JP2006281923A - Method and device for control of riding traveling vehicle - Google Patents
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本発明は、電動スクーターや電動車椅子など低速度の乗用走行車両の運転を補助する制御方法と装置に関する。 The present invention relates to a control method and apparatus for assisting in driving a low-speed passenger traveling vehicle such as an electric scooter or an electric wheelchair.
移動することは、人間にとって最も基本的で意味ある行動である。働く、運動する、買い物に行く、友人を訪ねるなど、生活の中の大部分の活動は、移動に頼っている。まさに「移動」は、よりよい生活を考える上でのキーワードとも言える。
現在、私達は、自転車、自動車、電車、飛行機、そして歩行も含めて、数多くの移動手段に囲まれている。それらの大部分は、２０世紀以降に急速に発展した工学技術に負うものである。更に、ＩＴＳ（IntelligentTransport System)に代表される先端情報技術により、自動化と情報化を取入れた便利で快適な移動が可能になりつつある。「移動」に携わる技術の進歩が、幅広い分野での社会的サービスを向上させ、私達の日々の生活の基盤を支えてくれている。
Moving is the most basic and meaningful behavior for humans. Most activities in life, such as working, exercising, going shopping, and visiting friends, rely on mobility. Indeed, “movement” can be said to be a keyword for a better life.
Currently, we are surrounded by a number of modes of transportation, including bicycles, cars, trains, airplanes, and walking. Most of them rest on engineering technologies that have developed rapidly since the 20th century. Furthermore, advanced information technology represented by ITS (Intelligent Transport System) is enabling convenient and comfortable movement incorporating automation and computerization. Advances in technology related to “moving” have improved social services in a wide range of fields and supported the foundations of our daily lives.
ところが、多くの人々がこのような便利な移動を享受する一方で、体の障害をもつ方々や高齢者は、移動に必要な状況把握や情報へのアクセス、身体機能が十分でないために、不安をもって生活し、自由な外出を阻まれてしまっている。最近では、バリアフリーを考慮した駅や公共の建物も増え、皆が快適に共存する場としての都市空間の構築が目指されるようになっているが、まだ数多くの側面が見直されないまま残っている。 However, while many people enjoy this kind of convenient movement, people with disabilities and the elderly are anxious because they do not have enough knowledge of the situation, access to information, and physical functions necessary for movement. Lived in the city and have been prevented from going out freely. Recently, the number of stations and public buildings considering barrier-free has increased, and the aim is to build an urban space as a place where everyone can coexist comfortably, but many aspects have not been reviewed yet. Yes.
また、近年、少子化や核家族化の傾向が益々顕著なものとなり、また、社会の急激な高齢化が確実視されている。このような状況を反映し、高齢者が自立的な生活を送るための補助手段としての福祉機器の重要性が強く認識され、実用化が進められている。
高齢者が自立的な生活を送るための補助手段としての代表的なものとして、電動スクーターや電動車椅子が挙げられる。操縦者が、特別の訓練を要することなく容易に運転でき、快適な操縦感覚も得られ、更に、安全な走行制御を備えた電動スクーターや電動車椅子が望まれている。
In recent years, the trend toward a declining birthrate and a nuclear family has become increasingly prominent, and the rapid aging of society is certainly expected. Reflecting this situation, the importance of welfare equipment as an assisting means for the elderly to live a self-sustained life has been strongly recognized and put into practical use.
Electric scooters and electric wheelchairs are typical examples of assisting means for elderly people to lead independent lives. There is a demand for an electric scooter or an electric wheelchair that allows a driver to easily drive without special training, to obtain a comfortable driving feeling, and to have safe driving control.
電動スクーターや電動車椅子など、１０km/h以下の低速度で走行する乗用走行車両は、既に公知である。
その安全な走行に対する配慮も開発されつつある。そのような従来技術には、例えば、次のような特許文献がある。
Considerations for safe driving are being developed. Such prior art includes, for example, the following patent documents.
