JP2005056187A - Multi-way input operation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To certainly perform instruction operation to prevent misoperation, and to simultaneously realize both the misoperation prevention and securing of excellent operability without causing deterioration of operation efficiency or increase of an operation load. <P>SOLUTION: In this multi-way input operation device, a lever position detection part 13 detects a displacement amount of a lever part 11, and a lever control arithmetic part 14 estimates an operation intention of an operator on the basis of an initial displacement amount of the lever part 11 just after an operation start and changes operation reaction according to operation estimated to be intended by the operator. Thereby, the operation reaction can be adjusted such that the operation intended by the operator is supported. Accordingly, in the multi-way input operation device, the instruction operation is certainly performed to prevent the misoperation, and both the misoperation prevention and the securing of the excellent operability can be simultaneously realized without causing the deterioration of the operation efficiency or the increase of the operation load. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a multidirectional input operation device that detects an amount of displacement from a neutral position of an operation end as an operation input and dynamically controls an operation reaction force applied to the operation end.

  Conventionally, for example, a technique described in Patent Document 1 described below is known as an in-vehicle device operation switch provided with measures for preventing erroneous operations.

In this Patent Document 1, a state in which the vehicle is suddenly accelerating or decelerating is determined from various sensor information, and if it is determined that such a state is present, the switch signal is displayed even if a switch operation is performed. An in-vehicle device operation device that controls to not output to the in-vehicle device side is disclosed. As a result, this in-vehicle device operation device can prevent an erroneous switch operation of the in-vehicle device in a situation where the posture of the passenger tends to become unstable.
Japanese Patent Laid-Open No. 2000-100302

  However, in conventional in-vehicle equipment operation devices, switch input in situations where erroneous operation is likely to occur is ignored as a countermeasure for erroneous operation, but switch operation itself is possible. There is a possibility that the in-vehicle device does not operate despite being operated, and is mistaken as an abnormality of the in-vehicle device. And in the conventional on-vehicle equipment operation device, due to the occurrence of such a misidentification of the operator, for example, it develops into an action such as gazing at the display or re-operation of the switch, and gives a further operation load to the operator. There was a problem that there was a possibility.

  Therefore, the present invention has been proposed in view of the above-described problems, and can prevent an erroneous operation by reliably performing an instruction operation, without causing an increase in operation load and a deterioration in operation efficiency. An object of the present invention is to provide a multidirectional input operation device capable of achieving both the prevention of erroneous operation and the securing of good operability.

  In the multidirectional input operation device according to the present invention, the displacement amount of the operation end is detected by the displacement amount detection means, and the operation intention estimation means is based on the displacement amount immediately after the operation end of the operation end detected by the displacement amount detection means. The above-described problem is solved by estimating the operation intention of the operator by changing the operation reaction force by the operation reaction force changing means in accordance with the operation intended by the operator estimated by the operation intention estimation means.

  According to the multidirectional input operation device according to the present invention, the operator's intention is estimated based on the amount of displacement immediately after the operation start of the operation end, and the operation reaction force is changed according to the estimated operation intention. The operation reaction force can be adjusted to support the operation intended by the operator. Therefore, according to the multi-directional input operation device according to the present invention, it is possible to prevent the erroneous operation without causing the increase of the operation load and the deterioration of the operation efficiency, while being able to prevent the erroneous operation by surely performing the instruction operation. Ensuring good operability can be achieved at the same time.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings.

  This embodiment is a multi-directional input operation device that detects the amount of displacement from the neutral position of the operation end as an operation input and dynamically controls the operation reaction force applied to the operation end.

  The present invention is applied to the multidirectional input operation device according to the first and second embodiments described below.

[First Embodiment]
First, the multidirectional input operation device according to the first embodiment will be described.

  The multi-directional input operation device according to the first embodiment is applied to a lever-type device having an operation direction of one axis. This multidirectional input operation device switches the menu position on the display screen or the menu page to be selected by the operator based on the displacement amount (hereinafter referred to as “initial displacement amount”) immediately after the operation of the lever portion is started. When it is estimated that the menu position or page switching to be selected is intended, the lever portion is in the neutral position at the menu position to be selected or the predetermined initial menu position after page switching. Thus, the operation reaction force pattern of the lever portion is changed so as to make it easier to return to step (b), and both the prevention of erroneous operation and good operability are achieved. Here, the operation reaction force pattern is a pattern indicating a change in the operation reaction force according to the displacement position of the lever portion.

  As shown in FIG. 1, the lever portion of the multi-directional input operation device can be tilted in the one-dimensional direction indicated by arrow a and pushed in the direction indicated by arrow b, protruding from the operation surface. A lever portion 11 is provided as an operation end.

  This multi-directional input operation device has, as an operation target, a selection menu list in which a plurality of menu items as shown in FIG. 2, for example, are displayed on a display screen that can be viewed by an operator. In this multidirectional input operation device, the lever 11 is tilted, the cursor CR is moved to sequentially select and display menu items, and the desired menu items are selected and displayed by the cursor CR. When the section 11 is pushed in, a menu item determination operation is performed.

  Here, the relationship between the tilting operation of the lever portion 11 and the movement of the cursor CR is a so-called “rate control” which is an operation system in which the cursor CR moves at a speed proportional to the amount of displacement from the neutral position of the lever portion 11. Is based. Therefore, in the multi-directional input operation device, as the amount of displacement by which the lever unit 11 tilts is increased, the cursor CR is moved and displayed at a higher speed, so that it can be operated efficiently even in a selection menu list having many selection items. It can be done.

  On the other hand, the multi-directional input operation device based on “rate control” is different from the so-called “position control” in which the operation amount is proportional to the cursor movement amount, such as a so-called jog dial. There is no direct correspondence between the movement and the movement of the cursor CR. Therefore, in this multi-directional input operation device, in order to control the display of the cursor CR according to the operator's intention, it is necessary for the operator to watch the display screen, and the cursor CR is stopped at a desired menu item. There is a disadvantage that it is relatively difficult. In particular, when this type of multi-directional input operation device is mounted on a vehicle, it is an environment in which it is difficult to watch the display screen not only during operation but also during operation when the vehicle is stopped. Becomes apparent.

  The multidirectional input operation device according to the first embodiment achieves both prevention of erroneous operation and good operability by overcoming the essential drawbacks associated with the operation of the lever portion 11. The lever-type multi-directional input operation device is small and has a high degree of freedom in installation location. When mounted on a vehicle, at least the lever portion 11 is installed at a position where it can be operated by a vehicle occupant, for example, on a steering wheel. Therefore, it is possible to configure a driver input operation device with good operability.

[Configuration of Multidirectional Input Operation Device According to First Embodiment]
As shown in FIG. 3, the multidirectional input operation device 1 according to the first embodiment generates torque in the tilting direction of the lever portion 11 in addition to the lever portion 11 that is the operation end described above. A lever driving unit 12 to be operated, a lever position detecting unit 13 for detecting a displacement amount and a pushing operation of the lever unit 11, and an operation reaction force pattern so as to support the operation intended by the operator by estimating the operation intention of the operator. Are provided with a lever control calculation unit 14 that determines a time series change (hereinafter referred to as “schedule”) and a communication unit 15 that exchanges information with the external operation / display processing calculation unit 2.

  The multi-directional input operation device 1 includes an operation / display processing calculation unit 2 and an information processing calculation unit 3 for controlling display contents according to the operation content of the operator, and an operation / display processing calculation unit 2. A display unit 4 for displaying various information according to the display data is connected.

  Based on the torque control signal supplied from the lever control calculation unit 14, the lever driving unit 12 generates torque in the tilting direction of the lever unit 11, drives the lever unit 11, and gives an operation reaction force to the operator. .

  The lever position detection unit 13 detects the amount of displacement and the pushing operation of the lever unit 11, and supplies the detected position detection signal to the lever control calculation unit 14.

  The lever control calculation unit 14 digitizes the position detection signal supplied from the lever position detection unit 13 and converts it into lever position information, which is input from the external operation / display processing calculation unit 2 to which the multidirectional input device 1 is connected. The current cursor position is calculated based on the menu state information and the lever position information, and the cursor position information and the lever pressing operation information are output to the operation / display processing calculation unit 2 via the communication unit 15.

  Further, the lever control calculation unit 14 estimates a selection position or a page switching intention as an operation intention of the operator by executing various processes described later in detail based on the displacement amount of the lever part 11. Then, based on the estimation result and the menu state information, the lever control calculation unit 14 determines the operation reaction force pattern schedule to support the operation intended by the operator, and determines the determined operation reaction force pattern schedule. Based on the lever position information, the amount of torque generated in the current lever portion 11 is calculated, and a torque control signal indicating the amount of generated torque is supplied to the lever driving portion 12.

  The communication unit 15 outputs the cursor position information and the lever pressing operation information supplied from the lever control calculation unit 14 to the operation / display processing calculation unit 2 and the menu state information input from the operation / display processing calculation unit 2. Is supplied to the lever control calculation unit 14.

  Such a multidirectional input operation device is connected to an operation / display processing calculation unit 2 provided in, for example, an instrument panel in a vehicle. This operation / display processing calculation unit 2 has a communication unit (not shown) based on the same communication method as the communication method of the communication unit 15, and is currently selected based on the cursor position information input from the communication unit 15. Identify the menu item that is present. Further, when the operation / display processing calculation unit 2 inputs the lever pressing operation information, the operation / display processing calculation unit 2 recognizes the determination of the selected menu item, and the information provided in the instrument panel or the like for the selection and the determined menu item. The result is output to the processing calculation unit 3.

  In response to this, the information processing calculation unit 3 performs predetermined information processing corresponding to the menu item selected and determined based on the information from the operation / display processing calculation unit 2, and if necessary, The selection menu list is output to the operation / display processing calculation unit 2. Further, when a new selection menu list is input from the information processing operation unit 3, the operation / display processing operation unit 2 updates the menu state information output to the multidirectional input operation device 1. Further, the operation / display processing calculation unit 2 reads the display data based on the current selection menu list and the cursor position, and displays, for example, in FIG. 2 on the display screen of the display unit 4 provided at a position that can be viewed from the vehicle occupant. A selection menu image as shown is displayed.

  Here, the operation / display processing calculation unit 2 and the information processing calculation unit 3 have been described as being separate functions. However, these functions may be realized using a single device.

