JP2005313794A - Driver feeling guidance device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To guide a rhythm movement to a driver in a way that has little influence on driving operation. <P>SOLUTION: A driver feeling guidance device controls the feelings of the driver by promoting secretion of a feeling control material within the brain of the driver by guiding the rhythm movement to the driver. The degree of impact on the driving operation in the event that the driver performs a reciprocating motion by using a movable foot rest device or a movable movement means is calculated. Then either the movable foot rest device or the movable movement means is controlled based on the calculated degree of impact. Thus the rhythm movement is guided to the driver. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention promotes the secretion of emotion control substances in the driver's brain by inducing rhythmic movements to the driver, thereby controlling the driver's emotions, and the driver's anger that adversely affects safe driving The present invention relates to a driver emotion induction device for suppressing arousal and excitement.

  Patent Document 1 discloses a movable footrest device as a vehicular exercise device that can move a part of the body in order to recover a driver's fatigue that adversely affects safe driving.

JP-A-5-124467

  However, in the conventional movable footrest device, a driver who is not proficient in the exercise of the left foot is also moved by the exercise of the left foot, so the exercise with the right foot may affect the driving operation. .

  The driver emotion induction device according to claim 1, wherein the driver's emotion is controlled by inducing a rhythm movement to the driver to promote secretion of an emotion control substance in the driver's brain. In the emotion guidance device, a movable footrest device that reciprocates by repeatedly stepping and releasing by the driver, a steering movable device that reciprocates a driver's finger that is provided on the steering wheel and grips the steering wheel, and the host vehicle The driving environment detecting means for detecting the driving state of the vehicle and the road condition during driving (hereinafter referred to as “traveling environment”), and the driving environment detected by the driving environment detecting means, the driver uses a movable footrest device. The first influence on the driving operation when the reciprocating motion is performed and the steering movable device is used. An influence degree calculating means for calculating a second influence degree given to the driving operation when the reciprocating motion is performed, and a movable footrest device based on the first and second influence degrees calculated by the influence degree calculating means. And a rhythmic motion inducing means for inducing a reciprocating motion to the driver by controlling any one of the steering movable device.

  According to the present invention, based on the degree of influence of the rhythm movement on the driving operation, the rhythm movement is induced using either the movable footrest device or the steering movable device. As a result, it is possible to guide the rhythm movement to the driver by a method that has little influence on the driving operation.

  The driver emotion guidance device according to the present embodiment includes a movable footrest device that allows the driver to perform regular rhythmic movements with the left foot, and a steering movable device that is mounted on the steering wheel to perform regular rhythmic movements with fingers. Any one of the movable footrest device and the steering movable device is periodically vibrated to induce a rhythm movement for the driver. In addition, when a driver | operator performs regular rhythm exercise | movement, the driver's anger and excitement which have a bad influence on safe driving | operation can be suppressed as demonstrated below.

  Serotonin is considered to be effective as one of the neurotransmitters that suppress driver anger and excitement. It has been reported in medical papers that serotonin increases its secretion in the brain when regular rhythmic movement is continued for about 15 to 20 minutes. The rhythmic exercise is said to be more effective as the level of consciousness for exercise is higher. Therefore, in the present embodiment, the driver increases the amount of serotonin secretion by performing a regular rhythmic exercise using the movable footrest device and the steering movable device, thereby suppressing anger and excitement.

  FIG. 1 is a block diagram showing the configuration of an embodiment of a vehicle equipped with a driver emotion guidance device according to the present invention. The vehicle includes a driver emotion guidance device 100, a vehicle speed sensor 201 that detects the vehicle speed of the host vehicle, a CCD camera 202 that detects an obstacle in front of the host vehicle, and an inter-vehicle distance between the host vehicle and a preceding vehicle. And a laser radar 203 that detects the relative speed of the preceding vehicle with respect to the host vehicle, a navigation system 204 that detects the current position of the host vehicle and the road conditions during travel, and a certain inter-vehicle distance according to the speed of the preceding vehicle. An automatic inter-vehicle control system (ACC) 205 that controls the vehicle to travel while maintaining, a brake sensor 206 that detects the depression force of the brake pedal, and an accelerator sensor 207 that detects the operation amount of the accelerator pedal are provided.

  The driver emotion guidance device 100 includes a movable footrest device 101, a steering movable device 102, and a control device 103. As shown in FIG. 2, the movable footrest device 101 includes a footrest pedal 2a that returns to an initial position by a spring 2d, a motor 2b, and a crank mechanism 2c that converts the rotational motion of the motor 2b into a reciprocating motion. In the movable footrest device 101, the driver can reciprocate by putting his / her foot on the footrest pedal 2a without using the driving force of the motor 2b. That is, the footrest pedal 2a that the driver has depressed returns to the original position using the repulsive force of the spring 2d. As a result, the driver can continue to reciprocate. One reciprocating motion that is released after the driver depresses the footrest pedal 2a is defined as one cycle of the motion cycle.

  As shown in FIG. 3, the steering movable device 102 includes a movable portion 102 a provided at a position where the driver holds the steering. The movable portion 102a is configured to be gripped by the driver, that is, to be recessed by applying a force, and to be restored by a reaction force of a spring (not shown) by weakening the force. For this reason, the driver | operator can perform the reciprocating motion of the movable part 102a by his intention. In addition, the movable portion 102a of the steering movable device 102 can be reciprocated by a motor (not shown), and the driver can only regularly grip the movable portion 102a to induce a regular finger rhythmic movement by the driving force of the motor. You can also. In addition, one reciprocating movement that the driver releases after grasping the movable portion 102a of the steering movable device 102 is one cycle of the movement cycle.

