JP2002087107A - Running condition detector, awakening degree detector, awakening degree corresponding control device, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a running condition detector detecting a running condition of a vehicle, an awakening degree detector accurately detecting an awakening degree of a driver, an awakening degree corresponding control device performing various controls in accordance with the awakening degree, and a recording medium. SOLUTION: In a step 100, a transverse position is measured. In a step 110, a deviation from a lane is calculated. In a step 120, the deviation from the lane is decided. In a step 130, the latest transverse position is added to a memory, a data for 20 seconds is stored. In a step 140, a coordinate system is converted. In a step 150, a correlation coefficient is calculated by using a coordinate data after conversion. In a step 160, the correlation coefficient is converted into an awakening degree. In a step 170, the awakening degree is decided for whether it is lowered down or not. In a step 180, a process is performed generating an alarm of sound and voice or display. In a step 190, running control enhancing safety is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a running state detecting device, a wakefulness detecting device, a wakefulness corresponding control device, and a recording medium.

[0002]

2. Description of the Related Art Conventionally, for the purpose of ensuring safety when traveling on a highway, for example, a wakefulness detection device for detecting a dozing of a driver has been studied. Such a wakefulness detection device detects a change in the steering angle caused by a decrease in the wakefulness of the driver and a change in the resulting lateral displacement (distance from the traveling zone) to determine whether or not the driver has fallen asleep. Devices for detecting have been proposed.

[0003] For example, a dozing driving detection device for a vehicle described in Japanese Patent Application Laid-Open No. 5-69575, and Japanese Patent Application Laid-Open No. 7-9879.
In the vehicular awakening degree detection device described in the publication, the standard deviation of the lateral displacement of the vehicle is calculated from the position of the traveling division zone photographed by the camera, and the running state of the vehicle is grasped from the standard deviation, whereby the vehicle The awakening degree of the driver is detected from the running state.

[0004]

However, as described above, when trying to detect the arousal level based on the standard deviation, an erroneous determination of the arousal level is made when the vehicle drives along a locus as shown in FIG. There was something.

[0005] That is, as shown by the solid line in FIG. 4, when the meandering operation is performed in the vicinity of the center position of the traveling zone of the road, the possibility of falling asleep is considered to be high (the degree of awakening is low). As indicated by the broken line, when the vehicle is driven obliquely in the vicinity of the center position of the traveling zone, it is considered that there is a possibility that the vehicle is driven not only by drowsy driving but also by a curve.

[0006] However, in the case of the prior art in which the arousal level is determined based on the standard deviation, both the meandering operation and the skew operation are determined to be dozing. That is, when the awakening degree is determined by the standard deviation, both the meandering operation and the skew operation,
Since the standard deviation is a large value exceeding the threshold value (judgment value), even in the case of skew driving on a curve,
It is determined that the driver is asleep with low awakening.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a traveling state detecting device for detecting a traveling state of a vehicle, an awakening degree detecting device for accurately detecting an awakening degree of a driver, It is an object of the present invention to provide an awakening degree corresponding control device that performs various controls in accordance with the control, and a recording medium.

[0008]

Means for Solving the Problems and Effects of the Invention (1) The invention according to claim 1 is an apparatus for detecting a running state of a vehicle. According to the present invention, a lateral displacement of a vehicle on a traveling path is detected, a correlation between the lateral displacement and an elapsed time of the lateral displacement within a predetermined time is obtained, and a degree of the wobble of the vehicle is detected based on the correlation.

That is, when the correlation between the lateral displacement and the elapsed time is obtained, when the correlation is strong (for example, when the correlation coefficient is close to 1 or -1), FIGS. As shown in the figure, the data of the lateral displacement and the elapsed time are linear. Therefore, when the correlation between the lateral displacement and the elapsed time is strong, it can be considered that the vehicle is traveling in a straight line (for example, the skew driving indicated by a broken line in FIG. 4).

Conversely, when the correlation between the lateral displacement and the elapsed time is weak (for example, when the correlation coefficient is close to 0), as shown in FIG. Is in a dispersed state. Therefore, when the correlation between the lateral displacement and the elapsed time is weak, it can be considered that the vehicle is in a meandering state, for example, in which the trajectory is not determined (meandering operation indicated by a solid line in FIG. 4).