  Further, the function sharing between the lever control calculation unit 14 and the operation / display processing calculation unit 2 is not necessarily as described above, and the operation reaction force pattern schedule that is assumed to be performed by the lever control calculation unit 14 is operated / The display processing calculation unit 2 determines the current operation reaction force pattern to the lever control calculation unit 14, and the lever control calculation unit 14 outputs the current generated torque based on the current operation reaction force pattern and the lever position information. It is good also as a structure which calculates quantity.

  Furthermore, it is good also as a structure which performs until calculation of the present generation | occurrence | production torque amount by the operation / display process calculating part 2. FIG. However, in this case, it is necessary to output the generated torque amount from the operation / display processing calculation unit 2 to the multidirectional input operation device 1 in real time, and therefore, between the operation / display processing calculation unit 2 and the communication unit 15. It is necessary to perform the communication performed at a very high speed.

  In the following, for convenience of explanation, as described above, the lever control calculation unit 14 estimates the operation intention of the operator and determines the operation reaction force pattern schedule so as to support the operation intended by the operator. A description will be given assuming that the current generated torque amount is calculated.

"Specific configuration example of multi-directional input operation device 1"
As a specific configuration example of such a multidirectional input operation device 1, there is the one shown in FIG.

  That is, the lever position detection unit 13 can be configured using a photo encoder 21 a that optically detects the tilting operation of the lever unit 11 and a tact switch 21 b that mechanically detects the pushing of the lever unit 11.

  The lever control calculation unit 14 includes an A / D (Analog to Digital) conversion circuit, a D / A (Digital to Analog) conversion circuit, and a CPU (Central Processing Unit) that executes a control program for executing the above-described processing. A ROM (Read Only Memory) that stores a control program, a RAM (Random Access Memory) that functions as a work area of the CPU, and the like, and signals from the photo encoder 21a and the tact switch 21b that constitute the lever position detector 13 are received. A control circuit 42 that performs input and processing can be used.

  Furthermore, the lever drive unit 12 is an electric motor connected to the lever unit 11 via the shaft 23a in order to generate an operation reaction force by inputting a signal from the control circuit 22 constituting the lever control calculation unit 14. 23b can be used. The electric motor 23b is attached orthogonally via a shaft 23a to a pedestal 11b having a mechanism that is connected to the operation end portion 11a of the lever portion 11 so that the lever portion 11 can be tilted. Such a lever drive part 12 rotates according to the drive force of the electric motor 23b, and gives an operation reaction force to the operation end part 11a.

  Furthermore, the communication unit 15 can be configured by using a predetermined serial interface circuit 24 incorporated in the control circuit 22 configuring the lever control calculation unit 14.

  Note that the multi-directional input operation device may be configured using other devices having the same function other than the configuration shown in FIG.

[Estimated operator intent processing, operation reaction force pattern schedule determination processing]
Next, an estimation process of an operator's intention by the lever control calculation unit 14 and an operation reaction force pattern schedule determination process that supports an operation intended by the operator will be described.

  Here, as an operation target, a selection menu list spanning two pages as shown in FIGS. 2A and 2B is used as an example. FIG. 2A shows an example of the display screen for the first page, and FIG. 2B shows an example of the display screen for the second page. That is, in this selection menu list, one page consists of a menu of four items, and two pages consist of a total of eight menus, and the display contents change depending on the display data from the operation / display processing operation unit 2 to the display unit 4 Is done.

  The selection menu list is displayed by the operation / display processing calculation unit 2 with the menu item display position fixed, and the display position of the cursor CR is moved by the tilting operation of the lever unit 11. In such a selection menu list, when the lever CR is tilted in the forward direction with the cursor CR selecting and displaying the bottommost menu item on the first page shown in FIG. The display content is switched to the second page shown in 2 (b), and the display position of the cursor CR is moved so as to select the menu item at the uppermost end of the second page. On the other hand, in the selection menu list, when the lever 11 is tilted in the negative direction with the cursor CR displayed at the topmost menu item on the second page, the first page is displayed. The contents are switched, and the display position of the cursor CR is in a state where the menu item at the bottom end of the first page is selected.

[Operator intention estimation processing]
First, the process of estimating the operator's intention by the lever control calculation unit 14 will be described.

  Here, the process of displaying the cursor display superimposed on the menu item display or displaying the pointer display superimposed on the icon display is called a pointing process. The time required for the pointing process by the operator is “Card , et al. 1983 ”, it is known to follow the so-called Fitts law.

[Overview of Fitz's Law]
The outline of Fitz's law will be described with reference to FIG. As shown in FIG. 5, when the target TG is to be indicated by the cursor CR, according to Fitz's law, the time T _POS required for the pointing operation by the operator is the distance D between the cursor CR and the target TG in the initial state. And the width S of the target TG can be expressed by the following equation (1).

T _POS = I _M · log ₂ (2D / S) (1)
Incidentally, I _M in the above formula (1) is, the recognition time τp per cycle operation to position the cursor CR to the target TG, cognitive time per cycle operation .tau.c, exercise time per cycle operation .tau.m, and 1 This is a parameter expressed by the following equation (2) using the approach accuracy ε to the target TG by the operation of the cycle.

I _M = − (τp + τc + τm) / log ₂ ε (2)
The process of deriving such Fitz's law is as follows.

First, it is assumed that the approaching accuracy ε to the target TG in the one-cycle pointing operation is constant. Therefore, when the distance between the cursor CR and the target TG in the i-th cycle is X _i , the following expression (3) is established. Needless to say, the distance X ₀ between the cursor CR and the target TG in the 0th cycle is X ₀ = D.

ε = X _i / X _i−1 (3)
Then, assuming that the cursor CR has reached the target TG in the nth cycle, the following expression (4) is established.

X _n = ε ⁿ D = S / 2 (4)
When the above equation (4) is solved for n, the following equation (5) is obtained.

n = −log ₂ (2D / S) / log ₂ ε (5)
Therefore, the time TPOS required for the pointing work is expressed by the following equation (6).

T _POS = n (τp + τc + τm)
= − {(Τp + τc + τm) / log ₂ ε} log ₂ (2D / S)
= Equation (1) (6)
Here, paying attention to the process of deriving such Fitz's law, using the above equation (3), the initial velocity V ₁ of the cursor CR is expressed by the following equation (7), where Δ is the period of one cycle of the pointing operation. It will be represented by

V ₁ = (X ₀ −X ₁ ) / Δ = X ₀ (1-ε) / Δ） X ₀ (= D) (7)
That is, the initial velocity V ₁ of the cursor CR is proportional to the distance D to the target TG trying to instruction, is derived that. This means that the sensuous tendency to perform the first operation for performing the pointing operation more vigorously as the target TG located farther is intended.

  Here, the relationship between the moving speed of the cursor CR and the amount of displacement of the lever portion 11 is proportional as described above. Therefore, the initial displacement amount of the lever portion 11 is proportional to the distance to the target TG that the operator intends to instruct.

  Therefore, in the lever control calculation unit 14, based on this relationship, the intention of the operator to select the menu position on the screen and the cursor movement outside the display screen range, that is, the intention of switching the menu page. presume.

  Specifically, in estimating the operator's intention, the lever control calculation unit 14 is based on the distribution of the initial displacement amount of the lever portion 11 and the final cursor movement amount in the operation. By performing regression analysis processing or univariate discriminant analysis processing, a prediction formula for predicting the cursor movement amount from the initial displacement amount of the lever portion 11 is calculated.

[Calculation of cursor movement amount prediction formula by simple regression analysis]
First, calculation processing of a cursor movement amount prediction formula by single regression analysis processing will be described.

  FIG. 6 shows the relationship between the lever initial displacement amount (horizontal axis) and the cursor movement amount (vertical axis) in the single regression analysis process. According to FIG. 6, the relationship between the initial displacement amount of the lever portion 11 and the final cursor movement amount forms a linear distribution, although there is some variation in the X direction of the lever initial displacement amount. Accordingly, a regression line is obtained by a single regression analysis process for the relationship between the initial displacement amount of the lever portion 11 and the cursor movement amount. The reason why there is no variation in the Y direction is that the cursor movement amount is counted as an integer value.

  At this time, according to the theory relating to the operation time in the pointing operation expressed as Fitz's law described above, the intercept of the regression line should be “0”. And the intercept never becomes “0” due to the operation resolution of the operator. In addition, because the operation condition differs between the positive direction and the negative direction of the lever portion 11 depending on the positional relationship between the lever portion 11 and the operator, the regression line is different between the positive direction and the negative direction. Furthermore, since the method of operating the lever portion 11 varies depending on the individual, the slope and intercept of the regression line vary depending on the individual.

  From the above, in order to obtain the regression line by the lever control calculation unit 14, the individual operation history is used, and the single regression analysis is independently performed when the operation direction of the lever unit 11 is positive or negative. Processing needs to be performed.

[Single Regression Analysis Processing Procedure]
Next, the processing procedure of the single regression analysis process will be described.

  In the single regression analysis process, each time the lever portion 11 is operated, the initial displacement amount (X) of the lever portion 11 and the final cursor movement amount (Y) in the operation are shown in FIG. The lever control calculation unit 14 updates the operation history table having such a format. In the operation history table, values corresponding to the positive direction (+) and the negative direction (−) of the operation direction of the lever unit 11 are created by the lever control calculation unit 14. Then, the lever control calculation unit 14 updates the value in the operation history table according to the operation direction of the lever unit 11. In the operation history table in the initial state, all columns are “0”.

When updating the operation history table, the lever control calculation unit 14 detects the initial displacement (X) when the operation of the lever unit 11 occurs, and the first row (n: number of operation occurrences) column in the operation history table. "1" is added to the value of, the initial displacement (X) of the lever portion 11 is added to the value of the second row (Σ _i X _i ), and the column of the third row (Σ _i X _i ² ) A value (X _i ² ) obtained by squaring a value (X _i ) obtained by adding the initial displacement amount to the value of is added.