  The control device 103 includes peripheral components such as a CPU 103a and a memory 103b, and controls the movable footrest device 101 and the steering movable device 102. The memory 103b includes a vehicle speed sensor 201, a CCD camera 202, a laser radar 203, a navigation system 204, an inter-vehicle control device (ACC) 205, a brake sensor 206, and an accelerator sensor 207 (hereinafter referred to as a “traveling environment detection device group”). ) Is stored at a predetermined sampling interval, for example, every second.

  The CPU 103a detects the current traveling state and road condition (traveling environment) of the host vehicle based on the output from the traveling environment detection device group, and further determines the traveling environment from the present to a predetermined time T (seconds) described later. Predict. Then, in the detected actual traveling environment and the predicted predicted traveling environment, it is determined which of the movable footrest device 101 and the steering movable device 102 is suitable for guiding the rhythmic motion. The criterion is that the driving operation is affected when the rhythm movement is induced, and a device with less influence is selected. Then, a device selected from among the movable footrest device 101 and the steering movable device 102 (hereinafter referred to as “motion induction device”) is controlled to induce a rhythm movement with a regular rhythm to the driver. . That is, the motor 2b of the movable footrest device 101 is controlled to forcibly cause the driver's foot to rhythmically move, or the motor (not shown) of the steering movable device 102 is controlled to forcibly rhythm the driver's finger. Exercise.

  In general, when a rhythmic exercise is performed using the movable footrest device 101 during a driving operation, if the rhythmic exercise is performed with the left foot, the right foot that operates the accelerator or the brake moves according to the movement, and the driving operation is affected. Sometimes. Further, when a rhythm movement is performed using the steering movable device 102 during a driving operation, the finger that holds the steering wheel is moved during the rhythm movement, which may affect the steering operation.

  Therefore, in the current travel environment (actual travel environment) detected by the travel environment detection device group, the degree of influence on the driving operation when using each motion guidance device is ranked according to the conditions shown in FIG. Then, based on the ranking result, the rhythm exercise is performed using the exercise guidance device having the less influence on the driving operation under the current driving environment. Furthermore, the driving environment of the host vehicle is predicted based on road information and obstacle information in a range where the host vehicle reaches within a predetermined time T (seconds) detected by the driving environment detection device group. Rank the driving environment. As a result, when a change in the driving environment is predicted within the predetermined time T seconds, it is possible to determine a motion induction device to be used in consideration of the changed driving environment.

  FIG. 4 is a diagram showing the ranking results for each driving environment, where the horizontal axis shows the road conditions that affect the steering operation, and the vertical axis shows the driving conditions that affect the accelerator and brake operations. And the result of ranking for each driving environment determined by the combination of the road condition on the vertical axis and the driving state on the horizontal axis is shown. Note that the rankings are ranked in order of increasing influence: “◎: No effect on operation”, “○: Almost no effect on operation”, “△: Some effect on operation”, “×: Operation is affected” 4 stages. In addition, the ranking result is “rank of influence on driving operation when rhythm exercise is performed using movable footrest device 101 / influence degree on driving operation when rhythm exercise is performed using steering movable device 102. "Rank of".

4 is detected and predicted as follows by the above-described traveling environment detection device group.
(1) During ACC control Whether the traveling state of the host vehicle is under ACC control is determined based on the output from the inter-vehicle automatic control system 205. Further, when the ACC control is currently being performed, it is predicted that the ACC control is continuously performed even after a predetermined time T seconds.
(2) Stopping It is determined based on the output from the vehicle speed sensor 201 whether or not the traveling state of the host vehicle is stopping. That is, when the detected vehicle speed is zero or less than a predetermined value, it is determined that the host vehicle is stopped. Further, when the vehicle is currently stopped, it is predicted that the vehicle is continuously stopped after a predetermined time T seconds. When the vehicle is currently traveling, when a preceding vehicle that is stopped forward is detected by the laser radar 203, the vehicle speed is determined based on the inter-vehicle distance to the preceding vehicle and the vehicle speed of the host vehicle detected by the vehicle speed sensor 201. The time until the vehicle reaches the preceding vehicle is calculated, and the host vehicle is predicted to stop after the lapse of the time. In addition, when it is determined that the vehicle will reach an intersection requiring a temporary stop within a predetermined time T seconds based on the output from the navigation system 204, the vehicle is predicted to stop at the expected arrival time.

(3) Inter-vehicle distance The inter-vehicle distance between the current host vehicle and the preceding vehicle is detected based on the output from the laser radar 203 as described above, and it is determined whether the distance is large, medium, or small. For example, it is determined that the inter-vehicle distance of 100 m or more is large, the inter-vehicle distance of 50 m or more and less than 100 m is medium, and the inter-vehicle distance of less than 50 m is small. The predicted inter-vehicle distance is predicted based on the current inter-vehicle distance detected by the laser radar 203 and the relative speed of the preceding vehicle with respect to the host vehicle.
(4) Immediately before stopping When the vehicle speed of the host vehicle detected by the vehicle speed sensor 201 is less than a predetermined value and the driver determines that the brake is being operated based on the output from the brake sensor 206, the traveling of the host vehicle is performed. The state is determined to be immediately before stopping. That is, when the host vehicle is traveling slowly, for example, less than 20 km / h, and the brake is depressed, the driver determines that the host vehicle is about to stop because it has an intention to stop the host vehicle. Further, in this case, by calculating the acceleration from the current vehicle speed and the previous vehicle-side history stored in the memory 103b and calculating the time point at which the host vehicle stops based on the acceleration, the host vehicle until that time is calculated. Is predicted to be in the state just before stopping. In addition, when the stop described above in (2) is predicted, the time point at which the vehicle speed of the host vehicle is less than a predetermined value, for example, less than 20 km / h, is calculated based on the vehicle speed of the host vehicle and the distance to stop. The time period from the time point until the host vehicle stops is predicted to be in the state immediately before stopping.