Therefore, from the correlation between the lateral displacement and the elapsed time, the degree of the vehicle wander (accordingly, whether or not the vehicle is in a meandering operation)
Can be detected. (2) The invention of claim 2 exemplifies a method of measuring a lateral displacement. That is, here, the lateral displacement is indicated by a distance from a traveling section zone (for example, a white line indicating a lane section).

(3) The invention of claim 3 exemplifies a value indicating a correlation. Here, as described later in detail, a correlation coefficient or a covariance well known in statistics is used. (4) The invention according to claim 4 is an apparatus for detecting a driver's arousal level.

[0013] In the present invention, based on the information of the degree of wobble of the vehicle detected by the running state detecting device,
The degree of awakening of the driver is detected. In other words, when the vehicle is wandering like a meandering operation, for example, it can be considered that the driver is dozing, so that it is possible to detect the driver's awakening degree from the degree of the vehicle's wandering. it can.

(5) The invention of claim 5 exemplifies a determination method. In this case, when the degree of the wobble of the vehicle indicates a meandering operation, it is determined that the awakening degree of the driver is low. . (6) The invention according to claim 6 is an apparatus for detecting a driver's arousal level.

According to the present invention, when the change of the traveling section is not instructed, the information of the degree of the fluctuation of the vehicle detected by the traveling state detecting device and the information of the vehicle from the traveling section zone (for example, the white line indicating the lane division) are obtained. The awakening degree of the driver is detected based on the detection result of the departure detecting means for detecting the departure.

That is, for example, when an instruction to change lanes (including a turn to the roadside) (an instruction such as a turn signal) is not issued, the vehicle can normally deviate from the lane if driving is normal. There is little sex. Therefore, when the vehicle is not changing lanes, the vehicle is less likely to wander, and when the vehicle deviates from the lane, it can be considered that the vehicle has slanted and deviated from the lane due to drowsy driving. , The degree of arousal can be detected.

(7) The invention of claim 7 exemplifies a method of determination, wherein the degree of the wobble of the vehicle indicates skew driving and the vehicle has deviated from the traveling zone. If detected, it is determined that the driver's arousal level is low. (8) The invention according to claim 8 is an apparatus for performing various controls in accordance with the degree of awakening of a driver.

In the present invention, a warning is displayed by a display according to the arousal level detected by the arousal level detection device. In other words, if the driver's arousal level is low, it is not suitable for driving, so to raise the driver's arousal level, it is necessary to generate a visually appealing alarm such as display display or blinking of various lamps. To warn the driver.

(9) The invention according to claim 9 is an apparatus for performing various controls in accordance with the arousal level of the driver. In the present invention, a sound or voice warning is issued according to the arousal level detected by the arousal level detection device.

That is, when the driver's arousal level is low,
Since the state is not suitable for driving, the driver is warned by sounding a buzzer sound (or loud music) or calling attention to sound in order to increase the driver's arousal level. (10) An apparatus according to a tenth aspect is an apparatus for controlling a vehicle according to a degree of awakening of a driver.

In the present invention, control for changing the inter-vehicle distance is performed in accordance with the arousal level detected by the arousal level detection device. In other words, when the driver's awakening degree is low, the driver is in a state unsuitable for driving. Therefore, it is not preferable in terms of safety if the vehicle is driven in the same manner as a normal state where the awakening degree is high, for example, in auto cruise. Therefore, in order to enhance safety, when the arousal level is low, the inter-vehicle distance is set to be larger than, for example, a normal set value in auto cruise.

(11) The invention according to claim 11 is an apparatus for controlling a vehicle in accordance with a degree of awakening of a driver. In the present invention,
Control is performed to change the traveling speed according to the arousal level detected by the arousal level detection device.

That is, when the driver's awakening degree is low,
Since the vehicle is in a state unsuitable for driving, it is not preferable in terms of safety if the vehicle travels in the same manner as in a normal state where the degree of awakening is high in auto cruise. Therefore, in order to enhance safety, for example, the traveling speed (for example, the set speed) is made lower than the normal set value in auto cruise.