Subsequently, the lever control calculation unit 14 adds the cursor movement amount (Y) to the value in the fourth row (Σ _i Y _i ) column in the operation history table, and the fifth row (Σ _i Y _i ² ) column. (Y ² ) is added to the value of. However, the lever control calculation unit 14 sets the cursor movement amount (Y) to “1” when the page is switched in accordance with the operation, and the cursor movement amount until the page is switched when the operation direction is the positive direction. When the operation direction is a negative direction, correction is performed by subtracting “1” from the amount of cursor movement until page switching, and the fourth row (Σ _i Y _i ) and the fifth row are corrected. Correct the line (Σ _i Y _i ² ).

  For example, when the operation is started in the forward direction from the state shown in FIG. 2A and the page is switched to the second page, “2 + 1 = 3” regardless of the final cursor position on the second page. Is the amount of cursor movement. When the operation is started in the negative direction from the state shown in FIG. 2B and the page is switched to the first page, “3-1 = 2” regardless of the final cursor position on the first page. Is the amount of cursor movement. This means that when page switching occurs, the operator does not aim at the selected position after page switching at the start of operation, but is aware that the cursor is moved outside the display screen range. This is because it is reasonable to set the typical cursor movement amount to “± 1” of the cursor movement amount until page switching.

Finally, the lever control calculation unit 14 adds the initial displacement amount (X) of the lever portion 11 and the cursor movement amount (Y) to the value in the sixth row (Σ _i X _i Y _i ) column in the operation history table. Add products. The cursor movement amount (Y) at this time is also a value obtained by performing the correction related to the page switching described above.

The lever control calculation unit 14 then, based on the operation history table that is sequentially updated each time an operation occurs as described above, the regression line slope (a ₊ , a ₋ ) and the intercept (b ₊ , b ₋ ). Perform a single regression analysis process to find

When the lever control calculation unit 14 obtains a regression line when the lever unit 11 is operated in the positive direction, from the values corresponding to the positive direction in the operation history table, the following formulas (8) to (12) are obtained. <X> and <Y> are obtained by performing the following calculation, and using the <X> and <Y>, the slope a ₊ and the intercept b ₊ are respectively expressed by the following expressions (13) and (14): It is calculated by the following operation. Further, the lever control calculation unit 14 is obtained by the calculation made following equation (15) the contribution rate _R ^{+ 2} from these.

<X> = Σ _i X _i / n (8)
<Y> = Σ _i Y _i / n (9)
Sxx = Σ _i X _i ² / n− (Σ _i X _i ) ² (10)
Syy = Σ _i Y _i ² / n− (Σ _i Y _i ) ² (11)
_{Sxy = (Σ i X i Y} i) / n- <X><Y> ··· (12)
a ₊ = Sxy / Sxx (13)
b ₊ = <Y> −Sxy / Sxx <X> (14)
R ₊ ² = Sxy ² / Sxx / Syy (15)
On the other hand, when calculating the regression line in the negative direction, the lever control calculation unit 14 uses the value corresponding to the negative direction in the operation history table in the case of the positive direction shown in the above formulas (8) to (15). by performing the same operation as the slope a _- and the intercept b _- the contribution R _- Request and ^2.

Note that the contribution rate ^{_{(R + 2, R - 2}} ) is a numerical value representing the accuracy of the prediction by the regression line is a numerical value used for the determination processing of the operation reaction force pattern Changeable to be described later.

In the single regression analysis process, the regression equations (predictive equations) Y = a ₊ X + b ₊ and Y = a ₋ X + b ₋ for the positive direction and the negative direction are obtained in this way. In the lever control calculation unit 14, when the initial displacement amount (X) of the lever portion 11 is actually obtained, the initial displacement amount (X) is substituted into the regression equation for the corresponding operation direction to obtain a real number (Y). And an integer value obtained by rounding off the first decimal place of this value can be used as an estimated value of the cursor movement amount (Y) at that time.

  Thus, in the multidirectional input operation device 1, it is possible to estimate the operator's intention by performing a single regression analysis process. Since this single regression analysis process can be obtained using a relatively simple operation history table and calculation formula, it is effective in reducing the calculation load of the lever control calculation section 14. However, since the single regression analysis process is based on the premise that an ideal linear relationship is established between the initial displacement amount of the lever portion 11 and the cursor movement amount, the estimation accuracy can be improved when applied to an actual environment. Limits can arise. On the other hand, the lever control calculation unit 14 performs univariate discriminant analysis processing described below in order to further improve the estimation accuracy.

[Calculation of prediction formula by univariate discriminant analysis processing]
Next, calculation processing of a prediction formula by univariate discriminant analysis will be described.

  FIG. 8 represents the final cursor movement amount (integer value) as a group, and represents the occurrence frequency of the initial displacement amount of the lever portion 11 in each group as a probability distribution. The univariate discriminant analysis process is a process for determining which group an initial displacement amount (X) of a certain lever portion 11 belongs to by comparing so-called Mahalanobis generalized distances.

Specifically, the lever control calculation unit 14 obtains the boundaries of all groups (j) as discriminant values (C _j−1 , C _j ) assuming that the probability distribution of each group is a normal distribution, and the lever unit. The corresponding group (= cursor movement amount) is predicted depending on which group range the 11 initial displacement amount (X) belongs to. At this time, the lever control calculation unit 14 statistically calculates a misclassification rate (P _j−1 , P _j ) that is a probability of erroneously predicting an adjacent group for each group, and estimates each group. The accuracy (A _j = 1− (P _j−1 + P _j )) is obtained. The estimated accuracy (A _j ) of each group is used for determining whether or not the operation reaction force pattern can be changed, which will be described later.

[Univariate discriminant analysis processing procedure]
Next, a processing procedure for univariate discriminant analysis will be described.

  The lever control calculation unit 14 receives the initial displacement amount (X) of the lever unit 11 when the operation of the lever unit 11 occurs, and uses the final cursor movement amount (j) as shown in FIG. Update the operation history table consisting of In this embodiment, as shown in FIG. 2, since a selection menu list including eight menu items is assumed, the cursor movement amount is an integer value in the range of “± 7”. Therefore, this operation history table is composed of 8 columns correspondingly. In the operation history table in the initial state, all columns are set to “0”.

  When updating the operation history table, the lever control calculation unit 14 updates the value corresponding to the cursor movement amount (j) every time the lever unit 11 is operated. However, in the lever control calculation unit 14, the cursor movement amount (j) is set to the page when the page switching occurs in accordance with the lever operation as in the case of the single regression analysis process, or when the operation direction is the positive direction. A correction is made by adding “1” to the amount of cursor movement until switching and, if the operation direction is negative, correcting the value by subtracting “1” from the amount of cursor movement until page switching. .

Then, the lever control calculation unit 14 adds “1” to the value in the column of the first row (n _j ) for the value corresponding to the calculated cursor movement amount (j), and the second row (Σ _i X _ij The initial displacement amount (X) of the lever portion 11 is added to the value in the column), and X ² is added to the value in the third row (Σ _i X _ij ² ).

Thereby, the lever control calculation unit 14 updates the operation history table every time the lever unit 11 is operated, and based on the operation history table, the boundary of the final cursor movement amount (j) in each operation ( C _j−1 , C _j ), misclassification rate (P _j−1 , P _j ), and estimation accuracy (A _j−1 , A _j , A _{j + 1} ) between the group and the adjacent groups. .

Here, when the final cursor movement amount is (j), the lever control calculation unit 14 performs the calculation represented by the following equation (16) from the updated value of the operation history table to obtain <X _j > is obtained, and σ _j is obtained by performing the calculation shown in the following equation (17) using the <X _j >.

<X _j > = Σ _i X _ij / n _j (16)
σ _j = (n _j / (n _j −1) (Σ _i X _ij ² / n _j − <X _j > ² )) ^1/2 (17)
Then, the lever control calculation unit 14 uses the <X _j > and σ _j to perform the calculations shown in the following equations (18) to (24) for each cursor movement amount, thereby obtaining the boundary value of the cursor movement amount. C, misclassification rate P and estimation accuracy A are calculated, and the analysis result table when the lever portion 11 is operated in the negative direction as shown in FIG. 10A and the positive direction as shown in FIG. Each calculation result is held in the analysis result table when the lever portion 11 is operated. In addition, Pr {} in the following formula (20) and the following formula (21) is a cumulative probability that the condition in {} is satisfied in the standard normal distribution.

C _j−1 = (<X _j−1 > σ _j + <X _j > σ _j−1 ) / (σ _j−1 + σ _j ) (18)
C _j = (<X _j > σ _{j + 1} + <X _{j + 1} > σ _j ) / (σ _j + σ _{j + 1} ) (19)
P _j−1 = Pr {z> (C _j−1 − <X _j−1 >) / σ _j−1 } (20)
_{P j = Pr {z> (} C j - <Xj>) / σ j} ··· (21)
A _j−1 = 1− (P _j−2 + P _j−1 ) (22)
A _j = 1− (P _j−1 + P _j ) (23)
A _{j + 1} = 1− (P _j + P _{j + 1} ) (24)
Further, the lever control calculation unit 14 determines the one-side direction when the cursor movement amount is the upper and lower limit values, that is, when j = −7 or +7 and when j = −1 or +1. Therefore, the boundary value C, the misclassification rate P, and the estimation accuracy A for only one side may be calculated.

  When the lever control calculation unit 14 updates the analysis result table as shown in FIG. 10 by performing the univariate discriminant analysis process described above, the initial displacement amount (X) of a certain lever unit 11 becomes the boundary value of the analysis result table. A group belonging to C is an estimated value of the cursor movement amount (j).

  Thus, in the multidirectional input operation device 1, the intention of the operator can be estimated by performing the univariate discriminant analysis process. In such univariate discriminant analysis processing, the cursor movement amount is estimated based on the distribution between the groups related to the adjacent cursor movement amount, and the initial displacement amount and cursor movement of the lever portion 11 as in the single regression analysis processing are performed. Since a linear relationship between quantities is not assumed, there is a merit that estimation with higher accuracy is possible. However, the univariate discriminant analysis process needs to calculate and store the analysis result table, and requires more storage area and calculation amount than the single regression analysis process. There is a demerit of rising.

  From the above, in the multi-directional input operation device 1, in estimating the operator's intention, whether to apply the single regression analysis process or the univariate discriminant analysis process, the trade-off between estimation accuracy and cost It becomes possible to select by turning off.

[Operation reaction pattern schedule decision processing]
Next, an operation reaction force pattern schedule determination process for supporting an operation intended by the operator will be described.

