=r/2. Further, if the camera is calibrated, a magnifying factor, M, is known and thereby the distance to an object (eye) can be determined from the following:
M=(d−f)/f
According to embodiments of the present invention, the drowsiness index may be used to alert the driver or operator that of an increased degree of drowsiness, for example, upon detection of that the drowsiness index has exceeded a predetermined threshold. The determining unit or a control unit controlling the drowsiness monitoring system may alert the driver or operator via an alert system. If implemented in a vehicle, the alert system may use the preexisting onboard computer of the vehicle to alert the driver using the radio, existing alarm tones and/or alarm light for the seatbelt and/or door detections system. Other alert systems such as an alarm with audible and visual displays could be included into the alert system. The alert system may also include a vibrating element for causing the seat to vibrate.
As will be apparent from this specification and claims, the present invention can be implemented in a number different applications, except from vehicles, including monitoring the pilot of an aircraft, and in areas involving related occupations such as train drivers and operators of equipment such as cranes and industrial machinery in general.
As the skilled person realizes, steps of the methods according to the present invention, as well as preferred embodiments thereof, are suitable to realize as computer program or as a computer readable medium.
These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. All terms used herein are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein.
Embodiments of the present invention will be described with reference to the accompanying drawings, on which:
The present invention relates to a drowsiness monitoring system. The embodiments disclosed herein are merely exemplary or representative of the present invention. The present invention is not to be limited to the specific disclosures presented herein.
With reference generally to
However, the resolution also depends, inter alia, on factors such as the distance between the set of light sources and the eyes of the driver, the distance between the individual light sources, the amount of emitted light that actually impinges on the eye, the amount of light reflected from the eye that is captured by the light sensor, the image processing of the images including the reflected light (i.e. the glints), etc. One key characteristic of the set of light sources 12a-12g is however that it should be arranged such that at least an amount of the emitted light impinges on the sclera and/or the cornea of the driver, which amount must be sufficiently high to be reflected by the eye such that the reflection can be captured by an image sensor.
In this embodiment, the set of light sources is arranged as an array in a straight line. Alternative designs are also conceivable such as, for example, arranging the set of light sources in a curved fashion. If implemented in vehicle, the set light sources may be arranged on the upper side of an instrument panel 14 such that light emitted is reflected by the windscreen (see
In order to improve the accuracy of the drowsiness monitoring, the IR or NIR sources may emit modulated IR light for thereby being distinguishable from disturbing background light, for example, in a vehicle application background light from traffic signs, street lights, etc. In other words, the IR sources may transmit multiplexed signals over the IR spectrum. This facilitates identifying of the glints in the sensor image sequence generated by the image sensor. Suitable modulation schemes include modulation with respect to time, such as frequency modulation, pulse-width modulation and modulation by orthogonal codes.
Alternatively, the IR sources are synchronised and adapted to emit signals in separate time slots of a repetitive time frame. As another alternative, absorption filters or dielectric filters are provided at the IR sensors to remove light from other sources. A further alternative may be to provide the IR signal sources with a specific polarization characteristic.
Thus, an amount of the emitted light 15 from the respective light source 12a-12g impinges on the eye 9, i.e. on the sclera and/or the cornea, of the driver 11 and thereby produces a virtual image on the sclera and/or the cornea, see
The image sensor can be a 1D or 2D imaging device and the IR or NIR image sensor may comprise a sensor surface, which is preferably plane, and which is arranged at some known distance from an optical aperture, such as a fixed or variable diaphragm, of the image sensor. Thus, the virtual image of the light sources on the eye, i.e. the pattern formed on the sclera and/or the cornea, which is reflected back to the image sensor 17, will produce a glint pattern on the sensor surface. That is, in each snapshot a glint image will be created and over a sequence of images the glint pattern during different eye lid positions will hence be captured by the image sensor 17.
An image processing unit 18 is connected to the image sensor 17. The glint image can be analysed in the spatial domain using, for example, techniques based on morphology such as gradient edge detection techniques including Sobel, Prewitt, Robert, Canny or star burst in combination with connected components, finding zero crossing by combination of Gaussian filtering and Laplacian derivation, techniques based on energy minimizing such as active contours, or techniques based on feature detection such as mean-shift or Viola-Jones, or in the frequency domain using, for example, fast Fourier transforms, or in both using wavelet-based analysis.
However, the way of obtaining information from the glint pattern is not limited to these methods. The image processing unit 18 is thus adapted to extract information of the glints in each image by processing the images using an image processing algorithm, as discussed above. Further, a determining unit 19 is connected to the image processing unit 18 and is adapted to determine a drowsiness index based on the extracted information of the glints of a sequence of images, wherein the drowsiness index indicates a degree of drowsiness. The operation of the set of light sources 12a-12g, the image sensor 17, the image processing unit 18, and the determining unit 19 may be controlled by a control unit 20. In one embodiment, the image sensor 17, the image processing unit 18, and the determining unit 19 are integrated into the control unit 20.
In an alternative embodiment, the control unit 20 (and/or the image sensor 17, the image processing unit 18, and the determining unit 19) is integrated into an onboard computer of the vehicle or a central processing unit adapted for onboard configuration within the vehicle. The control unit 20 also includes a storage unit for storing, for example, time series data or data recorded with a time signature of the glint pattern information obtained from the image sensor 17 or time series data of the drowsiness index.
The determining unit 19 may in one embodiment be adapted to calculate or determine an amplitude measure, which may correspond to:
The amplitude measures for successive images may form an amplitude curve over time corresponding to the eye movement cycles or eye lid positions over time of the driver or operator. Generally, a high value of the amplitude measure corresponds to an eye lid position for a fully or near fully open eye and, correspondingly, when the amplitude measure has a low value it corresponds to an eye lid position for a closed or nearly closed eye.