(5) Starting time When the vehicle speed of the host vehicle detected by the vehicle speed sensor 201 is less than a predetermined value, for example, 20 km / h, and the driver determines that the accelerator is being operated based on the output from the accelerator sensor 207 The traveling state of the host vehicle is determined to be when starting. Also, in this case, by calculating the acceleration from the current vehicle speed and the previous vehicle-side history stored in the memory 103b, and calculating the time point when the vehicle speed of the host vehicle is 20 km / h or more based on the acceleration, Until that time, the vehicle is predicted to be in a starting state.
(6) Sudden braking Based on the output from the brake sensor 206, it is determined whether the driver is depressing the brake pedal with a depressing force greater than a predetermined value based on the output from the brake sensor 206. To do. Also, sudden braking is required within a predetermined time T seconds based on the current vehicle speed of the host vehicle, the distance to the obstacle detected by the CCD camera 202, and the distance to the preceding vehicle detected by the laser radar 203. Predict whether or not

(7) Road condition The road condition is determined and predicted based on the map information held by the navigation system 204. That is, the current road condition is determined based on the width of the road at the current position of the host vehicle, the road shape such as a straight line or a curve, and intersection information. In addition, map information in a predetermined range is read with respect to the traveling direction of the host vehicle, and prediction is made based on the width of the road on the planned traveling path of the host vehicle, the road shape such as a straight line or a curve, and intersection information.

  Next, the ranking results in FIG. 4 will be described. In general, when the host vehicle is suddenly braking, an emergency operation is necessary to avoid a collision, so the driver cannot afford to perform a rhythm exercise. In addition, when the host vehicle is driving a sharp curve on a narrow road, for example, a road with a width of less than 10 m and a radius of less than 200 m, and driving in an intersection, the driver can use an accelerator to adjust the vehicle speed, Busy for brake operation. Further, during such a sharp turn on a narrow road and within an intersection, the driver needs to change the steering wheel to rotate the steering wheel greatly, and is busy with driving operation.

  Therefore, in a driving environment where there is no room for such a driver to perform a rhythm exercise, the driver can perform a driving operation regardless of the rhythm exercise using either the movable footrest device 101 or the steering movable device 102. Will have an impact. Therefore, both the rank of the influence degree on the driving operation when the rhythm movement is performed using the movable footrest device 101 and the rank of the influence degree on the driving operation when the rhythm exercise is performed using the steering movable device 102 are both “ The result of ranking is “× / ×”.

  The rank of the degree of influence on the driving operation when the movable footrest device 101 is used in a travel environment other than the above will be described. When the host vehicle is under ACC control, is stopped, and the inter-vehicle distance from the preceding vehicle is large, the driver can continue driving with little accelerator and brake operation. Therefore, in this case, since the rhythm movement using the movable footrest device 101 does not affect the accelerator and brake operations, the rank of the degree of influence on the driving operation when the movable footrest device 101 is used. Becomes “◎”.

  When the inter-vehicle distance from the preceding vehicle is medium, the accelerator and the brake operation may be required depending on the future movement of the preceding vehicle. Accordingly, since the degree of influence on the accelerator and brake operations is slightly increased as compared with the case where the inter-vehicle distance is large, the rank of the degree of influence on the driving operation when the movable footrest device 101 is used is “◯”. When the inter-vehicle distance from the preceding vehicle is small, it is necessary to adjust the speed in accordance with the speed change of the preceding vehicle, and frequent accelerator and brake operations are required. Therefore, since the rhythm movement using the movable footrest device 101 has some influence on the accelerator and brake operations, the rank of the degree of influence on the driving operation at this time is “Δ”. Further, since the vehicle is required to be delicately operated immediately before stopping or when starting, the rank of the degree of influence on the driving operation when the movable footrest device 101 is used is similarly “Δ”. .

  Next, the rank of the degree of influence on the driving operation when the steering movable device 102 is used in each traveling environment will be described. While the host vehicle is traveling on a wide straight road, for example, a straight road with a width of 10 m or more, the driver can continue driving while holding the steering movable device 102 with little steering operation. Therefore, in this case, even if the rhythm movement is performed using the steering movable device 102, the steering operation is not affected. Therefore, the rank of the degree of influence on the driving operation when the steering movable device 102 is used is as follows. “◎”.

  When the host vehicle is traveling on a gentle road on a wide road, for example, a curve having a radius of 200 m or more, the driver needs to slightly rotate the steering wheel. Increase. Therefore, the rank of the degree of influence on the driving operation when using the steering movable device 102 at this time is “◯”.

  When the host vehicle is driving on a sharp curve on a wide road, for example, a curve having a radius of less than 200 m, the degree of influence on the steering operation is further increased than when the vehicle is traveling on a gentle curve on the wide road described above. However, since the road is wide, it is not necessary to change the steering, unlike during the sharp curve on the narrow road described above, and the operation can be continued while the steering movable device 102 is held. Accordingly, the rank of the degree of influence on the driving operation when the steering movable device 102 is used is “Δ”. Further, when the host vehicle is traveling on a narrow road, such as an alley, the driver needs to drive while paying attention to the steering operation, so that the influence on the steering operation increases. Accordingly, the rank of the degree of influence on the driving operation when the steering movable device 102 is used is “Δ”.

  The ranking result shown in FIG. 4 is a combination of the rank of the degree of influence on the driving operation when the movable footrest device 101 is used and the rank of the degree of influence on the driving operation when the steering movable device 102 is used. Is obtained. The ranking results are classified into five zones A, B, C, D, and E as described below.