  The lever control calculation unit 14 estimates the selection position of the operator or the intention of page switching by the estimation processing of the final cursor movement amount based on the initial displacement amount of the lever unit 11 described above. In other words, when the position obtained by adding the estimated value of the cursor movement amount to the current cursor position is the selection position of the menu item in the same page, the lever control calculation unit 14 determines the position as the operator's intention. The menu item to be selected is set as the selection position by the cursor CR. The lever control calculation unit 14 operates the lever unit 11 when the position obtained by adding the estimated value of the cursor movement amount to the current cursor position is the selection position of the menu item on the next page or the previous page. Are determined to be intended for page switching.

  When the lever control calculation unit 14 estimates that the operation intention is a position for selecting a menu item in the same page, the lever unit 11 is likely to return to the neutral position at the position of the estimated menu item. Control the reaction force. On the other hand, when it is estimated that the operation intention is page switching, the lever control calculation unit 14 operates the reaction force so that the lever unit 11 can easily return to the neutral position at the initial menu item selection position after page switching. To control. That is, in this embodiment, when switching from the first page to the second page, the operation reaction force is controlled so that the lever portion 11 can easily return to the neutral position at the uppermost position of the second page. When switching from the first page to the first page, the operation reaction force is controlled so that the lever portion 11 can easily return to the neutral position at the lowermost position of the first page.

  First, an operation reaction force with respect to a lever displacement amount as shown in FIG. 11 is preset in the lever control calculation unit 14 as a basic operation reaction force pattern. As shown in FIG. 11, in the basic operation reaction force pattern, the operation reaction force is set to the vertical cross-sectional shape of the mortar with respect to the displacement amount of the lever portion 11, and the displacement amount of the lever portion 11 increases. The lever control calculation unit 14 is set to control the lever driving unit 12 so that the operation reaction force of the lever unit 11 is increased. Accordingly, the lever control calculation unit 14 causes the operator to recognize the cursor movement speed proportional to the displacement amount of the lever unit 11 by the operation reaction force of the lever unit 11. The lever control calculation unit 14 returns the lever unit 11 to the neutral position by driving the lever driving unit 12 according to the basic operation reaction force pattern when the operator releases the lever unit 11. Then, the moving display of the cursor on the display unit 4 is stopped.

  Further, in the lever control calculation unit 14, as a basic operation reaction force pattern, a damping force with respect to the operation speed of the lever unit 11 as shown in FIG. This damping force is also called a damper and is an operation reaction force proportional to the displacement speed of the lever portion 11. Thereby, the lever control calculating part 14 gives the effect which improves operation quality by controlling the lever drive part 12 to generate | occur | produce a smooth touch in operation | movement of the lever part 11. FIG.

  Furthermore, if the intention to select a selection position within the same page can be estimated based on the initial displacement amount of the lever section 11, the lever control calculation unit 14 reaches the selection position where the cursor is estimated. At this point, the force to return to the neutral position (hereinafter referred to as “centering force”) is increased based on the basic operation reaction force pattern, and the lever portion 11 is further vibrated. Specifically, the lever control calculation unit 14 increases the inclination of the operation reaction force with respect to the displacement amount, as shown in FIG. 13, in order to increase the centering force. In addition, the lever control calculation unit 14 oscillates the lever unit 11 until the lever unit 11 returns to the neutral position from when the cursor reaches the menu item selection position where the cursor is estimated. The lever reaction unit 12 is controlled by synthesizing an operation reaction force that changes in a sine wave shape with time into a static operation reaction force shown in FIG.

  At this time, the lever control calculation unit 14 also increases the damping force near the neutral position, as shown in FIG. In order to increase the damping force, the lever control calculation unit 14 increases the inclination of the basic damping force in the negative direction as shown in FIG. 15 so that a large operating reaction force is generated with respect to the displacement speed. The drive unit 12 is controlled. This is to prevent unintentional oscillation of the lever portion 11 which occurs when the lever portion 11 is suddenly returned to the neutral position due to an increase in the centering force and swings to the opposite side after passing through the neutral position.

  Thus, the lever control calculation unit 14 increases the centering force of the lever unit 11 when the cursor reaches the menu item selection position where the cursor is estimated, thereby moving the cursor to the menu item selection position where the cursor is estimated. When it reaches, the lever portion 11 is easily returned to the neutral position, and as a result, the cursor is easily stopped at the estimated menu item selection position.

  Further, the lever control calculation unit 14 operates the operator's operation even when the centering force is increased because the operator strongly holds the operation end when the cursor reaches the estimated menu item selection position. Even when the force exceeds the operating end and does not return to the neutral position, the gripping force of the operating end is weakened by generating vibration of the operating end by vibrating the lever portion 11, and the operating force of the operator Since the centering force is effectively increased, the operation end can easily return to the neutral position.

  On the other hand, when the lever control calculation unit 14 estimates the intention of page switching based on the initial displacement amount of the lever unit 11, the same processing as described above is performed when the cursor reaches the initial position after the page switching. In this process, the centering force is increased and the vibration is performed, and the lever portion 11 is returned to the neutral position.

  From the experiment, when the menu screen is switched in units of pages as in the present embodiment, it is easy to search for menu items by surely stopping the display position of the cursor at the initial position after page switching. know. This is because the cursor is normally displayed with high attractiveness so that the selected position is clear, and therefore, the operator first induces a line of sight to the cursor immediately after the page switching. Therefore, when the cursor position after page switching is not at the initial position, such as when the cursor position is at the upper or lower end of the page, the line of sight is reciprocated for menu search, and the search takes time. On the other hand, in the multi-directional input operation device 1, the cursor position after the page switching is stopped at a predetermined initial position such as the upper and lower ends of the page, so it is easy to control the line-of-sight movement for menu search in one direction. Make menu search easy.

[Processing content of lever control calculation unit]
Next, a processing procedure by the lever control calculation unit 14 that performs the above-described processing will be described with reference to a flowchart shown in FIG.

  First, when the multi-directional input operation device 1 is activated and the lever unit 11 is operated, the lever control calculation unit 14 calculates a displacement amount of the lever unit 11 in step S1. Specifically, the lever control calculation unit 14 samples the lever position information from the lever position detection unit 13 at a constant period, and calculates a digitized value as the displacement amount of the lever unit 11. The lever control calculation unit 14 calculates the displacement speed of the lever unit 11 by dividing the difference in the displacement amount of the lever unit 11 by the sampling period in order to perform the damping force control.

  Subsequently, the lever control calculation unit 14 determines the operation status of the operator. Specifically, the lever control calculation unit 14 determines that the operation start is performed when the amount of displacement of the lever unit 11 is less than a predetermined operation detection threshold value in the previous cycle and exceeds the operation detection threshold value in the current cycle. Is determined. The lever control calculation unit 14 determines that “the operation is completed” when the displacement amount of the lever unit 11 is equal to or larger than the operation detection threshold in the previous cycle and is less than the operation detection threshold in the current cycle.

  Here, if the lever control calculation unit 14 determines in step S2 that “operation start”, the process proceeds to step S4. On the other hand, if the lever control calculation unit 14 determines that the operation is not “start” and determines that the operation is “end” in step S3, the process proceeds to step S8. Further, when the lever control calculation unit 14 is in another operation state that is determined not to be “end of operation”, that is, when the displacement amount of the lever unit 11 is equal to or greater than the operation detection threshold value in both the previous cycle and the current cycle (operation If the current cycle is lower) or if both the previous cycle and the current cycle are less than or equal to the operation detection threshold (no operation), the processing of the current cycle is terminated.

  When it is determined that the operation is started in step S2 and the process proceeds to step S4, the lever control calculation unit 14 is used in the determination in step S2 as the initial displacement amount of the lever unit 11 at the start of the operation. The displacement amount of the lever portion 11 is temporarily stored in a predetermined buffer. The lever control calculation unit 14 also temporarily stores the cursor position at the start of operation in the buffer.

Subsequently, in step S5, the lever control calculation unit 14 determines whether or not the operation intention can be estimated with the current estimation accuracy. Here, the estimation accuracy of the operation intended, when performing simple linear regression analysis processing described above, the lever control calculation unit 14, the contribution rate - to calculate the _{^{(R + 2, R 2)}} , commitment-cycle When the direction is positive, if the contribution rate R ₊ ² is equal to or greater than the estimation accuracy threshold, it is determined that the estimation accuracy is sufficient, while when the tilt direction is negative, the contribution rate R _- ^2. Is greater than the estimation accuracy threshold, it is determined that the estimation accuracy is sufficient.

  On the other hand, when performing the above-described univariate discriminant analysis processing, the lever control calculation unit 14 calculates the above-described estimation accuracy Aj of each cursor movement amount as the estimation accuracy of the operation intention, and among the estimation accuracy Aj, If the minimum value min (Aj) is equal to or greater than the estimation accuracy threshold, it is determined that the estimation accuracy is sufficient.

  Note that the estimated accuracy threshold is related to the design requirement of how much misclassification is allowed, but it is considered necessary to set a value of, for example, 0.9 or more in order to realize a comfortable operation.

  Here, if the lever control calculation unit 14 determines that the estimation accuracy is insufficient, the lever control calculation unit 14 ends the process of the current cycle. On the other hand, if the lever control calculation unit 14 determines that the estimation accuracy is sufficient, the process proceeds to step S6. And migrate the process.

In step S <b> 6, the lever control calculation unit 14 performs intention estimation based on the initial displacement amount of the lever unit 11. Specifically, the lever control calculation unit 14, when performing simple regression analysis process, the above-mentioned regression equation _{Y = a + X + b +} , Y = a - X + b - relative, initial displacement of the lever portion 11 A real number (Y) is obtained by substituting the amount (X) into the regression equation of the corresponding tilt direction, and an integer value obtained by rounding off the first decimal place of this value is used as an estimated value of the cursor movement amount.

  On the other hand, when the univariate discriminant analysis process is performed, the lever control calculation unit 14 creates the analysis result table shown in FIG. 10, and the initial displacement amount (X) of the lever unit 11 is the boundary value of the analysis result table. A group belonging to C is assumed to be an estimated value of the cursor movement amount.