従来技術には、安全性確保のために、赤外線センサーや超音波センサー等を備えたものはあるが、操縦者の運転時の健康状態を配慮したものはなかった。
例えば、運転中に、発作を起こしたり、眠ってしまったりした場合、低速度の車両であっても、大きな事故に結び付きかねない。
これは、自動運転等の操縦補助手段が進むほど、重要な問題となる。
Some prior arts are equipped with an infrared sensor, an ultrasonic sensor, etc. to ensure safety, but none have taken into consideration the health condition of the driver during driving.
For example, if you have seizures or fall asleep while driving, even a low-speed vehicle can lead to a major accident.
This becomes an important problem as the steering assist means such as automatic driving advances.
そこで、本発明は、操縦者の運転中の状態をモニターして、安全に走行制御する乗用走行車両の制御方法と、その方法を実施する装置を提供することを課題とする。 Accordingly, it is an object of the present invention to provide a method for controlling a passenger traveling vehicle that monitors a driver's driving state and performs safe traveling control, and a device that implements the method.
上記課題を解決する本発明の乗用走行車両の制御方法は、走行制御手段を備えた乗用走行車両において、その車両に脳活動計測手段を搭載し操縦者に装着させて、操縦者の運転中の脳活動をリアルタイムで計測し、その脳活動計測手段によって得られた信号から、脳機能判定手段によって、操縦者の脳機能に異常があるかを検知し、その脳機能判定手段によって得られた判定結果に応じて、走行制御手段によって、制御信号を出力し、脳機能判定手段により異常が検知された場合には、走行制御手段により安全操作を行うことを特徴とする。 A method for controlling a passenger traveling vehicle according to the present invention that solves the above-described problem is a passenger traveling vehicle including a traveling control means. The vehicle is equipped with a brain activity measuring means and is attached to a pilot so that the driver is driving Brain activity is measured in real time, and from the signal obtained by the brain activity measuring means, the brain function judging means detects whether there is an abnormality in the brain function of the pilot, and the judgment obtained by the brain function judging means Depending on the result, a control signal is output by the travel control means, and when an abnormality is detected by the brain function determination means, a safe operation is performed by the travel control means.
本発明の乗用走行車両の制御装置は、走行制御手段を備えた乗用走行車両において、その車両に搭載され操縦者に装着させて、操縦者の脳活動を計測する脳活動計測手段と、その脳活動計測手段によって得られた信号から、操縦者の脳機能に異常があるかを検知する脳機能判定手段と、その脳機能判定手段によって得られた判定結果に応じて、制御信号を出力する走行制御手段とを備え、脳機能判定手段により異常が検知された場合には、走行制御手段により安全操作を行うことを特徴とする。 The control apparatus for a riding vehicle according to the present invention includes a brain activity measuring unit that measures a brain activity of a driver, mounted on the vehicle and mounted on the driver, and includes a brain control unit. A brain function determination unit that detects whether there is an abnormality in the brain function of the operator from a signal obtained by the activity measurement unit, and a driving that outputs a control signal according to the determination result obtained by the brain function determination unit And a control means, and when an abnormality is detected by the brain function determination means, a safe operation is performed by the travel control means.
ここで、乗用走行車両としては、約１０km/h以下の低速度車両が好適である。 Here, a low-speed vehicle of about 10 km / h or less is suitable as the passenger traveling vehicle.
脳活動計測手段としては、操縦者の頭部に装着され、頭部に光を照射すると共に頭部からの反射光を受光して、脳におけるヘモグロビン量に関係したデータを計測する光計測装置が有効である。 As the brain activity measurement means, there is an optical measurement device that is mounted on the pilot's head, irradiates light on the head and receives reflected light from the head, and measures data related to the amount of hemoglobin in the brain. It is valid.
脳活動計測手段は、操縦者の頭部に装着される脳波計も有効である。 An electroencephalograph attached to the operator's head is also effective as the brain activity measuring means.