Incidentally, as a method of reducing the speed of the vehicle,
Examples include fuel control (fuel cut, fuel amount reduction), ignition control (ignition inhibition, retard angle), downshifting, brake control by increasing wheel cylinder pressure, and the like. (12) A twelfth aspect of the present invention is an apparatus for controlling a vehicle according to a degree of awakening of a driver.

According to the present invention, the steering is corrected in accordance with the arousal level detected by the arousal level detection device. That is, when the awakening degree of the driver is low, the state is not suitable for driving. Therefore, it is not preferable in terms of safety to change the traveling direction of the vehicle in accordance with the operation of the steering wheel in the same manner as usual. Therefore,
In order to enhance safety, when the awakening degree is low, for example, when steering in the direction opposite to the traveling road (for example, when trying to turn left in a right curve), the steering is made slower than usual. . As a result, the meandering operation is improved to some extent, so that safety is improved.

(12) According to a twelfth aspect of the present invention, there is provided a means (for example, a program) for realizing at least one kind of function among the above-mentioned running state detecting device, arousal level detecting device, and arousal level corresponding control device. 4 shows a recording medium on which recording is performed. That is, the function of realizing each device as described above in a computer system can be provided, for example, as a program activated on the computer system side. In the case of such a program, for example, it is recorded on a computer-readable recording medium such as a floppy (registered trademark) disk, a magneto-optical disk, a CD-ROM, and a hard disk, and is loaded into a computer system as needed and activated. Can be used. In addition, R
The program may be recorded on a computer-readable recording medium such as an OM or a backup RAM, and the ROM or the backup RAM may be incorporated in a computer system and used.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments (embodiments) of the running state detecting device, the arousal level detecting device, the arousal level corresponding control device, and the recording medium of the present invention will be described. (Embodiment) Here, an on-vehicle system capable of realizing the functions of a traveling state detection device, an awakening degree detection device, and an awakening degree corresponding control device will be described as an example.

A) First, the basic system configuration of this embodiment will be described with reference to FIG. The in-vehicle system according to the present embodiment can detect the degree of awakening of a driver from the running state of a vehicle and perform necessary vehicle control according to the degree of awakening. , An awakening degree arithmetic processing unit 5 having a microcomputer A as a main part, an input / output port 7, and an inter-vehicle distance control device 9 having a microcomputer B as a main part, 11 are connected.

The image processing device 3 calculates the lateral position of the vehicle based on the image data input from the camera 1 and calculates the lateral position of the vehicle from the driving lane, which is a white line indicating the edge of the road. And an image input circuit 13 for inputting image data obtained from the image processing apparatus, and a CPU 15 for calculating the horizontal position by performing arithmetic processing on the input image data.

The arousal degree calculation processing device 5 obtains a correlation coefficient between the lateral position and the elapsed time from the lateral position calculated by the image processing device 3 and the elapsed time at the lateral position. This is a device for detecting the degree of arousal from the number of relations, and temporarily stores a ROM 17 storing a calculation formula for calculating a correlation coefficient and a threshold value (determination value) for determining the degree of arousal, and a lateral position and the like. It includes a RAM 19 and a CPU 21 for performing processing such as calculation of a correlation coefficient.

The input / output port 7 includes a lamp (for example, a hazard lamp) 23, a display 25, and a buzzer 2.
7, the speaker 29 and the like are connected, and when the arousal level is low, a command signal from the arousal level arithmetic processing unit 5
In order to alert the driver, the lamp 23 blinks,
A warning is displayed on the display 25, a buzzer 27 is driven to emit a sound, and a sound is output from the speaker 29.

The inter-vehicle distance control device 9 is a device for performing control (auto cruise control) for automatically running while maintaining an appropriate inter-vehicle distance. In this case, when the awakening degree is low, the inter-vehicle distance is made larger than usual. Control to reduce the set speed. Next, processing operations in the above-described in-vehicle system will be described with reference to FIG.

As shown in the block diagram of FIG. 3, in the on-vehicle system, the lateral position is detected by the lateral position detector 31, and the vehicle deviates from the lane by the lane deviation detector 33. In addition, the fluctuation detection unit 35
The correlation coefficient is calculated, and the degree of fluctuation is obtained from the correlation coefficient. Then, based on the detection results by the lane departure detection unit 33 and the stagger detection unit 35, the dozing determination unit 3
7, a dozing state is determined (therefore, the arousal level is detected). Further, based on the result of the determination, the arousal level corresponding control unit performs control corresponding to the arousal level.