  Then, when the lever control calculation unit 14 obtains the estimated value of the cursor movement amount, the position obtained by adding the estimated value of the cursor movement amount to the current cursor position is the menu item in the same page as described above. If the selected position is the selected position of the menu item intended by the operator, and if it is the selected position of the menu item on the next page or the previous page, the menu item for page switching is determined. It is determined that the intention is to select.

  Then, in step S7, the lever control calculation unit 14 sets the operation reaction force pattern change schedule according to the estimation intention by the processing described above with reference to FIGS. 11 to 15, and ends the processing of the current cycle.

  In addition, when the lever control calculation unit 14 determines that the operation is “finished” in step S3 and shifts the process to step S8, the operation reaction force pattern change schedule is reset. That is, the lever control calculation unit 14 sets the operation reaction force pattern to the basic operation reaction force pattern previously shown in FIGS. 11 and 12 and prepares for the next operation.

  Subsequently, in step S9, the lever control calculation unit 14 ends in this cycle based on the difference between the cursor position at the operation start time temporarily stored in the buffer at step S4 and the cursor position at the operation end time. The amount of cursor movement in the operated operation is calculated, and the operation history table is updated together with the initial displacement amount of the lever portion 11 temporarily stored in the buffer in step S4. This operation history table is the one shown in FIG. 7 when performing the single regression analysis process, and the one shown in FIG. 9 when applying the univariate discriminant analysis process. is there.

Then, in step S10, the lever control calculation unit 14 updates the prediction formula and ends the process of the current cycle. That is, the lever control calculation unit 14, when performing simple linear regression analysis process, the regression equation _{Y = a + X + b +} , Y = a - X + b - when updating seeking performs univariate discriminant analysis process Update the value of the analysis result table.

  The lever control calculation unit 14 can determine the operation reaction force pattern schedule that supports the operation intended by the operator by estimating the operation intention of the operator through such a series of processes. The current generated torque amount is calculated based on the schedule of the operation reaction force pattern and the lever position information.

[Effect of the first embodiment]
As described above in detail, according to the multi-directional input operation device 1 according to the first embodiment, when the menu is instructed, based on the initial displacement amount of the lever portion 11 immediately after the operation starts, the operator's Since the operation intention is estimated and the operation reaction force is changed according to the operation intended by the estimated operator, the operation reaction force can be adjusted to support the operation intended by the operator. Therefore, according to the multi-directional input operation device 1, the operation intended by the operator can be surely performed.

  Further, according to the multidirectional input operation device 1, since the operation reaction force is sequentially adjusted, it is possible to always provide support according to the operation intended by the operator, and to ensure good operability. it can.

  Furthermore, according to this multidirectional input operation device 1, since the operator's intention is estimated based on the amount of displacement immediately after the operation of the lever portion 11, the time margin for changing the operation reaction force is ensured. Therefore, the operation reaction force can be reliably changed.

  Furthermore, according to the multi-directional input operation device 1, it is easy to stop the movement of the cursor at the position of the menu item intended by the operator, so even if the operation from the operation to the end of the operation becomes rough. An erroneous operation is unlikely to occur, and it is relatively easy to stop the cursor at a desired position without having the operator gaze at the screen. Thereby, according to this multidirectional input operation device 1, it is possible to make use of the efficiency of the operation, which is an advantage of the basic operation of increasing the moving speed of the cursor in accordance with the operation amount of the lever portion 11, and to reduce the operation load. It is possible to achieve both the prevention of erroneous operation and the securing of good operability without incurring a rise or a decrease in operation efficiency.

  Furthermore, according to the multidirectional input operation device 1, the selection on the display screen that the operator is to select by the lever control calculation unit 14 based on the displacement amount from the neutral position immediately after the operation of the lever unit 11 is started. The position of the target menu item is estimated, and the operation reaction force is changed so that the lever portion 11 can easily return to the neutral position when the menu item is designated. Can be selected. At this time, according to the multi-directional input operation device 1, since the lever portion 11 easily returns to the neutral position when the menu item is designated, fine adjustment of the designated position that requires the most time and attention in the instruction operation is easy. Thus, the operation time can be shortened and the operability can be improved.

  Furthermore, according to this multidirectional input operation device 1, the operator selects the selection target outside the display screen range by the lever control calculation unit 14 based on the displacement amount from the neutral position immediately after the operation of the lever unit 11 is started. Since it is estimated that it is going to be performed and the predetermined reaction after switching the display screen is instructed, the operation reaction force is changed so that the lever portion 11 can easily return to the neutral position. For example, when the display screen is renewed by page switching, the designated position can be stopped at a predetermined initial position in advance. Therefore, according to this multidirectional input operation device 1, it is easy to control the line-of-sight movement for menu search in one direction, and the menu search can be facilitated.

  Furthermore, according to the multi-directional input operation device 1, the centering force is increased by the lever control calculation unit 14 at the time when the menu item is designated. That is, according to the multidirectional input operation device 1, an increase in the centering force is used as a change in the operation reaction force that makes it easy for the lever portion 11 to return to the neutral position. Therefore, according to this multidirectional input operation device 1, when the desired menu item position is designated, the lever portion 11 can be reliably returned to the neutral position, and the above-described effects can be obtained efficiently.

  Furthermore, according to the multi-directional input operation device 1, the lever unit 11 can be vibrated by the lever control calculation unit 14 when the menu item is designated. That is, according to the multidirectional input operation device 1, the vibration of the lever portion 11 can be used as a change in the operation reaction force that makes the lever portion 11 easily return to the neutral position. In particular, according to the multi-directional input operation device 1, the centering force is increased by using the increase of the centering force and the vibration of the lever portion 11, because the operator strongly holds the operation end. Even if the operating force of the operator is greater and the operating end does not return to the neutral position, the gripping force of the operating end is weakened by the vibration of the operating end by exciting the lever portion 11, and the operator's Since the operating force can be weakened, an increase in the centering force is effectively applied, and the operating end can easily return to the neutral position.

  Furthermore, according to the multidirectional input operation device 1, the lever control calculation unit 14 determines the end of the operation based on the displacement amount from the neutral position of the lever unit 11, and resets the operation reaction force change schedule. If the operator interrupts the operation, the change in the reaction force corresponding to the intention of the operation can be reset, and the intention of the next operation can be estimated. And the effect mentioned above can be acquired efficiently.

  Furthermore, according to this multidirectional input operation device 1, the lever control calculation unit 14 creates an operation history table that records the displacement amount and the operation result from the neutral position immediately after the start of the operation of the lever unit 11, and the lever Since the operation intention is estimated based on the distribution of the displacement amount from the neutral position immediately after the operation start of the unit 11 and the operation result, the correlation between the displacement amount immediately after the operation start and the operation result (selected position) is determined by the operator. It is possible to build with personal data. Here, there is a positive correlation between the displacement immediately after the start of the operation and the operation position, and it is possible to estimate the intention of the operator by performing regression analysis processing or discriminant analysis processing. Are known to have different trends depending on the individual. Therefore, according to the multi-directional input operation device 1, it is possible to estimate the operation intention with higher accuracy by creating an operation history table for the individual operator and obtaining the correlation, and reliably The effect mentioned above can be acquired.

  Further, according to the multidirectional input operation device 1, the lever control calculation unit 14 performs the single regression analysis process or the univariate discriminant analysis process to estimate the operation intention. Therefore, according to the multidirectional input operation device 1, it is possible to estimate the stop position of the cursor using a relatively simple operation history table and a calculation formula by performing the single regression analysis process and estimating the operation intention. The calculation load can be reduced. Further, according to the multidirectional input operation device 1, by performing the univariate discriminant analysis process and estimating the operation intention, the initial displacement amount of the lever portion 11 and the cursor movement amount as in the single regression analysis process are estimated. It is possible to perform more accurate estimation without assuming a linear relationship.

[Second Embodiment]
Next, a multidirectional input operation device 1 ′ according to the second embodiment will be described. In the description of the second embodiment, the same parts as those in the first embodiment described above are denoted by the same reference numerals, and detailed description thereof is omitted.

[Configuration of Multidirectional Input Operation Device 1 ']
The multi-directional input operation device 1 ′ according to the second embodiment is applied to a joystick type device in which the operation direction is biaxial.

  The multidirectional input operation device 1 ′ is installed, for example, in a center cluster in an instrument panel of a vehicle and can be operated from both a driver seat and a passenger seat. As shown in the external configuration of FIG. 17, this multidirectional input operation device 1 ′ can be tilted and pushed in from the neutral position toward the circumferential direction toward the circumferential end of a predetermined rotatable operation surface. A stick unit 101 is provided as an operation end. The multidirectional input operation device 1 ′ performs operations such as selection of GUI (Graphical User Interface) icons displayed on the display screen of the display unit 4 described above.

Further, in this multidirectional input operation device 1 ′, whether the current operator is a person sitting in the driver's seat or a person sitting in the passenger seat is identified on the left and right sides of the stick unit 101. Infrared sensors 102 _L and 102 _R are installed. Since each of these infrared sensors 102 _L and 102 _R is configured as a combination of a light emitting unit and a light receiving unit (not shown), two openings corresponding to the light emitting unit and the light receiving unit are shown in FIG. have.

The installation positions of these infrared sensors 102 _L and 102 _R depend on the layout design in the passenger compartment, but when the operator sitting in the driver seat or the passenger seat naturally operates the stick unit 101, It is necessary to detect only one of the infrared sensors and not the other infrared sensor. Therefore, as shown in FIG. 18, when the operator naturally extends the hand HD from the sitting position and operates the stick unit 101, one infrared sensor is installed at a position where the palm low part near the base of the thumb comes. It is desirable. In FIG. 18, since the operator extends the right hand from the seating position and operates the stick unit 101, the infrared sensor 102 _R is placed at a position that exists in the palm lower part near the base of the thumb. It is desirable to install.

At this time, the position of the hand HD at the time of operation may be changed according to the physique of the operator, but the left and right infrared sensors 102 _L and 102 _R are assumed assuming the standard seating position and the standard physique at the time of design. Positioning may be performed, and it is desirable to perform positioning using a representative physique in a direction in which separation of operators in the left and right infrared sensors 102 _L and 102 _R becomes severe based on statistical data of human body dimensions. This makes it possible to more reliably identify the operator seating position. Specifically, in the multi-directional input operation device 1 ′, when installed in the center cluster as in the present embodiment, the operator with a large physique extends the hand HD from the rear, and the instrument is configured so as hand HD enters more parallel to the panel of the center line 103, the little finger side closer to the other of the infrared sensor 102 _L, risk perceived increases. Therefore, in this embodiment, the operator's seating position is reliably identified by positioning the infrared sensors 102 _L and 102 _{R using} the 95th percentile as a representative physique.