走行制御手段による安全操作としては、車両の走行速度の減速が有効である。 As a safe operation by the travel control means, deceleration of the travel speed of the vehicle is effective.
乗用走行車両の少なくとも前部に、赤外線センサー及び超音波センサーを装備し、赤外線センサーによって障害物の存在を検知し、超音波センサーによって障害物との距離を測定して走行制御を行って、危険回避に寄与させてもよい。 At least the front part of the passenger traveling vehicle is equipped with an infrared sensor and an ultrasonic sensor. The presence of an obstacle is detected by the infrared sensor, and the distance from the obstacle is measured by the ultrasonic sensor to control the driving. You may contribute to avoidance.
乗用走行車両に、無線通信手段、演算手段、記録手段を有するコンピューターとモニターを装備し、操縦者の使用に供し、安全のための情報入手に寄与させてもよい。 A passenger traveling vehicle may be equipped with a computer having a wireless communication means, a calculation means, and a recording means, and a monitor, which may be used for a driver and contribute to obtaining information for safety.
乗用走行車両にモニターを装備し、操縦者への情報を画像として提示することで、聴覚に不都合のある人に対応させてもよい。 A passenger traveling vehicle may be equipped with a monitor, and information for the operator may be presented as an image to deal with a person who is inconvenient to hearing.
同様に、乗用走行車両に骨伝導型のレシーバーを搭載し、操縦者に装着させて、操縦者への情報を振動として提示してもよい。 Similarly, a bone-conduction type receiver may be mounted on a passenger traveling vehicle and may be worn by a pilot to present information to the driver as vibration.
本発明によると、乗用走行車両の操縦者が脳活動計測手段を装着して運転するので、運転時に脳機能に異常があれば、それを検知して安全な走行に寄与することができる。 According to the present invention, since the driver of the passenger traveling vehicle wears the brain activity measuring means and operates, if there is an abnormality in the brain function during driving, it can be detected and contribute to safe driving.
以下、図面を基にして本発明の実施形態を説明する。
本実施例では、乗用走行車両として、電動スクーターや電動車椅子に類する約１０km/h以下の低速度車両を例示するが、本発明は、自転車や自動車、鉄道車両、船舶、飛翔体などにも適用可能である。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, a low-speed vehicle of about 10 km / h or less, which is similar to an electric scooter or an electric wheelchair, is exemplified as a passenger traveling vehicle. However, the present invention is also applicable to bicycles, automobiles, railway vehicles, ships, flying objects, etc. Is possible.
図１は、本発明による乗用走行車両の制御システムの概要を示す説明図である。
本システムには、環境端末、ユーザー携帯型移動端末、ユーザー搭乗型移動端末の３つの情報端末が根幹として備わる。
相互補完的な役割をもつこれらの端末は、互いにほぼ常時インターネット等の通信回線を介して情報を送受信しながら、利用者の認知・駆動・情報入手等の機能を総合的に補助し、安全で快適な移動を可能にしている。
それにより、利用者は、例えば、目的地までの経路、周囲のバリアフリー情報、自転車や自動車、他の歩行者についての情報を、視覚・聴覚・触覚などのうちそれぞれに適したメディアを通して知ることができ、障害をもつ方々や高齢者も、自由に市街地を移動できるよう支援される。
FIG. 1 is an explanatory diagram showing an outline of a control system for a passenger traveling vehicle according to the present invention.
The system includes three information terminals as an environment terminal, a user portable mobile terminal, and a user boarding mobile terminal.
These terminals, which have a complementary role, are generally secure and secure, mutually assisting users with functions such as recognition, driving, and information acquisition, while sending and receiving information almost always over the Internet and other communication lines. Comfortable movement is possible.
Thus, for example, the user knows the route to the destination, surrounding barrier-free information, information about bicycles, cars, and other pedestrians through media suitable for visual, auditory, tactile, etc. People with disabilities and elderly people can be supported to move around the city freely.