The running state detecting device and the awakening degree detecting device according to the claims mainly include the image processing device 3 (lateral position detecting unit 31, lane departure detecting unit 33) and the awakening degree calculating unit 5 (the wobble detecting unit). 35, the function of the drowsiness determination unit 37), and the awakening degree corresponding control device is realized as a function of the inter-vehicle distance control device 9 (the awakening degree corresponding control unit 39) and the like.

B) Next, the principle of detecting the arousal level from the correlation coefficient used in this embodiment will be described. In the present embodiment, focusing on the correlation coefficient between the lateral displacement of the vehicle and the elapsed time, when the meandering operation is detected, or when the vehicle deviates from the lane due to the skewing operation (without an instruction to change lanes), It is determined that the vehicle is dozing off (the state where the arousal level is low).

As shown in FIG. 4, in the case of the prior art in which the lateral displacement from one traveling zone (white line) of the road is detected and its standard deviation is obtained, both the meandering operation and the skew operation are performed.
The standard deviation is, for example, about 0.73. Therefore,
It is not possible to determine whether the operation is a meandering operation or a skew operation based on only the standard deviation.

On the other hand, when the correlation coefficient between the lateral displacement and the elapsed time is obtained as in the present embodiment, the correlation coefficient is, for example, 0.14 in the meandering operation, and 0, for example, in the skew operation. .98, which is significantly different from the numerical value. Therefore, it can be determined from the correlation coefficient whether the operation is the meandering operation or the skew operation.

Here, the correlation coefficient will be described. The correlation coefficient is a well-known coefficient indicating the distribution state of data used for statistics. For example, see the Basic Statistics Handbook (written by Seiji Inomata / published by Seibunsha). For example, XSTGG defined by the following equation (1) is a correlation coefficient, and the correlation coefficient can be obtained from the lateral position and the elapsed time.

[0039]

(Equation 1) Here, t: elapsed time x: lateral displacement n: number of samples (200) σ _tx : covariance σ _t ² : variance with respect to time σ _x ² : variance with respect to lateral displacement Here, when the correlation coefficient is close to 1 FIG. 1 (a)
As shown in the figure, the data of the sample indicating the lateral position and the elapsed time indicate that the data is a straight line rising to the right, and the correlation coefficient is −
A case close to 1 indicates that the data of the sample indicating the lateral position and the elapsed time is a straight line falling to the right as shown in FIG. The case where the correlation is close to 0 indicates that the data of the sample indicating the lateral position and the elapsed time is randomly dispersed as shown in FIG.

Therefore, when the correlation coefficient approaches 1 or -1, it can be considered that the vehicle is not in a meandering operation, that is, in a case of a skew operation in which the vehicle travels in a straight line. , It can be considered that the movement of the vehicle is random, for example, a meandering operation.

Accordingly, the state (degree) of the vehicle wander can be known from the correlation, and in this embodiment, when it is determined that the vehicle is in the meandering operation from the correlation coefficient, it is determined that the vehicle is dozing. Further, in the present embodiment, if the vehicle deviates from the lane by skewing even though the vehicle is not in the meandering operation, it is determined that the vehicle is dozing off, as in the meandering operation.

That is, for example, when the lane change is not instructed by the turn signal, it is known from the correlation coefficient that the vehicle is running diagonally, and when the vehicle deviates from the lane, it is dozing. Since the possibility is high, when such a condition is satisfied, it is determined that the driver is dozing off.

C) Next, a processing procedure in the vehicle-mounted system according to the present embodiment will be described. Here, the processing procedure performed by each device of the in-vehicle system is summarized and shown in the flowchart of FIG. This process is performed every 0.1 seconds. As shown in step 100 of FIG. 5, first, the horizontal position is measured.

That is, from the road image taken by the camera,
It is determined how far the vehicle is from one of the road division zones (white line) on the road, and the value (lateral position) is measured.
In the following step 110, calculation of lane departure is performed. That is, the relationship between the vehicle and the lane is obtained from the road image captured by the camera, and if the vehicle is out of the lane, for example, a flag indicating the departure state is set.

