Visual input of vehicle operator
View Patent ↗The present invention relates to a method for determining a vehicle operator's visual input of an object in the operator's surroundings, which method comprises receiving an object position signal indicative of the position of at least one object, receiving an operator motion input signal indicative of operator physiological data comprising information relating to body motion of the operator, estimating an operator eye-gaze direction, and determining a visual input quality value representative of level of visual input of the at least one object received by the operator, based on the object position signal and the estimated operator eye-gaze direction.
1. A method for determining a vehicle operator's visual input of an object in the operator's surroundings, the method comprising:
receiving an object position signal indicative of a position of at least one object in the operator's surroundings;
receiving an operator motion input signal indicative of physiological data comprising information relating to at least one of eye, face, head and body motion of the operator of the vehicle;
estimating an operator eye-gaze direction based on the operator motion input signal;
estimating an expected fixation probability indicative of a probability of fixation of the object by the operator's eyes; and
determining a visual input quality value representative of a level of visual input of the at least one object received by the operator, based on the object position signal, the estimated operator eye-gaze direction, and the estimated expected fixation probability.
2. A method for determining a vehicle operator's visual input of an object in the operator's surroundings, the method comprising:
receiving an object position signal indicative of a position of at least one object in the operator's surroundings;
receiving an operator motion input signal indicative of physiological data comprising information relating to at least one of eye, face, head and body motion of the operator of the vehicle;
estimating an operator eye-gaze direction based on the operator motion input signal, in which the estimated operator eye-gaze direction comprises a total eye-gaze distribution indicative of a probability for different eye-gaze directions of the operator; and
determining a visual input quality value representative of level of visual input of the at least one object received by the operator, based on the object position signal and the estimated operator eye-gaze direction.
3. A method according to claim 1 , further comprising:
determining an object area associated with the object, the object area being indicative of the object as perceived by the operator, wherein the determining the visual input quality value is further based on the object area.
4. A method according to claim 3 , in which the determining the visual input quality value comprises:
determining a visual acuity distribution indicative of visual acuity level of an eye of the operator in relation to a center eye-gaze direction; wherein the determining the visual input quality value is further based on the visual acuity distribution.
5. A method according to claim 4 , in which the determining the visual input quality value comprises integrating the visual acuity distribution over the total eye-gaze distribution in the object area.
6. A method according to claim 4 , in which the determining the visual input quality value comprises convolving the visual acuity distribution with the total eye-gaze distribution in the object area.
7. A method according to claim 1 , further comprising:
determining a saliency parameter value associated with the object, the saliency parameter being indicative of a probability of attracting visual attention.
8. A method according to claim 2 , further comprising:
determining a first eye-gaze direction hypothesis, wherein the total eye-gaze distribution is based on a first eye-gaze direction hypothesis.
9. A method according to claim 8 , further comprising:
determining at least one second eye-gaze direction hypothesis; and
determining the total eye-gaze distribution by combining the first eve-gaze direction hypothesis and the at least one second eye-gaze direction hypothesis.
10. A method according to claim 2 , in which the estimating the operator eye-gaze direction comprises:
detecting an operator body movement indicative of a saccade movement of the operator, and estimating a saccade eye-gaze distribution based on the detected operator body movement.
11. A method according to claim 10 , in which the estimating the operator eye-gaze direction further comprises:
determining an eye-gaze time value associated with the saccade eye-gaze distribution, wherein the total eye-gaze distribution is determined based on the saccade eye-gaze distribution and the eye-gaze time value.
12. A method according to claim 11 , in which the estimating the operator eye-gaze direction further comprises:
determining a road-ahead eye-gaze distribution, wherein the total eye-gaze distribution is determined by weighing the saccade eye-gaze distribution with the road-ahead eye-gaze distribution based on the eye-gaze time value.
13. A system for determining a vehicle operator's visual input of an object in the operator's surroundings, the system comprising:
a controller including,
a first input configured to receive an object position signal indicative of a position of at least one object in the operator's surroundings, and
a second input configured to receive an operator motion input signal indicative of physiological data comprising information relating to at least one of eye, face, head and body motion of the operator of the vehicle, wherein the controller is configured to,
estimate an operator eye-gaze direction based on the operator motion input signal,
estimate an expected fixation probability indicative of a probability of fixation of the object by the operator's eyes, and
determine a visual input quality value representative of a level of visual input of the at least one object received by the operator, based on the object position signal, the estimated operator eye-gaze direction, and the estimated expected fixation probability.
14. A non-transitory computer readable medium embodying a computer program product for determining a vehicle operator's visual input of an object in the operator's surroundings, the computer program product comprising code configured to, when executed by a processor, perform the operations of:
receiving an object position signal indicative of a position of at least one object in the operator's surroundings;
receiving an operator motion input signal indicative of physiological data comprising information relating to at least one of eye, face, head and body motion of the operator of the vehicle;
estimating an operator eye-gaze direction based on the operator motion input signal;
estimating an expected fixation probability indicative of a probability of fixation of the object by the operator's eyes; and
determining a visual input quality value representative of level of visual input of the at least one object received by the operator, based on the object position signal, the estimated operator eye-gaze direction, and the estimated expected fixation probability.
15. A system for determining a vehicle operator's visual input of an object in the operator's surroundings, the system comprising:
a controller including,
a first input configured to receive an object position signal indicative of a position of at least one object in the operator's surroundings, and
a second input configured to receive an operator motion input signal indicative of physiological data comprising information relating to at least one of eye, face, head and body motion of the operator of the vehicle,
wherein the controller is configured to,
estimate an operator eye-gaze direction based on the operator motion input signal, in which the estimated operator eye-gaze direction comprises a total eye-gaze distribution indicative of a probability for different eye-gaze directions of the operator, and
determine a visual input quality value representative of a level of visual input of the at least one object received by the operator, based on the object position signal and the estimated operator eye-gaze direction.
16. A non-transitory computer readable medium embodying a computer program product for determining a vehicle operator's visual input of an object in the operator's surroundings, the computer program product comprising code configured to, when executed by a processor, perform the operations of:
receiving an object position signal indicative of a position of at least one object in the operator's surroundings;
receiving an operator motion input signal indicative of physiological data comprising information relating to at least one of eye, face, head and body motion of the operator of the vehicle;
estimating an operator eye-gaze direction based on the operator motion input signal, in which the estimated operator eye-gaze direction comprises a total eye-gaze distribution indicative of a probability for different eye-gaze directions of the operator; and
determining a visual input quality value representative of level of visual input of the at least one object received by the operator, based on the object position signal and the estimated operator eye-gaze direction.