環境端末は、道路や駅の要所等に設置される監視カメラに相当する機能をもつ情報通信端末である。それぞれの環境端末は、設置場所周辺をモニターし、工事現場や段差などの障害物や移動物体など環境についての状態を検出し、通信回線を介して、その近くに存在するユーザー携帯型移動端末やユーザー搭乗型移動端末へ環境に関する情報を送信する。また、ユーザー携帯型移動端末やユーザ搭乗型移動端末からの要求に応じたモニターを行ない、その情報を送信したりする。 The environment terminal is an information communication terminal having a function corresponding to a surveillance camera installed at a key point of a road or a station. Each environmental terminal monitors the surroundings of the installation location, detects environmental conditions such as obstacles and moving objects such as construction sites and steps, and is connected to a user portable mobile terminal or a nearby mobile terminal via a communication line. Send information about the environment to the user-carrying mobile terminal. In addition, monitoring is performed in response to a request from the user portable mobile terminal or the user boarding mobile terminal, and the information is transmitted.
ユーザー携帯型移動端末は、従来公知の携帯電話、ＰＤＡや、小型ＰＣ等に相当する機能をもつ情報通信端末である。
図２は、ユーザー携帯型移動端末の例を示す斜視図である。
図示の例は、利用者の頭部に装着する骨伝導型のレシーバーであり、環境端末から赤外線等で送信された情報を受信するものである。
ユーザー携帯型移動端末は、ユーザー搭乗型移動端末に設置することも可能である。
The user portable mobile terminal is an information communication terminal having a function corresponding to a conventionally known mobile phone, PDA, small PC or the like.
FIG. 2 is a perspective view showing an example of a user portable mobile terminal.
The illustrated example is a bone-conduction type receiver that is worn on the user's head, and receives information transmitted from the environment terminal by infrared rays or the like.
The user portable mobile terminal can be installed in the user boarding mobile terminal.
図３は、ユーザー搭乗型移動端末の例を示す斜視図である。
ユーザー搭乗型移動端末は、障害を持つ方々や高齢者のための電動スクーターに相当するものであり、操縦通りに運転できる通常の乗り物としての機能の他に、通信端末の機能が付設されている。
乗用走行車両としての走行速度は、約１０km/h以下、好ましくは、４〜７km/h以下の低速度である
操縦系には、利用者の具合に合わせて設計されたハンドルまたはジョイスティックが装備される。
FIG. 3 is a perspective view showing an example of a user boarding type mobile terminal.
A user boarding type mobile terminal is equivalent to an electric scooter for people with disabilities and the elderly, and has a function of a communication terminal in addition to a function as a normal vehicle that can be driven as operated. .
The traveling speed of a passenger traveling vehicle is about 10 km / h or less, preferably 4 to 7 km / h or less. The steering system is equipped with a handle or joystick designed to suit the user's condition. The
この車両には、無線通信手段、演算手段、記録手段を有するコンピューター（１１）と、タッチパネル式のモニター（１２）が装備され、操縦者の使用に供している。通信手段としては、無線ＬＡＮ（１３）が設けられている。他に、位置検知のためのＧＰＳ（１４）や、前方を撮影するＣＣＤカメラ（１５）も備わる。 This vehicle is equipped with a computer (11) having a wireless communication means, a calculation means, and a recording means, and a touch panel type monitor (12) for use by the operator. A wireless LAN (13) is provided as a communication means. In addition, a GPS (14) for position detection and a CCD camera (15) for photographing the front are also provided.
また、前部には、赤外線センサー（１６）と超音波センサー（１７）が装備され、赤外線センサー（１６）によって障害物の存在を検知し、超音波センサー（１７）によって障害物との距離を測定して、障害物に衝突しないように危険回避制御される。
タッチパネル式のモニター（１２）に入力された要求や、環境端末から送られた情報などによって、目的地まで安全かつ効率よくナビゲートする走行支援制御も行える。
The front part is equipped with an infrared sensor (16) and an ultrasonic sensor (17). The infrared sensor (16) detects the presence of an obstacle, and the ultrasonic sensor (17) determines the distance from the obstacle. It measures and avoids danger so that it does not collide with obstacles.