In the following step 120, it is determined whether or not the vehicle deviates from the lane based on the value of the flag. If a positive determination is made here, the process proceeds to step 200,
On the other hand, if a negative determination is made, the routine proceeds to step 130. In step 130, since the vehicle has not deviated from the lane, the latest lateral position is added to the memory (the RAM 19 of the awakening degree arithmetic processing unit 5), and data for 20 seconds is stored. That is, the latest horizontal position data is added, and the horizontal position over the past 20 seconds and the elapsed time data (data for 200 times) are accumulated.

In the following step 140, the coordinate system is transformed. That is, as shown in FIG. 6, when the horizontal position x is taken as the X coordinate and the elapsed time t is taken as the Y coordinate, if the data continues in parallel with the Y coordinate, Since the correlation coefficient becomes 0 and the running state cannot be accurately grasped,
Here, for example, the coordinates indicating the position of the data of the horizontal position x and the elapsed time t are converted into coordinates rotated 45 degrees counterclockwise with respect to the origin, for example. This conversion can be performed using, for example, a rotation matrix.

In the following step 150, the data of the coordinates after the conversion is substituted into the above equation (1) to calculate the correlation coefficient. In the following step 160, the correlation coefficient is converted into a degree of arousal. For example, the correlation coefficient is converted into the arousal level using the map shown in FIG. Note that the vertical axis in FIG. 7 indicates the absolute value of the correlation coefficient, and the horizontal axis indicates the arousal level.

In the following step 170, the arousal level is compared with a predetermined threshold value (judgment value) to determine whether or not the arousal level has decreased. If the determination is affirmative, the process proceeds to step 180, while if the determination is negative, the process returns to step 100. For example, if the arousal level is equal to or less than the threshold value, it is determined that the arousal level is low and the vehicle is in a dozing driving state.

In step 180, since the driver is in a dozing state, a sound or voice,
Alternatively, a process of giving a warning by display or the like is performed. Next step 19
If the value is 0, the vehicle is in a dozing state. For safety, necessary traveling control of the vehicle is performed, and the process returns to step 100.

For example, when the auto cruise control is being performed, the travel control for increasing the inter-vehicle distance or decreasing the travel speed (set speed) is performed. This increases safety. Alternatively, the steering is corrected so as to slow down the response of the steering wheel. Thereby, the meandering state of the vehicle is improved, so that the safety is enhanced.

On the other hand, in step 200, where it is determined that the vehicle is deviating from the lane in step 120, it is determined in step 200 whether or not a turn signal has been issued. If an affirmative determination is made here, it is considered that the lane change is normal, and the process returns to step 100. On the other hand, if a negative decision is made,
The process proceeds to step 210 on the assumption that the vehicle has departed from the lane due to the drowsy driving.

In step 210, the awakening level corresponding to the lane departure is set. For example, the awakening level is set to the lowest value, and the process proceeds to step 170. In step 170, since the arousal level is the minimum value, it is determined that the arousal level is low.
Proceeding to 90, similarly, processing corresponding to the case where the arousal level is low is performed.

D) As described above, in the present embodiment, the correlation coefficient between the lateral position of the vehicle and the elapsed time is obtained, and when the correlation coefficient is a value indicating a meandering operation (a value close to 0), , The arousal level is determined to be low. Also, when the correlation coefficient is a value indicating a skew driving (a value close to 1, -1) and the vehicle deviates from the lane, it is determined that the arousal level is low.

As a result, the arousal level can be detected more accurately than in the prior art. Therefore, when the awakening degree is low, the driving safety can be improved by issuing various warnings for awakening the driver. In addition, if the awakening degree is low, increase the distance between vehicles,
By reducing the running speed or performing control to make the steering dull, safety can be further enhanced.

It should be noted that the present invention is not limited to the above-described embodiment at all, and it goes without saying that the present invention can be implemented in various modes without departing from the present invention. (1) For example, in the above embodiment, the arousal level is detected based on the correlation coefficient, but the arousal level may be detected based on the covariance.

That is, as is well known, when the covariance of the data is taken, as shown in FIG. 8, the data (here, the data of the horizontal position x and the elapsed time t) has a positive covariance relation and a negative covariance relation. A covariant relationship or a relationship without a covariant relationship may be taken. this is,
These are relationships corresponding to correlation coefficients of 1, −1 and 0, respectively.