In the present embodiment, the infrared sensors 102 _L and 102 _R that can be sensed in a non-contact manner as an operator identification unit are given as examples. However, as will be described later, the operator identification unit is replaced with an infrared sensor. You may use the electrostatic capacitance sensor and pressure sensor which presuppose the contact to a sensor. In this case, the arrangement of these sensors may be the same position as the infrared sensor. That is, when the multidirectional input operation device 1 ′ is arranged in the center cluster as shown in FIG. 18, the palm portion near the base of the thumb contacts the instrument panel surface as a support during operation. By installing a capacitance sensor or a pressure sensor at the same position as the infrared sensor, it is possible to identify the operator seating position in the same manner.

  Such a multidirectional input operation device 1 ′ is assumed to select an icon on the map as shown in FIG. 19 displayed on the display screen of the display unit 4 as an operation target. The map screen shown in FIG. 19 assumes a so-called navigation screen, and a map around the own vehicle is displayed with the own vehicle position 111 as a reference. Further, a plurality of icons 112a, 112b, 112c, 112d indicating surrounding facilities and the like are displayed on this map screen. The multi-directional input operation device 1 ′ performs a process of scrolling the map screen by tilting the stick unit 101 and superimposing a desired icon on the center cross 113 at the center of the display screen (hereinafter referred to as “pointing process”). "). As a result, the multidirectional input operation device 1 ′ selects the icons 112 a, 112 b, 112 c, and 112 d, and when the stick unit 101 is pushed in this state, the icon is determined.

  Here, the relationship between the tilting operation of the stick unit 101 and the screen scroll is similar to the first embodiment in that the screen is in the direction opposite to the tilting direction of the stick unit 101 at a speed proportional to the amount of displacement of the stick unit 101. Scroll.

  In the following, a method of scrolling the screen according to the operation of the stick unit 101 will be described. However, the multidirectional input operation device 1 ′ moves the cursor according to the operation of the stick unit 101, and moves it to a desired icon. Of course, the method of determining by superimposing the cursor can be similarly applied.

  As shown in FIG. 20, the multidirectional input operation device 1 ′ has a stick that generates torque in the lateral direction (X axis) of the stick unit 101 in addition to the stick unit 101 that is the operation end described above. X-axis drive unit 121X, stick Y-axis drive unit 121Y that generates torque in the vertical direction (Y-axis) of stick unit 101, and stick X-axis position detection unit 122X that detects the amount of displacement of stick unit 101 in the X-axis direction And a stick Y-axis position detection unit 122Y that detects the amount of displacement of the stick unit 101 in the Y-axis direction, and left and right operator detection that detects the presence of the operator's hand to identify the current operator's seating position The units 123L and 123R, the operation determination unit 124 that determines the operation selected by the stick unit 101, and the operation intended by the operator by estimating the operation intention of the operator. Comprises a stick control operation unit 125 for determining a schedule of operating reaction force pattern to over preparative, and a communication unit 126 that exchanges information with the operation and display processing operation unit 2.

  The stick X-axis drive unit 121X generates torque in the lateral direction (X-axis) of the stick unit 101 based on the torque control signal supplied from the stick control calculation unit 125, and drives the stick unit 101. The stick Y-axis drive unit 121 </ b> Y generates torque in the vertical direction (Y-axis) of the stick unit 101 based on the torque control signal supplied from the stick control calculation unit 125, and drives the stick unit 101.

  The stick X-axis position detection unit 122X detects the amount of displacement of the stick unit 101 in the X-axis direction, and supplies the detected position detection signal to the stick control calculation unit 125. The stick Y-axis position detection unit 122Y detects the amount of displacement of the stick unit 101 in the Y-axis direction, and supplies the detected position detection signal to the stick control calculation unit 125.

  The operator detection units 123L and 123R correspond to the above-described infrared sensors 102L and 102R, respectively, detect the presence of the operator's hand in order to identify the current operator's sitting position, and detect the detection. The signal is supplied to the stick control calculation unit 125.

  The operation determination unit 124 detects pressing of the stick unit 101 for determining the operation selected by the stick unit 101, and supplies the detected determination operation presence / absence signal to the stick control calculation unit 125.

  The stick control calculation unit 125 digitizes a position detection signal supplied from each of the stick X-axis position detection unit 122X and the stick Y-axis position detection unit 122Y to convert it into stick position information, and is also supplied from the operation determination unit 124. The decision operation presence / absence signal is digitized and converted into decision operation information. The stick control calculation unit 125 calculates the current pointing position based on the GUI state information and the stick position information input from the operation / display processing calculation unit 2, and communicates the pointing position information and the determination operation information. The data is output to the operation / display processing calculation unit 2 via the unit 126.

  Further, the stick control calculation unit 125 corresponds to the current operator based on the respective displacement amounts of the stick unit 101 in the X-axis direction and the Y-axis direction and the detection results by the operator detection units 123L and 123R. Estimate the operation intention (the icon you are trying to select). As will be described in detail later, the stick control calculation unit 125 determines an operation reaction force pattern schedule so as to support an operation intended by the operator based on the estimation result and the GUI state information. Then, the stick control calculation unit 125 calculates the generated torque amount in each of the X-axis direction and the Y-axis direction of the current stick unit 101 based on the determined operation reaction force pattern schedule and stick position information. Torque control signals indicating the amount of generated torque are supplied to the stick X-axis drive unit 121X and the stick Y-axis drive unit 121Y, respectively.

  The communication unit 126 outputs the pointing position information and the determination operation information supplied from the stick control calculation unit 125 to the operation / display processing calculation unit 2, and the GUI state information input from the operation / display processing calculation unit 2. This is supplied to the stick control calculation unit 125.

  It should be noted that the function sharing between the stick control calculation unit 125 and the operation / display processing calculation unit 2 is not necessarily as described above, and the operation reaction force pattern schedule assumed to be performed by the stick control calculation unit 125 is operated / The display processing calculation unit 2 determines the current operation reaction force pattern to the stick control calculation unit 125, and the stick control calculation unit 125 generates the current generated torque based on the current operation reaction force pattern and the stick position information. It is good also as a structure which calculates quantity. Further, the operation / display processing calculation unit 2 may be configured to calculate the current generated torque amount. In this case, as described above, the operation / display processing calculation unit 2 and the communication unit 15 may be used. It is necessary to perform communication performed between and at a very high speed.

  In the following, for convenience of explanation, as described above, the stick control calculation unit 125 estimates the operation intention of the operator, and determines the schedule of the operation reaction force pattern so as to support the operation intended by the operator. A description will be given assuming that the current generated torque amount is calculated.

"Specific configuration example of multi-directional input operation device 1 '"
As a specific configuration example of such a multidirectional input operation device 1 ′, there is the one shown in FIG.

  That is, the stick X-axis drive unit 121X and the stick Y-axis drive unit 121Y can be configured by using electric motors 131bX and 131bY connected to the stick unit 101 via shafts 131aX and 131aY, respectively. The shafts 131aX and 131aY are connected via the shafts 131aX and 131aY to the pedestal 101b that is connected to the operation end portion 101a of the stick portion 101 so that the stick portion 101 can be tilted independently between the X axis and the Y axis. Are mounted orthogonally. The stick X-axis drive unit 121X and the stick Y-axis drive unit 121Y rotate according to the driving force of the electric motors 131bX and 131bY, respectively, and give an operation reaction force.

  The stick X-axis position detection unit 122X and the stick Y-axis position detection unit 122Y are photo encoders 132X and 132Y that optically detect the tilt of the pedestal 101b in the stick unit 101 independently of the X axis and the Y axis. Can be used.

  Furthermore, the operator detection units 123L and 123R use infrared sensors 102L and 102R configured as combinations of infrared light emitting diodes 133aL and 133aR that are light emitting units and phototransistors 133bL and 133bR that are light receiving units, respectively. Can be configured. When these infrared sensors 102L and 102R are blocked by hand, the infrared light emitted from the infrared light emitting diodes 133aL and 133aR is received by the phototransistors 133bL and 133bR, respectively, and output as detection signals. To do.

  Furthermore, the operation determination unit 124 can be configured using a tact switch 134 that mechanically detects the pushing of the stick unit 101.

  In addition, the stick control calculation unit 125 is a control circuit 135 including an A / D conversion circuit, a D / A conversion circuit, a CPU, a ROM, a RAM, and the like, similar to the lever control calculation unit 14 shown as the first embodiment. Can be used.

  Further, the communication unit 126 may be configured by using a predetermined serial interface circuit 136 incorporated in the control circuit 135 that constitutes the stick control calculation unit 125, similarly to the communication unit 15 shown as the first embodiment. it can.

  In the configuration shown in FIG. 21, the multidirectional input operation device 1 ′ may be configured using other devices having the same function. In particular, the infrared sensors 102L and 102R do not necessarily have to be infrared light, and may be replaced with optical sensors in other wavelength bands as long as they are suitable for the usage environment. Further, when it is assumed that the operator's hand is in contact with the operation surface during the operation as in this embodiment, as described above, instead of the non-contact type optical sensor, it is based on the contact of the hand. It is also possible to use a capacitance sensor that detects a change in capacitance of the contact surface, or a pressure sensor using a resistance film or a pressure sensitive element.

[Estimation processing of operator intention and determination processing of operation reaction force pattern]
In the following, a process for estimating the operator's intention and a process for determining an operation reaction force pattern schedule that supports the operation intended by the operator in the stick control calculation unit 125 will be described.

[Operator intention estimation processing]
First, the process of estimating the operator's intention will be described.

  The basic principle of the estimation process of the operator's intention is the same as that shown in the first embodiment, and the joystick-type multi-directional input operation device 1 ′ having two operating directions can be operated. A proportional relationship is established between the initial displacement amount of the stick unit 101 immediately after the start and the scroll amount in the operation. Therefore, the stick control calculation unit 125 estimates the final scroll amount from the initial displacement amount of the stick unit 101 by the same processing as in the first embodiment.