The driving support control for safely and efficiently navigating to the destination can be performed according to a request input to the touch panel monitor (12), information sent from the environmental terminal, or the like.
コンピューター（１１）には脳機能判定手段が格納され、脳活動計測手段に接続されている。
脳活動計測手段は、後述の近赤外線を利用する光計測装置など、車両に搭載され操縦者に装着させて、操縦者の脳活動を計測する機能を有する装置である。
その脳活動計測手段によって得られた信号から、操縦者の脳機能に異常があるかを脳機能判定手段によって検知し、得られた判定結果に応じて、走行制御手段によって制御信号を出力して操縦を制御する。
The computer (11) stores the brain function determination means and is connected to the brain activity measurement means.
The brain activity measuring means is a device that has a function of measuring a driver's brain activity by being mounted on a driver and mounted on a driver, such as an optical measuring device using near infrared rays to be described later.
From the signal obtained by the brain activity measuring means, the brain function judging means detects whether there is an abnormality in the brain function of the operator, and according to the obtained judgment result, the control signal is outputted by the traveling control means. Control the maneuver.
操縦者は、頭部に脳活動計測手段を装着した状態で運転を行ない、リアルタイムで得られる脳機能情報をモニターされ、脳機能判定手段により異常が検知された場合には、走行制御手段により安全操作が行われる。
安全操作としては、車両の走行速度の減速や停止や、赤外線センサー（１６）によって検知された障害物から離れることなどが挙げられる。また、ハザードランプの点滅や、スピーカーによる音声出力や、無線ＬＡＮ（１３）を介しての外部との緊急通信なども利用できる。
The driver operates with the brain activity measuring means attached to the head, and the brain function information obtained in real time is monitored. If an abnormality is detected by the brain function judging means, the driver can safely The operation is performed.
Examples of the safe operation include reduction or stop of the traveling speed of the vehicle, and separation from an obstacle detected by the infrared sensor (16). Further, blinking of a hazard lamp, sound output by a speaker, emergency communication with the outside via a wireless LAN (13), and the like can be used.
操縦者の脳機能の異常としては、脳発作やてんかん、心停止などの病変の他に、睡眠などが挙げられる。 The abnormal brain function of the pilot includes sleep, in addition to lesions such as brain attacks, epilepsy, and cardiac arrest.
図４は、光計測手段のヘッドギアを示す説明図である。
近赤外線を用いた脳活動計測(近赤外分光法（NIRS)）では、脳組織の光散乱特性の変化がもたらす情報を、簡便かつ無侵襲に得ることができる。近赤外線は、赤外線の中でも可視光領域（約400〜700nm）に最も近い波長域（約700〜3000nm)であり、特に800nm付近の近赤外線は高い生体透過性を示す。そのため、頭皮上から照射した近赤外線は、脳組織を通過し、更に頭皮上から反射または散乱された光を受光することが可能である。
近赤外分光法は、この波長領域において血液中のヘモグロビンが特徴的な吸収バンドをもつことを利用して、生体組織中の血液の酸素化Ｈｂ(oxy-Hb)、脱酸素化Ｈｂ(deoxy-Hb)、並びに、総Ｈｂ(total-Hb)の変化を、連続的に検出できる特徴を有する。また、局所脳血液量（rCBV）の変化を扱える計測法としても確立されている。
生体内で酸素を運搬しているのは殆どヘモグロビンなので，生体内における酸素の需要供給の状態を知ることができる。そのため、心臓の異常なども検知できる利点がある。
FIG. 4 is an explanatory view showing the headgear of the optical measuring means.