(1) Zone A Zone A is a zone in which there is almost no influence on driving operation even if a rhythm movement is performed using any of the movable footrest device 101 and the steering movable device 102, that is, the ranking result is “ It is a zone that becomes ◎ / ◎, ◎ / ○, ○ / ◎, and ○ / ○. The A zone is further divided into four as follows.

(1-1) A-1 Zone The A-1 zone is a zone that does not affect the driving operation regardless of which device performs the rhythm movement, that is, a zone where the ranking result is “「 / ◎ ”.
(1-2) A-2 Zone In the A-2 zone, when the rhythm movement is performed using the movable footrest device 101, the driving operation is not affected, and the rhythm exercise is performed using the steering movable device 102. If performed, the zone has little influence on the driving operation, that is, the zone where the ranking result is “◎ /／”.

(1-3) A-3 Zone The A-3 zone has no effect on driving operation when the rhythm movement is performed using the steering movable device 102, and the rhythm exercise is performed using the movable footrest device 101. If performed, the zone has little influence on the driving operation, that is, the zone where the ranking result is “◯ /」 ”.
(1-4) A-4 zone The A-4 zone is a zone that has almost no influence on the driving operation regardless of which device is used to perform the rhythm movement, that is, a zone where the ranking result is “O / O”. It is.

(2) Zone B Zone B is a zone that has a smaller influence on driving operations when performing a rhythmic motion using movable footrest device 101 than when performing a rhythmic motion using steering movable device 102, that is, rank. This is a zone in which the attachment results are “◎ / Δ” and “◯ / Δ”.
(3) C zone The C zone is a zone having a smaller influence on the driving operation when performing the rhythm exercise using the steering movable device 102 than when performing the rhythm exercise using the movable footrest device 101, that is, rank. This is a zone in which the attachment results are “Δ /」 ”and“ Δ / 」”.

(4) D zone The D zone has some influence on the driving operation in both cases, whether the rhythm movement is performed using the movable footrest device 101 or the rhythm exercise using the steering movable device 102. The given zone, that is, the ranking result is “Δ / Δ”.
(5) E zone The E zone is a zone that affects the driving operation in either case of performing a rhythm exercise using the movable footrest device 101 or performing a rhythm exercise using the steering movable device 102. That is, it is a zone where the ranking result is “× / ×”.

  The above-described ranking is performed in time series with respect to the current traveling environment and the traveling environment predicted from the present until a predetermined time T (seconds) has elapsed. In each traveling environment, the rhythmic motion is induced using the device having the higher priority among the movable footrest device 101 and the steering movable device 102, that is, the device having the smaller influence on the driving operation. Regardless of which device is used to perform the rhythmic movement, such as “◎ / ◎” in the A-1 zone, “◯ / ○” in the A-4 zone, and “Δ / Δ” in the D zone, When the degree of influence on the driving operation is the same, priority is given to the rhythm exercise using the movable footrest device 101.

  After starting a rhythm exercise using any of the exercise induction devices, the rhythm exercise by the exercise induction device is continued for a minimum duration Tmin (seconds). Note that the minimum duration Tmin is calculated by the motion cycle guided to the driver × 5. For example, when the motion cycle guided to the driver is 0.5 (seconds), 0.5 × 5 = 2.5 ( Seconds). In addition, To (seconds) corresponding to three periods of the movement period as a preparation time necessary for starting the rhythm movement using each movement induction apparatus and switching the rhythm movement from one of the movement induction apparatuses to the other, For example, 0.5 × 3 = 1.5 (seconds) is set. When switching the exercise induction device for performing the rhythmic exercise from one to the other, both the exercise induction devices are operated during the preparation time To to make the driver aware of the switching.

  From the above, when a rhythmic exercise is performed using the exercise induction device, a minimum duration Tmin + preparation time To (hereinafter referred to as “minimum required time”), for example, 2.5 + 1.5 = 4 (seconds) Necessary. Therefore, the CPU 103a controls the rhythm movement so that the rhythm movement by each movement induction device continues for the minimum necessary time or more.

The predetermined time T described above is set by the following equation (1) based on Tmin and To.
T (seconds) ≧ To + Tmin × 2 (1)
In the present embodiment, since T ≧ 1.5 + 2.5 × 2 = 7.5 (seconds) according to the above-described example, T = 10 (seconds) is set, and the traveling environment from the present to 10 seconds later And the device used for the rhythm exercise is switched based on the ranking result based on the driving environment.

  FIG. 5 shows a change in the predicted value of the travel environment from the present to a predetermined time T = 10 (seconds) later, a ranking result based on the travel environment, and a device used for rhythm exercise based on the ranking result It is the figure which showed the specific example of switching. In FIG. 5 (a), the host vehicle is currently traveling on a wide straight road, and the distance between the vehicle and the preceding vehicle is in a traveling environment. Then, it is predicted that the inter-vehicle distance from the preceding vehicle will change in 6 seconds later, and it is predicted that the intersection will be reached in 10 seconds.

  In this case, the ranking result for 6 seconds from the present time is “◎ / ◎”, and the high-priority motion induction device is the movable footrest device 101. In addition, since the state in which the priority of the movable footrest device 101 is high lasts longer than the minimum required time, the rhythm movement by the movable footrest device 101 is started. For the subsequent 4 seconds up to 10 seconds, the ranking result is “◯ / ◎”, and the priority of the steering movable device 102 is high. Further, since the condition of duration ≧ minimum required time is also satisfied, the rhythm movement by the steering movable device 102 can be switched. Since the ranking result after 10 seconds is “× / ×”, the rhythm movement is interrupted.