Therefore, similarly to the above-mentioned correlation, when the data of the lateral position and the elapsed time are in a positive covariance relation and a negative covariance relation, it can be regarded as skew driving.
If there is no covariant relation, it can be considered that the operation is a meandering operation. (2) In the above-described embodiment, the in-vehicle system for detecting the degree of arousal has been described. However, the present invention is not limited thereto, and can be applied to a recording medium storing a unit for executing the above-described processing. .

As the recording medium, an electronic control unit configured as a microcomputer, a microchip,
Various recording media such as a floppy disk, a hard disk, and an optical disk are included. That is, there is no particular limitation as long as it stores means such as a program that can execute the processing of the above-described in-vehicle system.

[Brief description of the drawings]

FIG. 1 is a graph showing a correlation between a lateral position and an elapsed time.

FIG. 2 is an explanatory diagram illustrating a system configuration of the vehicle-mounted system according to the embodiment;

FIG. 3 is a block diagram illustrating the on-vehicle system according to the embodiment for each function.

FIG. 4 is an explanatory diagram showing a trajectory on which a vehicle has traveled.

FIG. 5 is a flowchart illustrating a process in the vehicle-mounted system according to the embodiment;

FIG. 6 is a graph showing a relationship between a lateral position and an elapsed time used for describing coordinate transformation.

FIG. 7 is a map used when setting the arousal level from the correlation coefficient.

FIG. 8 is a graph showing a correlation between a lateral position and an elapsed time.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Camera 3 ... Image processing apparatus 5 ... Arousal degree calculation processing apparatus 7 ... Input / output port 23 ... Lamp 25 ... Display 27 ... Buzzer 29 ... Speaker

Claims (13)

[Claims] 1. A lateral displacement detecting means for detecting a lateral displacement on a traveling road of a vehicle, a correlation calculating means for finding a correlation between the lateral displacement and an elapsed time of the lateral displacement within a predetermined time, and the correlation And a wobble detecting means for detecting the degree of wobble of the vehicle based on the following. 2. The traveling state detecting device according to claim 1, wherein the lateral displacement is a lateral displacement from a traveling section. 3. The traveling state detection device according to claim 1, wherein the value indicating the correlation is a correlation coefficient or a covariance. 4. Awakening of a driver based on information on a degree of wobble of a vehicle detected by the running state detecting device according to any one of claims 1 to 3. Degree detection device. 5. The arousal level detection device according to claim 4, wherein when the degree of the wobble of the vehicle indicates a meandering operation, it is determined that the arousal level of the driver is low. 6. When the change of the traveling section is not instructed,
Based on information on the degree of wobble of the vehicle detected by the traveling state detection device according to any one of claims 1 to 3, and a detection result by a deviation detection unit that detects deviation of the vehicle from the traveling zone. And an arousal level detection device for detecting the arousal level of a driver. 7. When the degree of the wobble of the vehicle indicates skew driving, and when it is detected that the vehicle has deviated from a traveling zone, it is determined that the awakening degree of the driver is low. 7. The arousal level detection device according to claim 6, wherein: 8. A wakefulness-responsive control device that issues a warning by display according to the wakefulness detected by the wakefulness detection device according to any one of claims 4 to 7. 9. A wakefulness correspondence control device which issues a warning by sound or voice in accordance with the wakefulness detected by the wakefulness detection device according to any one of claims 4 to 7. 10. A wakefulness control device that performs control to change the inter-vehicle distance according to the wakefulness detected by the wakefulness detection device according to any one of claims 4 to 7. 11. A wakefulness-responsive control device that performs control to change a running speed in accordance with the wakefulness detected by the wakefulness detection device according to any one of claims 4 to 7. 12. A waking degree corresponding control device that performs control for correcting steering according to the waking degree detected by the waking degree detection device according to any one of claims 4 to 7. 13. The running state detecting device according to any one of claims 1 to 3, the arousal level detecting device according to any one of claims 4 to 7, and the awakening degree detecting device according to any one of claims 8 to 12. A recording medium characterized by recording means for realizing at least one type of function among the arousal degree correspondence control devices described in the above.