In brain activity measurement using near infrared (near infrared spectroscopy (NIRS)), information resulting from changes in light scattering characteristics of brain tissue can be obtained simply and non-invasively. Near-infrared rays have a wavelength range (about 700 to 3000 nm) that is closest to the visible light range (about 400 to 700 nm) among infrared rays, and particularly near infrared rays around 800 nm show high biological permeability. Therefore, the near infrared ray irradiated from the scalp can pass through the brain tissue and can receive light reflected or scattered from the scalp.
Near-infrared spectroscopy makes use of the fact that hemoglobin in blood has a characteristic absorption band in this wavelength region, so that oxygenated Hb (oxy-Hb), deoxygenated Hb (deoxy) of blood in living tissue is used. -Hb) and changes in total Hb (total-Hb) can be continuously detected. It has also been established as a measurement method that can handle changes in local cerebral blood volume (rCBV).
Since it is almost hemoglobin that carries oxygen in the living body, it is possible to know the state of supply and demand of oxygen in the living body. Therefore, there is an advantage that heart abnormalities can be detected.
この装置では、光ファイバー等のケーブル（２１）を介して、近赤外線が発光素子（２２）より頭部に照射され、その反射光が受光素子（２３）によって検出される。この発光素子（２２）及び受光素子（２３）は、頭部を覆って固定する固定器具に配置される。その配置位置は、測定したい脳の部位に応じて、適宜選定される。
なお、実施例装置としては、光照射部一つと光検出部二つを用いる空間分解分光法も利用可能であるが、光照射部一つと光検出部一つを用いるmodified Lambert-Beer則から導出される３パラメータ（ΔoxyHb、ΔdeoxyHb、ΔtotalHb）を利用する装置が有効に利用できる。
modified Lambert-Beer則では、光の信号変化量を対数変換したものと、吸収体濃度変化との間に線形関係が成立することとし、ある波長の光吸収変化は、酸素化Ｈｂ量変化と脱酸素化Ｈｂ量変化、並びに、散乱などその他の原因による変化の線形和で示される。複数波長の計測値によって、酸素化Ｈｂと脱酸素化Ｈｂに関する２つの未知数が計算される。
In this apparatus, near infrared rays are irradiated to the head from the light emitting element (22) via a cable (21) such as an optical fiber, and the reflected light is detected by the light receiving element (23). The light emitting element (22) and the light receiving element (23) are arranged on a fixture that covers and fixes the head. The arrangement position is appropriately selected according to the part of the brain to be measured.
As an example device, spatially resolved spectroscopy using one light irradiation unit and two light detection units can be used, but derived from the modified Lambert-Beer rule using one light irradiation unit and one light detection unit. A device that uses the three parameters (ΔoxyHb, ΔdeoxyHb, and ΔtotalHb) can be used effectively.
In the modified Lambert-Beer rule, a linear relationship is established between the logarithmic conversion of the light signal change amount and the absorber concentration change, and the light absorption change at a certain wavelength is different from the oxygenated Hb amount change. It is shown as a linear sum of changes in oxygenated Hb amount and changes due to other causes such as scattering. Two unknowns for oxygenated Hb and deoxygenated Hb are calculated from the measured values of multiple wavelengths.
脳活動計測手段としては、ポータブルな脳波計なども利用できる。 As a brain activity measuring means, a portable electroencephalograph or the like can also be used.
それらで得られた信号から、脳機能に異常があり危険と判定する基準としては、信号値がある閾値を超えるか否か、またその状態がある一定時間以上続くか否かなどが挙げられる。
例えば、光計測でヘモグロビン量が徐々に低下していっていたり、脳波計測でアルファ波が増加していっていれば、睡眠の可能性が認められる。
より簡単に判定するには、安全な状態の通常の信号プロファイルを予め登録しておき、そのプロファイルと大きく異なった信号が得られた場合に危険と判定することもできる。また、頭部の複数部位における脳活動の相関などから、高次の解釈を施して、操縦者が運転に注力している度合いなどを判定してもよい。
The criteria for judging that the brain function is abnormal and dangerous from the signals obtained from them include whether or not the signal value exceeds a certain threshold and whether or not the state continues for a certain time or more.