  In FIG. 5B, the host vehicle is currently traveling on a wide straight road and is in a traveling environment with a large inter-vehicle distance from the preceding vehicle. Then, it is predicted that the inter-vehicle distance from the preceding vehicle becomes medium after 2 seconds, the inter-vehicle distance returns to a large value after 7 seconds, and the intersection is reached after 10 seconds. In the predicted running environment that changes in this way, the first two seconds are shorter than the minimum required time, and therefore, the rhythm movement by the movable footrest device 101 having a high priority is not performed. In this way, when the state of high priority of a specific motion guidance device does not continue for the minimum required time or longer in the driving environment at the start of the rhythmic exercise, the motion guidance device with the higher priority in the next driving environment continues for the minimum required time Judge whether to do. And if the said exercise | movement induction device continues more than the minimum required time, the rhythm exercise | movement using this exercise | movement induction device will be performed from the time of a rhythm exercise | movement start.

  In this case, in the next traveling environment, the steering movable device 102 continues to have a high priority for 5 seconds from 2 seconds to 7 seconds, and satisfies the condition of the minimum required time or more. Therefore, the rhythm movement by the steering movable device 102 is started from the beginning of the rhythm movement. Thereafter, the distance between the vehicles is increased for 3 seconds from 7 seconds to 10 seconds later, and the priority of the movable footrest device 101 is increased. However, since the duration is not longer than the minimum required time, the movable footrest device 101 The rhythm movement by the steering movable device 102 is continued without switching to the rhythm movement by. Since the ranking result after 10 seconds is “× / ×”, the rhythm movement is interrupted.

  Next, in FIG. 5C, the host vehicle is currently traveling on a wide straight road, and the traveling environment is small in the inter-vehicle distance from the preceding vehicle. And it is predicted that the intersection will be reached after 3 seconds and that the driving distance will be large on a wide straight road after 5 seconds. In the predicted traveling environment that changes in this manner, the first 3 seconds are shorter than the minimum required time, and therefore, the rhythm movement by the steering movable device 102 having a high priority is not performed at this time. The ranking result is “× / ×” for 2 seconds from 3 seconds to 5 seconds later.

  As described above, when the high-priority exercise guidance device in the running environment at the start of the rhythm exercise does not continue for the minimum necessary time or more and the ranking result in the next running environment is “× / ×”, the ranking result is The rhythm movement is not started until the driving environment where “× / ×” ends. After that, the state where the priority of the movable footrest device 101 is high after 6 seconds continues for 5 seconds, which is the minimum required time or more, and at this time, the rhythm motion by the rhythmic motion by the movable footrest device 101 is started.

  In FIG. 5D, the host vehicle is currently traveling on a wide straight road and is in a traveling environment where the inter-vehicle distance from the preceding vehicle is large. It is predicted that the inter-vehicle distance will change to the middle driving state after 3 seconds and will reach the intersection after 6 seconds. In the predicted traveling environment that changes in this manner, the rhythm movement by the movable footrest device 101 is not performed because the duration of the state in which the movable footrest device 101 is given priority is initially less than the minimum required time. Furthermore, since the duration of the steering movable device 102 having a high priority in the next traveling environment is also less than the minimum required time, the rhythm movement by the steering movable device 102 is not performed.

  Then, since the ranking result of the next driving environment is “× / ×”, the rhythm movement does not start until 10 seconds after the present time. In this case, in a period (not shown) in which 11 seconds or more have elapsed from the present time, when the driving environment in which the ranking result is “× / ×” is finished, the rhythmic motion corresponding to the current driving environment is started. Become.

  Next, in FIG. 5E, the vehicle at the present time is traveling on a wide straight road and is in a traveling environment in which the inter-vehicle distance from the preceding vehicle is large. It is predicted that the inter-vehicle distance will change to a medium driving state after 3 seconds and the inter-vehicle distance will change to a large driving environment after 6 seconds. In the predicted driving environment that changes in this way, the duration time of the movable footrest device 101 having a high priority in the current driving environment and the steering movable device 102 having a high priority in the next driving environment are both less than the minimum required time. Yes, none of the motion induction devices meet the conditions for starting rhythmic motion. However, after 6 seconds, it returns to the current driving environment again, and the priority of the movable footrest device 101 is high, so if the rhythm exercise is executed from the beginning using the movable footrest device 101, The rhythm movement can be continued for the minimum required time. Therefore, in this case, the rhythm movement by the movable footrest device 101 is performed from the beginning.

  FIG. 6 is a flowchart showing the operation of the driver emotion guidance device 100 of the present embodiment. The process shown in FIG. 6 is executed as a program that is activated when an ignition switch (not shown) is turned on. In step S10, detection of the traveling environment by the traveling environment detection device group is started. The various detected data is stored in the memory 103b at a predetermined sampling interval, for example, every second. At this time, the navigation system 204 also reads road conditions in a range where the host vehicle reaches within a predetermined time T seconds. In step S20, ranking processing according to the driving environment is executed. The ranking process will be described later with reference to FIG.

  In step S30, it is determined whether or not the rhythm movement is being executed (guidance) using either the movable footrest device 101 or the steering movable device 102 for the current driver. If it is determined that the rhythm exercise is not being executed, the process proceeds to step S40, and a rhythm exercise start process described later with reference to FIG. 12 is executed. If it is determined that the rhythm exercise is being executed, the process proceeds to step S50. Perform the switching process.

  In step S60, it is determined whether or not the ignition switch is turned off. If the ignition switch is not turned off, the process returns to step S20 to repeat the processing. If the ignition switch is turned off, detection of the running environment by the running environment detection device group in step S70. After ending, the process is terminated.