  However, in the first embodiment, the operation target is a list-type menu as shown in FIG. 2, the operation direction is one-dimensional, and the cursor movement amount is discrete. . Therefore, in the first embodiment, since the final cursor movement amount can be considered as a group for each menu item, it is possible to apply discriminant analysis. However, in this embodiment, the operation target is an icon placed at an arbitrary position on the map as shown in FIG. 19, and the scroll amount is also continuously distributed. Although it can be applied as it is, the method of univariate discriminant analysis processing cannot be applied as it is. In the present embodiment, the processing in the first embodiment is also applied to the method of applying the single regression analysis process so as to conform to the two-dimensional and continuous scroll amount distribution that is the feature of the present embodiment. Will be different.

  In the single regression analysis process, the relationship between the initial displacement amount of the stick unit 101 and the final scroll amount at that time is a distribution on a straight line as shown in FIG. Accordingly, the stick control calculation unit 125 obtains a regression line by a single regression analysis process for the relationship between the initial displacement amount of the stick unit 101 and the scroll amount.

  Here, the initial displacement amount and scroll amount of the stick unit 101 are scalar amounts of speed and distance regardless of the operation direction. Since this regression line has different ways of operating the stick unit 101 depending on the individual, its inclination and intercept differ depending on the individual.

  Therefore, in the case of the multi-directional input operation device 1 ′ that can be operated from both the driver seat and the passenger seat as in this embodiment, the operator is identified and a regression line is obtained for each operator. It becomes important.

[Single Regression Analysis Procedure]
Next, a procedure of single regression analysis processing by the stick control calculation unit 125 will be described.

  In the single regression analysis process, each time the stick control calculation unit 125 detects the operation of the stick unit 101, the initial displacement amount (X) of the stick unit 101 and the final scroll amount (Y) in the operation are calculated. Thus, the operation history table having the format as shown in FIG. 23 is updated. This operation history table is composed of two types, one for the driver seat and one for the passenger seat. In the single regression analysis process, the operation history table corresponding to the current operator is updated by the stick control calculation unit 125. In the operation history table in the initial state, all columns are set to “0”.

When updating the operation history table, the stick control calculation unit 125 adds “1” to the value in the column of the first row (n) in the operation history table every time an operation of the stick unit 101 is detected. initial displacement amount of the stick 101 to the value of the column of the second row _{(Σ i X i) (X} ) by adding the adds ^{(X 2)} the value of the column of the third row (Σ _i X _i ²⁾ . Subsequently, the stick control calculation unit 125 adds the scroll amount (Y) to the value of the fourth row (Σ _i Y _i ) column in the operation history table, and the fifth row (Σ _i Y _i ² ) column. (Y ² ) is added to the value of. Finally, the stick control calculation unit 125 adds the initial displacement amount (X) of the stick unit 101 and the scroll amount (Y) to the value in the sixth row (Σ _i X _i Y _i ) of the operation history table. Add products.

  In the single regression analysis process, the stick control calculation unit 125 obtains the slope a and the intercept b of the regression line based on the operation history table that is sequentially updated each time an operation is detected as described above.

When calculating the regression line, the stick control calculation unit 125 performs the calculation shown in the above equation (8) to the following equation (12) from the values in the operation history table, and calculates the slope a and the intercept b of the regression line, It calculates | requires by calculating shown to following Formula (25) and following Formula (26). Furthermore, the stick control arithmetic unit 125 is obtained by the calculation shown the contribution ratio _{R 2} in the following equation (27). Note that the contribution rate R ₂ is, as described above, which represents the accuracy of the prediction by the regression line is to use the determination of the operation reaction force pattern change availability.

a = Sxy / Sxx (25)
b = <Y> -Sxy / Sxx <X> (26)
R2 = Sxy2 / Sxx / Syy (27)
When the stick control calculation unit 125 obtains the regression equation Y = aX + b, when the operation of the stick unit 101 is detected next time, the initial displacement amount (X) of the stick unit 101 is substituted into the regression equation to estimate the scroll amount. A value (Y) is obtained, and a position that is separated from the pointing position at the start of operation of the stick unit 101 by a distance (Y) in the map scroll direction corresponding to the operation direction of the stick unit 101 is set as a temporary pointing estimated position. . Then, the stick control calculation unit 125 estimates the icon with the minimum distance from the temporary pointing estimated position as the icon that the operator intends to point. In the example shown in FIG. 24, the stick control calculation unit 125 has a position separated from the pointing position 141 at the start of the operation of the stick unit 101 by a distance (Y) in the map scroll direction corresponding to the operation direction of the stick unit 101. The provisional pointing estimated position 142 is obtained. As a result, the stick control calculation unit 125 recognizes that the icon 143 having the minimum distance from the temporary estimated pointing position 142 is an icon intended by the operator for pointing.

  Thus, in the multidirectional input operation device 1 ′, the intention of the operator can be estimated by applying the single regression analysis process.

[Operation reaction pattern schedule decision processing]
Next, an operation reaction force pattern schedule determination process for supporting an operation intended by the operator will be described.

  When the operator performs a single regression analysis process and determines an icon intended for pointing, the stick control calculation unit 125 applies an operation reaction force so that the stick unit 101 can easily return to the neutral position when the icon position is pointed. Control.

  First, an operation reaction force as shown in FIG. 25 is preset in the stick control calculation unit 125 in the stick unit 101 as a basic operation reaction force pattern. In FIG. 25, the horizontal axis indicates the amount of displacement of the stick portion 101, and the vertical axis indicates the operation reaction force. As shown in FIG. 25, the basic operation reaction force pattern is set in a mortar shape with the neutral position of the stick portion 101 as the center.

  Therefore, the stick control calculation unit 125 controls the stick Y-axis drive unit 121Y and the stick X-axis drive unit 121X so that the operation reaction force increases as the displacement amount of the stick unit 101 increases. Thus, the multidirectional input operation device 1 ′ is configured such that the operator can recognize the scroll speed proportional to the amount of displacement of the stick unit 101 even with the operation reaction force of the stick unit 101. .

  In addition, when the operator releases his / her hand from the stick unit 101, the stick control calculation unit 125 returns the stick unit 101 to the neutral position according to the basic operation reaction force pattern and stops scrolling. Further, as in the first embodiment, the stick control calculation unit 125 controls the damping force as shown in FIG. 12 over the entire displacement amount as the basic operation reaction force pattern.

  When the icon intended to be pointed is determined based on the initial displacement amount of the stick unit 101, the stick control calculation unit 125 scrolls the map display, and when the estimated icon is pointed, the stick control calculation unit 125 changes the basic operation reaction force pattern. Based on this, the centering force is increased and the stick unit 101 is further vibrated. Specifically, in order to increase the centering force, the stick control calculation unit 125 increases the gradient of the operation reaction force with respect to the displacement amount as shown by the solid line in FIG.

  In addition, in order to vibrate the stick unit 101, the stick control calculation unit 125 performs the same operation as in the first embodiment from when the estimated icon is pointed to when the stick unit 101 returns to the neutral position. 14 is combined with the static operation reaction force previously shown in FIG. 12. At this time, the stick control calculation unit 125 also increases the damping force near the neutral position, as shown in FIG. In order to increase the damping force, the stick control calculation unit 125 increases the gradient of the basic damping force in the negative direction as shown in FIG. Control to generate a large operating reaction force.

  As described above, when the estimated icon is pointed, the stick control calculation unit 125 increases the centering force of the stick unit 101 so that the stick unit 101 can easily return to the neutral position when the estimated icon is pointed. As a result, the estimated icon is reliably pointed.

  At the same time, since the operator strongly holds the operation end, the stick control calculation unit 125 increases the operation force of the operator even if the centering force is increased, and the operation end does not return to the neutral position. Even in such a case, the gripping force of the operation end can be weakened by the vibration of the operation end by vibrating the stick unit 101, and the operation force of the operator can be weakened. This makes it easier for the operating end to return to the neutral position. In addition, in the vibration, the operation reaction force change shown in FIG. 14 is synthesized in the circumferential direction of the stick portion 101 orthogonal to the operation force of the operator.

[Processing content of stick control calculation unit]
Next, a processing procedure by the stick control calculation unit 125 will be described with reference to a flowchart shown in FIG.

When the stick control calculation unit 125 detects the operation of the stick unit 101, first, the stick control calculation unit 125 identifies the operator. Specifically, the stick control calculation unit 125, in step S21, of the left and right of the infrared sensor ₁₀₂ L, 102 _R as arranged operator detection unit ₁₂₃ L, 123 _R on the left and right of the stick 101, the right operator by an infrared sensor 102 _R determines whether the sensed.

Here, the stick control calculation unit 125, if the operator is determined to have been detected by the infrared sensor 102 _R, in step S22, the left and right infrared sensor ₁₀₂ L, 102 of _R, by the left of the infrared sensor 102 _L It is determined whether an operator has been detected.

Stick control calculation unit 125, if the operator by an infrared sensor 102 _L is determined to have not been detected, i.e., when the situation in which the operator is detected only by the right of the infrared sensor 102 _R is the operator's hand Is estimated to extend from the right side, and in step S23, it is determined that the current operator's seating position is the right seat.

On the other hand, if the stick control calculation unit 125, if the operator by an infrared sensor 102 _L is determined to have been detected, i.e., a situation where the operator is detected by the infrared sensor 102 _L, 102 _R of the left and right both sides, In step S24, it is determined that the current operator's seating position is the driver's seat. That is, the stick control calculation unit 125 determines that the current operator's seating position is the right seat in the case of a right-hand drive vehicle and the left seat in the case of a left-hand drive vehicle.

Also, the stick control calculation unit 125, if the operator by an infrared sensor 102 _R is determined to have not been detected at step S21, in step S25, the infrared sensor ₁₀₂ of the right and left L, 102 of _R, the left infrared operator by the sensor 102 _L determines whether or not detected.

Here, the stick control calculation unit 125, if the operator by an infrared sensor 102 _L is determined to have been detected, i.e., when the situation in which the operator is detected only by the left infrared sensor 102 of the _L, the operator The hand is estimated to extend from the left side, and it is determined in step S26 that the current operator's seating position is the left seat.