For example, if the hemoglobin amount is gradually decreased by optical measurement or the alpha wave is increased by electroencephalogram measurement, the possibility of sleep is recognized.
In order to make a simpler determination, a normal signal profile in a safe state can be registered in advance, and a signal that is significantly different from that profile can be determined as dangerous. Further, the degree of the driver's focus on driving may be determined by performing higher-order interpretation from the correlation of brain activity at a plurality of parts of the head.
本発明によると、操縦者に異変が生じた場合にも、乗用走行車両に安全策がとられる。そのため、高齢者などの社会的弱者に、移動の安全性を高め、普段の外出への心理的な抵抗を少なくし、社会的活動の機会を増やし、より自立した自由な生活を支援できる。また、高度に発展した情報通信システムにアクセスしその恩恵を享受する機会も提供できる。
高齢化社会を見据えて、健康や福祉などの分野に幅広く応用の可能性があり、産業上利用価値が高い。
According to the present invention, safety measures are taken for a passenger traveling vehicle even when an abnormality occurs in the driver. For this reason, it is possible to increase mobility safety, reduce psychological resistance to daily outings, increase opportunities for social activities, and support more independent and free lives for the socially vulnerable, such as the elderly. It also provides an opportunity to access and enjoy the benefits of highly developed information communication systems.
With a view to an aging society, it has a wide range of applications in fields such as health and welfare, and has high industrial utility value.
１１ コンピューター
１２ モニター
１３ 無線ＬＡＮ
１４ ＧＰＳ
１５ ＣＣＤカメラ
１６ 赤外線センサー
１７ 超音波センサー
２１ ケーブル
２２ 発光素子
２３ 受光素子
11
14 GPS
15
Claims (10)
その車両に搭載され操縦者に装着させて、操縦者の脳活動を計測する脳活動計測手段と、
その脳活動計測手段によって得られた信号から、操縦者の脳機能に異常があるかを検知する脳機能判定手段と、
その脳機能判定手段によって得られた判定結果に応じて、制御信号を出力する走行制御手段とを備え、
脳機能判定手段により異常が検知された場合には、走行制御手段により安全操作を行う
ことを特徴とする乗用走行車両の制御装置。 In a passenger traveling vehicle provided with traveling control means,
A brain activity measuring means mounted on the vehicle and attached to the pilot to measure the brain activity of the pilot;
A brain function determining means for detecting whether there is an abnormality in the brain function of the pilot from the signal obtained by the brain activity measuring means;
In accordance with the determination result obtained by the brain function determination means, comprising a travel control means for outputting a control signal,
A control device for a passenger traveling vehicle, wherein a safety operation is performed by a travel control means when an abnormality is detected by the brain function determination means.
請求項１に記載の乗用走行車両の制御装置。 The control device for a passenger traveling vehicle according to claim 1, wherein the passenger traveling vehicle is a low-speed vehicle of about 10 km / h or less.
請求項１または２に記載の乗用走行車両の制御装置。 The brain activity measuring means is an optical measuring device that is mounted on the head of the operator, irradiates the head with light and receives reflected light from the head, and measures data related to the amount of hemoglobin in the brain. The control device for a passenger traveling vehicle according to claim 1 or 2.
請求項１または２に記載の乗用走行車両の制御装置。 The control apparatus for a passenger traveling vehicle according to claim 1 or 2, wherein the brain activity measuring means is an electroencephalograph attached to the head of the operator.
請求項１ないし４に記載の乗用走行車両の制御装置。 The control device for a passenger traveling vehicle according to any one of claims 1 to 4, wherein the safe operation by the traveling control means is a deceleration of the traveling speed of the vehicle.