  Next, the ranking process described above with reference to FIG. 7 will be described. In step S100, the driving environment detected from the memory 103b is read. Based on the read travel environment, the process from step S110 to step S190 described below is executed for a period from the present to a predetermined time T seconds later, within the current travel environment and the predetermined time T seconds. Rank in the predicted driving environment. That is, from the present to a predetermined time T seconds later, the traveling environment is predicted at a predetermined time interval, for example, every 0.5 seconds based on the read traveling environment, and ranking in the traveling environment is performed. And when the same driving environment continues, by calculating the duration, the time series change of the driving environment and the ranking result for each driving environment at that time are predicted as shown in FIG. The

  In step S110, it is determined whether or not sudden braking has been detected and sudden braking has been predicted. When the sudden brake is detected and the sudden brake is predicted, the process proceeds to step S111, and the ranking result for the traveling environment at this time is “× / ×”. If sudden braking is not detected and sudden braking is not predicted, the process proceeds to step S120.

  In step S120, it is determined whether or not the state immediately before stopping is detected and the state immediately before stopping is predicted. When the state immediately before the stop is detected and the state immediately before the stop is predicted, the process proceeds to step S170, and the process of ranking the movable footrest device 1 described later with reference to FIG. 8 is executed. When the state immediately before the stop is detected and the state immediately before the stop is not predicted, the process proceeds to step S130.

  In step S130, it is determined whether or not the start state has been detected and the start state has been predicted. If the start state is detected and the start state is predicted, the process proceeds to step S170 to execute the ranking process 1 of the movable footrest device. If the start state is not detected and the start state is not predicted, the process proceeds to step S140.

  In step S140, it is determined whether the stop state is detected and the stop state is predicted. When the stop state is detected and the stop state is predicted, the process proceeds to step 190, and the process of ranking 3 of the movable footrest device described later with reference to FIG. 10 is executed. If the stop state is not detected and the stop state is not predicted, the process proceeds to step S150.

  In step S150, it is determined whether detection during ACC control and prediction during ACC control have been performed. When the detection during the ACC control and the prediction during the ACC control are performed, the process proceeds to step S190, and the process of ranking the movable footrest device 3 is executed. If detection during ACC control and prediction during ACC control are not performed, the process proceeds to step S160.

  In step S160, it is detected and predicted whether the inter-vehicle distance between the host vehicle and the preceding vehicle is large, medium, or small. When it is detected and predicted that the inter-vehicle distance is small, the process proceeds to step S170, and the process of ranking 1 of the movable footrest device is executed. If it is detected and predicted that the inter-vehicle distance is medium, the process proceeds to step S180, and the process of ranking 2 of the movable footrest device described later with reference to FIG. 9 is executed. When it is detected and predicted that the inter-vehicle distance is large, the process proceeds to step S190, and the process of ranking 3 of the movable footrest device is executed.

  In step S200, it is determined whether or not the ranking has been completed for the traveling environment from the present to the predetermined time T seconds. If the ranking has not been completed, the process returns to step S110 and the process is repeated. On the other hand, when ranking is completed, the flow returns to the flow of FIG.

  Next, the process of ranking 1 of the movable footrest device will be described with reference to FIG. In step S171, it is determined whether an intersection or a sharp curve on a narrow road has been detected and predicted as the road condition. When a sharp curve at an intersection or a narrow road is detected and predicted, the process proceeds to step S174, and the ranking result for the traveling environment at this time is set to “× / ×”. If a sharp curve at an intersection or a narrow road is not detected and predicted, the process proceeds to step S172.

  In step S172, “rank of the degree of influence on the driving operation when the rhythm exercise is performed using the movable footrest device 101” is set to “Δ”. In step S173, after performing the ranking processing of the steering movable device described later with reference to FIG. 11, the process returns to the flow of FIG.

  Next, the process of ranking 2 of the movable footrest device will be described with reference to FIG. In step S181, it is determined whether an intersection or a sharp curve on a narrow road has been detected and predicted as the road condition. If a sharp curve at an intersection or a narrow road is detected and predicted, the process proceeds to step S184, and the ranking result for the driving environment at this time is set to “× / ×”. If a sharp curve at an intersection or a narrow road is not detected and predicted, the process proceeds to step S182.

  In step S182, “rank of influence on driving operation when rhythm exercise is performed using movable footrest device 101” is set to “◯”. In step S183, after ranking processing of the steering movable device is executed, the process returns to the flow of FIG.

  Next, the process of ranking 3 of the movable footrest device will be described with reference to FIG. In step S191, it is determined whether an intersection or a sharp curve on a narrow road has been detected and predicted as the road condition. When a sharp curve at an intersection or a narrow road is detected and predicted, the process proceeds to step S194, and the ranking result for the traveling environment at this time is set to “× / ×”. If a sharp curve at an intersection or a narrow road is not detected and predicted, the process proceeds to step S192.

  In step S192, “rank of influence on driving operation when rhythm exercise is performed using movable footrest device 101” is set to “◎”. In step S193, after ranking processing of the steering movable device is executed, the process returns to the flow of FIG.

  Next, the ranking process of the steering movable device will be described with reference to FIG. In step S210, the road width is detected and predicted as the road condition. If it is detected and predicted that the road is wide, the process proceeds to step S220. In step S220, the road shape is determined. If it is determined that the road shape is a straight line, the process proceeds to step S230, and the “rank of the degree of influence on the driving operation when the rhythm movement is performed using the steering movable device 102” is set to “◎”.

  If it is determined that the road shape is a gentle curve, the process proceeds to step S240, and the “rank of the degree of influence on the driving operation when the rhythm movement is performed using the steering movable device 102” is set to “◯”. If it is determined that the road shape is a steep curve, the process proceeds to step S250, and the “rank of the degree of influence on the driving operation when the rhythm movement is performed using the steering movable device 102” is set to “Δ”. Also, if it is determined in step S210 that the road width is narrow, the process proceeds to step S250, and the “rank of the degree of influence on the driving operation when the rhythm movement is performed using the steering movable device 102” is set to “Δ”.