On the other hand, the stick control calculation unit 125, if the operator by an infrared sensor 102L is determined to have not been detected, i.e., when the operator by an infrared sensor 102 _L, 102 _R of the right and left both the situation that was not detected In step S27, it is determined that the current operator's seating position is the driver's seat. That is, the stick control calculation unit 125 determines that the current operator's seating position is the right seat in the case of a right-hand drive vehicle and the left seat in the case of a left-hand drive vehicle.

Here, if the operator by an infrared sensor 102 _L, 102 _R of the right and left both is detected, or when both left and right infrared sensor 102 of the _L, 102 operator by _R is not detected, at the same time from the left and right seats The situation where the driver is operating or when the operator is reaching out from an unexpected direction may be considered, but in any case, in the vehicle, the driver's operation has priority. It is reasonable to judge.

As described above, the stick control calculation unit 125 can identify the operator by using the left and right infrared sensors 102 _L and 102 _R. When the stick control calculation unit 125 determines the current operator's seating position, the stick control calculation unit 125 estimates the operator's operation intention by performing the series of processes shown in FIG. An operation reaction force pattern schedule that supports an operation intended by the person is determined, and the current generated torque amount is calculated based on the operation reaction force pattern schedule and lever position information.

[Effects of Second Embodiment]
As described above in detail, according to the multidirectional input operation device 1 ′ according to the second embodiment, the amount of displacement in the X axis direction and the Y axis direction of the stick unit 101 is detected during the icon selection operation, Since the operation intention of the operator is estimated based on the initial displacement amount of the stick unit 101 immediately after the operation is started, and the operation reaction force is changed according to the operation intended by the estimated operator, the same as in the first embodiment. Further, the operation reaction force can be adjusted to support the operation intended by the operator.

  Therefore, according to the multidirectional input operation device 1 ′, the operation intended by the operator can be surely performed. Further, according to the multi-directional input operation device 1 ′, since the operation reaction force is sequentially adjusted, it is possible to always support according to the operation intended by the operator, and to ensure good operability. Can do.

Further, according to the multi-directional input operation device 1 ', an infrared sensor ₁₀₂ L, 102 _R to identify the seating position of the current operator, the operator of the seating position identified by these infrared sensors ₁₀₂ L, 102 _R Every time the stick control calculation unit 125 estimates the operation intention, even if there is a possibility that a plurality of operators may use it, such as when installed in the center cluster of the vehicle, individual differences regarding the operation In response to the above, high-precision intention estimation can be performed for each operator.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a perspective view showing the appearance composition of the lever type multi-directional input operation device concerning a 1st embodiment to which the present invention is applied. It is a figure which shows the example of a display screen of the selection menu list | wrist as an operation target of the lever type multi-directional input operation device which concerns on 1st Embodiment to which this invention is applied, Comprising: (a) is a display screen example of the 1st page. (B) is a figure which shows the example of a display screen of the 2nd page. It is a block diagram which shows the functional structure of the lever type multidirectional input operating device which concerns on 1st Embodiment to which this invention is applied. It is a block diagram which shows the specific structural example of the lever-type multidirectional input operation apparatus which concerns on 1st Embodiment to which this invention is applied. It is a figure for demonstrating the outline | summary of the theory regarding the operation time in the pointing operation represented as Fitz's law. It is a figure which shows the image of the estimation process of the operator intention which applied the single regression analysis in 1st Embodiment of this invention, Comprising: The relationship between the initial displacement amount of a lever part and the final cursor movement amount at that time is plotted FIG. It is a figure which shows the structure of the operation history table used for the single regression analysis in 1st Embodiment of this invention. It is a figure which shows the image of the estimation process of the operator intention which applied the discriminant analysis in 1st Embodiment of this invention, Comprising: The relationship between the initial displacement amount of a lever part and the final cursor movement amount at that time was plotted FIG. It is the figure which expressed the occurrence frequency of the initial displacement amount of the lever part in each group when the final cursor movement amount was regarded as a group by probability distribution. It is a figure which shows the structure of the operation history table used for the discriminant analysis in 1st Embodiment of this invention. It is a figure which shows the structure of the analysis result table holding the result of discriminant analysis in 1st Embodiment of this invention, Comprising: (a) is prepared corresponding to the case where the operation direction of a lever part is a negative direction. It is a figure which shows the structure of an analysis result table, (b) is a figure which shows the structure of the analysis result table prepared corresponding to the case where the operation direction of a lever part is a positive direction. It is a figure which shows the basic operation reaction force pattern with respect to the displacement amount of a lever part. It is a figure which shows the basic operation reaction force pattern regarding a damping force. It is a figure for demonstrating the change process of the operation reaction force pattern which makes it easy to return a lever part to a neutral position. It is a figure which shows the time operation reaction force change for lever part vibration. It is a figure for demonstrating the increase process of a damping force. It is a flowchart which shows a series of processing procedures in the lever control calculating part of the lever type multi-directional input operation device according to the first embodiment to which the present invention is applied. It is a perspective view which shows the external appearance structure of the joystick type | mold multidirectional input operation apparatus which concerns on 2nd Embodiment to which this invention is applied. It is a figure for demonstrating arrangement | positioning of the operator detection part of the joystick type | mold multidirectional input operation apparatus which concerns on 2nd Embodiment to which this invention is applied, and the approach angle of an operator's hand. It is a figure which shows the example of a display screen of the icon on the map as an operation target of the joystick type | mold multidirectional input operation apparatus which concerns on 2nd Embodiment to which this invention is applied. It is a block diagram which shows the functional structure of the joystick type | mold multidirectional input operation apparatus which concerns on 2nd Embodiment to which this invention is applied. It is a block diagram which shows the specific structural example of the joystick type | mold multi-directional input operation apparatus which concerns on 2nd Embodiment to which this invention is applied. It is a figure which shows the image of the estimation process of the operator intention which applied the single regression analysis in 2nd Embodiment of this invention, Comprising: The relationship between the initial displacement amount of a lever part and the final scroll amount at that time was plotted FIG. It is a figure which shows the structure of the operation history table used for the single regression analysis in 2nd Embodiment of this invention. It is a figure which shows the example of the display screen of the icon on the map as an operation target of the joystick type | mold multi-directional input operation apparatus which concerns on 2nd Embodiment to which this invention is applied, Comprising: The estimation process of the icon which intends pointing is demonstrated. FIG. It is a figure which shows the basic operation reaction force pattern with respect to the displacement amount of a stick part. It is a figure for demonstrating the change process of the operation reaction force pattern which makes a stick part return to a neutral position easily. It is a flowchart which shows a series of processing procedures at the time of identifying an operator in the stick control calculating part of the joystick type | mold multidirectional input operation device which concerns on 2nd Embodiment to which this invention is applied.

Explanation of symbols

1, 1 'Multi-directional input operation device 11 Lever part 11a, 101a Operation end part 11b, 101b Pedestal 12 Lever drive part 13 Lever position detection part 14 Lever control calculation part 15, 126 Communication part 31 Operation / display processing calculation part 32 Information Processing operation unit 33 Display unit 41a, 132X, 132Y Photo encoder 41b, 134 Tact switch 42, 135 Control circuit 43a, 131aX, 131aY Shaft 43b, 131bX, 131bY Electric motor 44, 136 Serial interface circuit 101 Stick unit 102L, 102R Infrared sensor 103 Center line 111 Vehicle position 112a, 112b, 112c, 112d, 143 Icon 113 Center cross 121X Stick X-axis drive unit 121Y Stick Y-axis drive unit 1 2X stick X axis position detector 122Y stick Y-axis position detecting section 123 _L, 123 _R operator detection unit 124 operation determining unit 125 stick control calculation unit 133aL, 133aR IRED 133bL, 133bR phototransistor 141 pointing position 142 provisionally Estimated pointing position CR cursor HD hand TG target

Claims (9)

In the multidirectional input operation device that detects the amount of displacement from the neutral position of the operation end and makes an operation input, and dynamically controls the operation reaction force applied to the operation end,
A displacement amount detecting means for detecting a displacement amount of the operation end;
Operation intention estimation means for estimating the operator's operation intention based on the displacement amount immediately after the operation start of the operation end detected by the displacement amount detection means;
A multidirectional input operation device comprising: an operation reaction force changing unit that changes an operation reaction force according to an operation intended by the operator estimated by the operation intention estimation unit. The operation intention estimation unit is configured to select a position of a selection target on the display screen that the operator intends to select based on a displacement amount from a neutral position immediately after the operation start of the operation end detected by the displacement amount detection unit. Estimate
2. The multidirectional input operation device according to claim 1, wherein the operation reaction force changing unit changes an operation reaction force at which the operation end returns to a neutral position when the selection target is instructed. 3. The operation intention estimation means estimates that the operator is trying to select a selection target outside the display screen range based on a displacement amount from a neutral position immediately after the operation start of the operation end,
The operation reaction force changing means changes an operation reaction force at which the operation end returns to the neutral position when a predetermined selection target after switching the display screen is instructed. Multi-directional input operation device. 4. The multidirectional input operation according to claim 2, wherein the operation reaction force changing unit increases an operation reaction force at which the operation end returns to a neutral position when the selection target is instructed. 5. apparatus. The multi-directional input operation device according to any one of claims 2 to 4, wherein the operation reaction force changing unit vibrates the operation end when the selection target is instructed. The operation reaction force changing means determines the end of the operation based on a displacement amount from the neutral position of the operation end, and resets a change schedule that is a time-series change of the operation reaction force. The multidirectional input operation device according to any one of claims 1 to 5. The operation intention estimation unit includes an operation history recording unit that records a displacement amount from the neutral position immediately after the operation start of the operation end and an operation result, and a displacement amount from the neutral position immediately after the operation end of the operation end is started. The multi-directional input operation device according to claim 1, wherein the operation intention is estimated based on a distribution of the operation results. Comprising operator identification means for identifying the current operator's seating position;
The multi-directional input operation device according to claim 7, wherein the operation intention estimation unit estimates the operation intention for each operator at the sitting position identified by the operator identification unit. The multi-directional input according to claim 7, wherein the operation intention estimation unit estimates a position of a selection target on a display screen that the operator intends to select by performing regression analysis processing or discriminant analysis processing. Operating device.

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