請求項１ないし５に記載の乗用走行車両の制御装置。 An infrared sensor and an ultrasonic sensor are installed at least in front of the passenger traveling vehicle, the presence of an obstacle is detected by the infrared sensor, and the distance from the obstacle is measured by the ultrasonic sensor to control the traveling. The control device for a passenger traveling vehicle according to claim 5.
請求項１ないし６に記載の乗用走行車両の制御装置。 The control apparatus for a passenger traveling vehicle according to any one of claims 1 to 6, wherein the passenger traveling vehicle is equipped with a computer having a wireless communication means, a computing means, and a recording means and a monitor, and is used for a driver.
請求項１ないし７に記載の乗用走行車両の制御装置。 The control apparatus for a passenger traveling vehicle according to any one of claims 1 to 7, wherein the passenger traveling vehicle is equipped with a monitor and presents information to a driver as an image.
請求項１ないし７に記載の乗用走行車両の制御装置。 The control device for a passenger traveling vehicle according to any one of claims 1 to 7, wherein a bone conduction type receiver is mounted on the passenger traveling vehicle, and is attached to the operator to present information to the operator as vibration.
その車両に脳活動計測手段を搭載し操縦者に装着させて、操縦者の運転中の脳活動をリアルタイムで計測し、
その脳活動計測手段によって得られた信号から、脳機能判定手段によって、操縦者の脳機能に異常があるかを検知し、
その脳機能判定手段によって得られた判定結果に応じて、走行制御手段によって、制御信号を出力し、
脳機能判定手段により異常が検知された場合には、走行制御手段により安全操作を行う
ことを特徴とする乗用走行車両の制御方法。 In a passenger traveling vehicle provided with traveling control means,
The vehicle is equipped with a brain activity measuring means and attached to the pilot, and the brain activity during the driver's driving is measured in real time.
From the signal obtained by the brain activity measuring means, the brain function determining means detects whether there is an abnormality in the brain function of the pilot,
In accordance with the determination result obtained by the brain function determination means, the control signal is output by the travel control means,
A method for controlling a passenger traveling vehicle, characterized in that when a malfunction is detected by the brain function determining means, a safe operation is performed by the traveling control means.
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| JP2005102621A JP2006281923A (en) | 2005-03-31 | 2005-03-31 | Method and device for control of riding traveling vehicle |
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| JP2005102621A JP2006281923A (en) | 2005-03-31 | 2005-03-31 | Method and device for control of riding traveling vehicle |
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| JP2011126494A (en) * | 2009-12-21 | 2011-06-30 | Toyota Motor Corp | Body resting device |
| JP2013017734A (en) * | 2011-07-13 | 2013-01-31 | Hitachi Ltd | Bioinstrumentation system |
| JP2013524879A (en) * | 2010-04-07 | 2013-06-20 | フリント ヒルズ サイエンティフィック， エルエルシー | Responsiveness testing of patients with changes in brain status |
| CN109890288A (en) * | 2017-02-28 | 2019-06-14 | 松下知识产权经营株式会社 | Operation suitability degree decision-making system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010541091A (en) * | 2007-10-04 | 2010-12-24 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | Improvements related to brain computer interface |
| JP2011126494A (en) * | 2009-12-21 | 2011-06-30 | Toyota Motor Corp | Body resting device |
| JP2013524879A (en) * | 2010-04-07 | 2013-06-20 | フリント ヒルズ サイエンティフィック， エルエルシー | Responsiveness testing of patients with changes in brain status |
| JP2013017734A (en) * | 2011-07-13 | 2013-01-31 | Hitachi Ltd | Bioinstrumentation system |
| CN109890288A (en) * | 2017-02-28 | 2019-06-14 | 松下知识产权经营株式会社 | Operation suitability degree decision-making system |
| CN109890288B (en) * | 2017-02-28 | 2022-08-23 | 松下知识产权经营株式会社 | Work suitability determination system |
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