  Next, the rhythm exercise start process will be described with reference to FIG. At the start of the rhythm exercise, a device having a high priority (hereinafter referred to as “priority device”) is used among the movable footrest device 101 and the steering movable device 102 based on the result of ranking by the ranking process described above. Start the rhythm movement. In step S310, based on the ranking result, it is determined whether or not the priority device in the current traveling environment continues for the minimum necessary time or more. If it is determined that the current priority device continues for the minimum required time or longer, the process proceeds to step S380, where the current priority device is used to start the rhythm exercise, and the flow returns to the flow of FIG.

  If it is determined that the current priority device does not continue for the minimum required time, the process proceeds to step S320. In step S320, it is determined whether the ranking result in the driving environment after the current priority device is ended is “× / ×”. If the ranking result is “× / ×”, the process proceeds to step S330, the rhythm movement is not started, and the flow returns to the flow of FIG. If the ranking result is not “× / ×”, the process proceeds to step S340.

  In step S340, it is determined whether the next predicted priority device continues for the minimum necessary time or more. If it is determined that the next predicted priority device continues for the minimum necessary time or more, the process proceeds to step S350, and the next predicted priority device starts rhythm movement, and then returns to the flow of FIG. Next, when it is determined that the predicted priority device does not continue for the minimum necessary time or longer, the process proceeds to step S360.

  In step S360, it is determined whether or not the ranking result in the driving environment after the next predicted priority device is ended is “× / ×”. If the ranking result is “× / ×”, the process proceeds to step S370, the rhythm movement is not started, and the flow returns to the flow of FIG. If the ranking result is not “× / ×”, the process proceeds to step S380.

  If the ranking result in the driving environment after the next predicted priority device is not “× / ×”, the next predicted priority device is the same as the current priority device. Therefore, the rhythm movement can be continued for the minimum required time by starting the rhythm movement with the current priority device from the beginning and continuing to the rhythm exercise with the next predicted priority device. Therefore, in step S380, the rhythm movement is started with the current priority device, and the flow returns to the flow of FIG.

  The rhythm exercise switching process will be described with reference to FIG. In step S410, it is determined whether or not the time until the next predicted switching to the priority device is the preparation time To described above. If the time until switching is not the preparation time To, it is not necessary to switch to the next predicted priority device, so the process proceeds to step S440, and the rhythm movement by the current priority device is continued. On the other hand, if the time until switching is the preparation time To, the process proceeds to step S420 to execute the switching process.

  In step S420, it is determined whether the ranking result in the driving environment after the current priority device is ended is “× / ×”. If the ranking result is “× / ×”, the process proceeds to step S460, and the rhythm movement is interrupted when the current priority device is finished. If the ranking result is not “× / ×”, the process proceeds to step S430.

  In step S430, it is determined whether the next predicted priority device continues for the minimum necessary time or more. When it is determined that the next predicted priority device continues for the minimum necessary time or more, the process proceeds to step S450, and when the current priority device is completed, the next priority device is switched. Next, when it is determined that the predicted priority device does not continue for the minimum necessary time or longer, the process proceeds to step S440, and the rhythm movement by the current priority device is continued.

As described above, according to the present embodiment, the following operational effects can be obtained.
(1) A rhythmic movement with a regular rhythm is induced to the driver using either the movable footrest device 101 or the steering movable device 102. Thereby, the secretion of serotonin in the driver's brain can be promoted, and the driver's anger and excitement can be suppressed.
(2) The degree of influence that the rhythmic motion using the movable footrest device 101 or the steering movable device 102 has on the driving operation is ranked for each traveling environment of the traveling state of the host vehicle or the traveling road condition, and the ranking is performed. Based on the results, we decided to determine the motion induction device used for rhythmic motion. Accordingly, it is possible to guide the rhythmic motion using the motion guidance device that has less influence on the driving operation according to the traveling environment.
(3) In performing the rhythm exercise, after starting the rhythm exercise using either the movable footrest device 101 or the steering movable device 102, the rhythm exercise by the exercise induction device is continued for the minimum necessary time or more. It was decided. As a result, the driver can continue the rhythm exercise for a certain period of time or more using the same exercise induction device, so that the driver can concentrate on the rhythm exercise and more effectively promote the secretion of serotonin.

-Modification 1-
In the driver emotion guidance device of the above-described embodiment, the CPU 103a controls the motor 2b of the movable footrest device 101 to forcibly cause the driver's foot to rhythmically move, and the motor (not shown) of the steering movable device 102 is driven. The driver's finger was forced to be rhythmically controlled. However, the exercise modes shown in the following (1) to (3) may be provided, and the CPU 103a may execute the rhythm exercise according to each exercise mode.

(1) Forced mode In the forced mode, the motor 2b of the movable footrest device 101 is controlled to forcibly move the driver's foot, and the motor (not shown) of the steering movable device 102 is controlled to control the driver's finger. The rhythm movement is induced to the driver by forcing the rhythm movement.
(2) Assist mode In the assist mode, the driving force of the motor 2b of the movable footrest device 101 and the driving force of the motor of the steering movable device 102 are smaller than the motor driving force in the forced mode. That is, the motor driving force in the assist mode is not so strong as to forcefully move the foot of the driver who is stepping on the footrest pedal 2a, and the driver's finger holding the movable portion 102a of the steering movable portion 102 Not strong enough to force it to move. Therefore, the driver needs to move his feet and fingers with his own power to some extent. However, since the assisting force by the motor is added, the driver can continue the regular rhythm movement relatively easily.
(3) Free mode In the free mode, neither the movable footrest device 101 nor the steering movable device 102 uses the driving force by the motor, and the driver performs a rhythmic exercise by using the motion induction device on his / her own will.