The drowsiness index may be determined using the amplitude measure. The amplitude measure may be raw data or may be filtered using, for example, any one of the following techniques:
In embodiments of the present invention, the determining unit 19 is adapted to calculate one or several of the following parameters (a)-(h) using the time series of the amplitude measure, wherein:
The determining unit 19 is adapted to base the drowsiness index on one of or a combination of two or several of the parameters (a)-(h). As the skilled person realizes, there are other parameters that are conceivable. In one embodiment, the predetermined period of time corresponds to an eye lid movement cycle, i.e. a period starting when the amplitude of the eye opening has a maximal value and ending when the amplitude of the eye opening has reached the maximal value again after a period of eye closure (i.e. a blink of the eye) and a minimum period of time depends on the sampling rate. The number of images obtained during such a cycle will of course depend on the sampling rate of the image sensor and image processing unit.
An alert person blinks, to a large extent, with rapid, “re-wetting” blinks. The typical movement pattern of such rapid blinks is that the eye is closed very rapidly (the eye lid moves rapidly downward to close the eye) and is opened somewhat slower (the eye lid opens somewhat slower than it closes in this case). The total blink length, i.e. the cycle from a fully open eye to a closed eye and back again to a fully opened eye, is about 100-300 ms. For a tired person, this rate of speed between the closure and the opening will be inverted or evened out in that the closure movement and the opening movement will occur at approximately the same speed. This occurs substantially without an increased total length of the total blink length. An increased tiredness may also result in longer periods during which the eye is closed. This is often accompanied by a much slower closure speed than opening speed. Furthermore, an increased tiredness may also result in a higher blinking frequency and a higher number of incomplete blinks (i.e. the eye is not completely closed, which is the case in “re-wetting” blinks).
These characteristics of increased tiredness can be approximated using, for example, one or more of the calculated parameters a-h, and the drowsiness index may based on any one of or a combination of
Further, the determining unit 19 may be adapted to alert the driver 11 or operator of an increased degree of drowsiness when the drowsiness index exceeds a predetermined drowsiness index threshold. In an embodiment of the present invention, an alert system 21 is adapted to notify the driver 11 or operator of an increased degree of drowsiness when the drowsiness index has exceeded the predetermined drowsiness index threshold. The alert system 21 may use the preexisting onboard computer of the vehicle to alert the driver using the radio, existing alarm tones and/or alarm light for the seatbelt and/or door detections system. Other alert systems 21 such as an alarm with audible and visual displays could be included into the alert system. The alert system 21 may also include a vibrating element for causing the seat to vibrate.
According to one embodiment of the present invention, the array of light sources is positioned about 70 cm from the eyes of the driver or operator and seven light sources are arranged in the array with a distance of about 10 cm between adjacent light sources (in a vertical direction). Hence, the array will have a vertical length of about 70 cm and may, for example, be mounted on the windscreen post as shown in
M=(d−f)/f
The array having a vertical length of about 70 cm therefore produces a 4 mm long glint pattern on the cornea. This is shown in
In
In principle, the glint pattern of the sensor image function as a measuring-rod in that depending on the number of reflections being visible/occluded at a given point of time, a measure of the closuring/opening degree can be determined. By determining a measure of the closuring/opening degree over time, for example, an eye closure pattern over time can be determined. A larger array of LEDs could cover the whole eye and provide a more precise and accurate measurement of eye-lid closure. Instead of increasing the linear size of the array, some LEDs could be positioned closer to the driver or operator or be positioned such that the emitted light is reflected of a concave of convex surface as will be discussed below.
With reference now to
Turning now to
The operation of the array of light sources 40, the image sensor 47, the image processing unit 48, and the determining unit 49 may be controlled by a control unit 50. In one embodiment, the image sensor 47, the image processing unit 48, and the determining unit 49 are integrated into the control unit 50. In an alternative embodiment, the control unit 50 (and/or the image sensor 47, the image processing unit 48, and the determining unit 49) is integrated into a control computer of the machinery equipment 42 or a central processing unit adapted for configuration within the machinery equipment 42. The control unit 50 also includes a storage unit for storing time series data or data recorded with a time signature of the glint pattern information obtained from the image sensor 47.
Further, the determining unit 49 may be adapted to alert the operator 45 of an increased degree of drowsiness when the drowsiness index exceeds a predetermined drowsiness index threshold. In an embodiment of the present invention, an alert system 51 is adapted to notify the driver 45 or operator of an increased degree of drowsiness when the drowsiness index has exceeded the predetermined drowsiness index threshold. The alert system 51 may use the preexisting computer of the machinery to alert the operator using, for example, existing alarm tones and/or alarm light for process stop. Other alert systems 51 such as an alarm with audible and visual displays could be included into the alert system.
While the invention disclosed herein has been described by means of specific embodiments and applications thereof, numerous modifications and variations could be made therein by those skilled in the art without departing from the scope of the inventions, which is defined by the appended claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 09156722 | Mar 2009 | EP | regional |
This application is a continuation of prior filed application Ser. No. 13/678,922 filed Nov. 16, 2012; which is a divisional of application Ser. No. 12/749,612 filed Mar. 30, 2010, now U.S. Pat. No. 8,314,707 which claims benefit of provisional application Ser. No. 61/164,514 Filed Mar. 30, 2009 and European application Serial No. 09156722.2 filed Mar. 30, 2009, the disclosures of which are incorporated herein by reference in their entirety.
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| Child | 13678922 | US |
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| Child | 14523166 | US |