  In this way, by having a plurality of exercise modes, it is possible to forcibly induce rhythmic movement for drivers who are not going to perform rhythmic movement voluntarily, and also exercise voluntarily. Since it is possible for the driver to exercise at his own will, it becomes possible to efficiently promote the secretion of serotonin.

-Modification 2-
In the above-described embodiment, the minimum duration Tmin is calculated by the motion cycle × 5 guided to the driver. However, in the driver emotion induction device having a plurality of exercise modes as in the first modification, the minimum duration Tmin may be changed according to the exercise mode being executed before switching the exercise induction device.

  In other words, when the rhythm exercise is executed in the free mode, the driver performs the rhythm exercise completely by his / her own intention, so it takes time to grasp the pace of the rhythm exercise immediately after the exercise induction device is switched. It becomes. Also, when the rhythm exercise is executed in the assist mode, the time required for the free mode is not required because the motor assist force is applied, but the rhythm exercise pace is also changed immediately after the exercise induction device is switched. It takes time to grab. On the other hand, when the rhythm exercise is executed in the forced mode, the pace of the rhythm exercise is completely controlled by the CPU 103a, so that the regular rhythm exercise can be performed immediately after the switching.

  Accordingly, the set value of the minimum duration Tmin is set so as to increase according to the level of spontaneity of performing the rhythm movement of the driver, such as in the forced mode <in the assist mode <in the free mode. For example, when the minimum duration Tmin in the free mode is set to the motion cycle × 5, the minimum duration Tmin in the assist mode is set to the motion cycle × 4, and the minimum duration Tmin in the forced mode is set to the motion cycle × 3. .

  As described above, the optimum minimum duration can be set in consideration of the time required for the driver to grasp the pace of the rhythm exercise, and the exercise induction device can be switched efficiently.

  The correspondence between the constituent elements of the claims and the embodiment will be described. The vehicle speed sensor 201, the CCD camera 202, the laser radar 203, the navigation system 204, the inter-vehicle automatic control system 205, the brake sensor 206, and the accelerator sensor 207 correspond to a traveling environment detection unit. The CPU 103a corresponds to an influence degree calculating unit, a traveling environment predicting unit, and a rhythm movement guiding unit. Note that the present invention is not limited to the configurations in the above-described embodiments as long as the characteristic functions of the present invention are not impaired.

It is a block diagram which shows the structure of one Embodiment of the vehicle carrying the driver emotion guidance apparatus by this invention. It is the figure which showed the structure of the movable footrest apparatus 101. FIG. FIG. 3 is a view showing a structure of a steering movable device 102. It is the figure which showed the rank of the influence degree which acts on driving operation for every running environment. It is the figure which showed the specific example about the change of the apparatus used for the rhythm exercise | movement according to the change of a driving environment, the ranking result based on a driving environment, and the change of a driving environment. It is a flowchart figure which shows operation | movement of the driver | operator emotion guidance apparatus 100 of this Embodiment. It is a flowchart figure which shows the flow of a ranking process. It is a flowchart figure which shows the flow of a process with small inter-vehicle distance. It is a flowchart figure which shows the flow of the process in the distance between vehicles. It is a flowchart figure which shows the flow of a process of large inter-vehicle distance. It is a flowchart figure which shows the flow of the ranking process of a steering movable apparatus. It is a flowchart figure which shows the flow of a rhythm exercise | movement start process. It is a flowchart figure which shows the flow of a rhythm exercise | movement switching process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Driver emotion guidance apparatus 101 Movable footrest apparatus 102 Steering movable apparatus 103 Control apparatus 103a CPU
103b Memory 201 Vehicle speed sensor 202 CCD camera 203 Laser radar 204 Navigation system 205 Inter-vehicle automatic control system (ACC)
206 Brake sensor 207 Accelerator sensor

Claims (3)

In the driver emotion induction device that controls the driver's emotions by promoting the secretion of emotion control substances in the driver's brain by inducing rhythm movement to the driver,
A movable footrest device that reciprocates by repeatedly stepping and releasing by the driver;
A steering movable device provided on the steering wheel for reciprocating a driver's finger holding the steering wheel;
A traveling environment detection means for detecting a traveling state of the host vehicle and a road condition during traveling (hereinafter referred to as “traveling environment”);
In the traveling environment detected by the traveling environment detecting means, a first degree of influence given to the driving operation when the driver reciprocates using the movable footrest device, and the steering movable device is used. An influence degree calculating means for calculating a second influence degree given to the driving operation when the reciprocating movement is performed;
Based on the first and second influences calculated by the influence calculation means, a rhythmic exercise that controls one of the movable footrest device and the steering movable device to induce a reciprocating motion to the driver. A driver emotion guidance device characterized by comprising guidance means. The driver emotion guidance device according to claim 1,
Based on the output from the travel environment detection means, further comprising a travel environment prediction means for predicting the travel environment of the host vehicle from the current time until after a predetermined time has elapsed,
Based on the travel environment detected by the travel environment detection means and the travel environment predicted by the travel environment prediction means, the influence degree calculation means calculates the influence degree from the present time to a predetermined time later in time series. ,
The rhythmic motion guiding means induces the reciprocating motion while switching the movable footrest device and the steering movable device to the one having the smaller degree of influence based on the degree of influence calculated in time series. Driver emotion induction device. In the driver feeling guidance device according to claim 1 or 2,
The driver rhythm induction device is characterized in that the rhythmic motion induction means continues the reciprocating motion by the movable footrest device and the steering movable device for at least a predetermined duration.

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