JP2007203951A - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control device, which estimates the age of a person who drives a vehicle, and controls the support characteristic of a driving operation support means based on the estimated age. <P>SOLUTION: The vehicle control device 100 comprises operation means 10 and 11 for driving and operating the vehicle; the driving operation support means 20 for supporting the driving operation of the vehicle by the operation means 10 and 11; a driver's attribute estimation means 21 for estimating a driver's attribute; and a support characteristic change means 22 for changing the support characteristic according to a driver's age estimated by the driver attribute estimation means 21. The control device 100 changes, when it is estimated that the driver's physical size is small or when it is estimated that the driver's sex is female, the support characteristic so that the responsiveness of support is increased according to the estimated age while reducing the workload required for the driving operation by the operation means 10 and 11. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle control device, and more particularly to a vehicle control device that estimates the age of a person driving a vehicle such as an automobile and controls support characteristics based on the age.

  When a driver operates a steering wheel, an electric power steering in a vehicle such as an automobile detects a steering force, a steering direction, and a steering angle of the steering wheel, and assists the force of steering the wheel by an electric motor.

  Such electric power steering assists the vehicle to have an appropriate steering force when the vehicle is traveling at a high speed based on the fact that the force required for steering decreases as the vehicle speed increases, while traveling at a low speed. In this case, there is a technique that increases the assist of the steering force so that the steering wheel can be steered with a small force.

  There is also known an apparatus that controls an electric motor that supports steering force in accordance with the weight detected by a physique detection sensor installed in a driver's seat (see, for example, Patent Document 1).

In general, this device assumes that a driver with a light weight is smaller in size and weaker than a driver with a heavy weight. Increases support by electric motors than heavier drivers.
JP 2003-212143 A

  However, since the device described in Patent Document 1 does not take into account the difference in the age of the driver and controls the electric motor and the like based on the physique, it cannot perform driving support suitable for an elderly driver. Further, each of the operation means (referred to as power steering, brake, switch, etc.) in the apparatus described in Patent Document 1 is supported by the arm force for rotating the steering wheel, the force for depressing the brake pedal, Based on the premise that there is a difference in the force to push the switch, etc., it is not possible to provide driving support suitable for the driver's operating tendency other than the strength of the force.

  In view of the problem, an object of the present invention is to provide a vehicle control device that estimates the age of a person who drives a vehicle and controls the support characteristics of the driving operation support means based on the age.

  In order to achieve the above object, a vehicle control device according to a first aspect of the present invention includes an operation means for driving a vehicle, a driving operation support means for supporting a driving operation of the vehicle by the operating means, Driver attribute estimation means for estimating an attribute; and support characteristic change means for changing the support characteristic according to the age of the driver estimated by the driver attribute estimation means.

  According to a second aspect of the present invention, in the vehicle control device according to the first aspect of the invention, the assisting characteristic changing means is configured to drive by the operating means as the physique of the driver estimated by the driver attribute estimating means is smaller. The driving characteristic of the driving operation support means is changed so as to reduce the amount of work required for the operation.

  According to a third aspect of the present invention, in the vehicle control device according to the first aspect of the present invention, when the driver characteristic estimation unit estimates that the driver's gender is female by the driver attribute estimation unit, The support characteristic by the driving operation support means is changed so as to reduce the amount of work required for the driving operation by the operation means.

  With the above-described means, the present invention can provide a vehicle control device that estimates the age of a person who drives the vehicle and controls the support characteristics of the driving operation support means based on the age.

  Hereinafter, the best mode for carrying out the present invention will be described in several embodiments with reference to the drawings.

  FIG. 1 is a diagram illustrating a configuration example of a vehicle control device 100 according to the present invention. The vehicle control device 100 includes a control unit 1, a RAM (Random Access Memory) 2, and an NVRAM (Non Volatile Random Access Memory) 3, a camera 4, a card reader 5, an input device 6, a physique detection sensor 7, a vehicle speed sensor. 8. It is connected to the display device 9, the power steering 10 and the brake system 11 via a CAN (Controller Area Network).

  Further, the control unit 1 expands the program stored in the NVRAM 3 in the RAM 2 and executes each means of the driving operation support means 20, the driver attribute estimation means 21 and the support characteristic change means 22. Further, the control unit 1 executes the above-described means based on signals from the camera 4, the card reader 5, the input device 6, the physique detection sensor 7 or the vehicle speed sensor 8, and the display device 9, the power steering 10 and the brake system. A signal for controlling 11 is transmitted to them.

  The RAM 2 is a volatile storage device and is a work area for the control unit 1. The NVRAM 3 is a non-volatile storage device, and stores a program for executing the above-described means, a driver ID number, and the like.

  The camera 4 is a device for photographing the driver, and is attached to the ceiling of the driver's seat, for example, and transmits an image obtained by photographing the driver to the control unit 1. Upon receiving the driver's image, the control unit 1 stores the image in the RAM 2 so that it can be used in subsequent image processing.

  The card reader 5 is a device for reading driver information stored in a magnetic storage card, a non-contact type IC card or the like. The driver information includes the gender, age, height, weight, eyesight, blood of the driver. Information about the driver, such as type and presence / absence of obstacles.

  The input device 6 is a device for receiving a driver's input, and is, for example, an escutcheon button of a car navigation system, a touch panel on a liquid crystal display, a switch installed on an instrument panel, or the like. The input device 6 is used for the driver to input his / her ID number or to select his / her ID number from a plurality of ID numbers displayed on the display device 9.

  The physique detection sensor 7 is a sensor for detecting predetermined information to cause the vehicle control device 100 to estimate the physique of the driver. For example, a strain gauge is used to acquire information related to the weight of the driver. It is attached to the lower part of the driver's seat, detects the distortion, and transmits the distortion information to the vehicle control device 100. The physique detection sensor 7 may detect an area (area) or space (volume) occupied by the driver using an ultrasonic sensor or an infrared sensor and cause the vehicle control device 100 to estimate the physique.

  Also, the physique detection sensor 7 is for estimating the physique from the area of the driver's body in contact with the surface of the driver's seat, or for estimating the physique of the driver from the driver's seating position and sitting posture, for example. The driver's seat may be provided with a multi-contact pressure sensor, and pressure information of each contact may be transmitted to the vehicle control device 100.

  The vehicle speed sensor 8 is a sensor that measures the speed of the vehicle. For example, a change in a magnetic field caused by a magnet attached to each wheel and rotating together with each wheel is read as a magnetic resistance by an MR (Magnetic Resistance) element, and this is converted into a rotation speed. The rotation speed of the wheel and the speed of the vehicle are detected by taking out as a proportional pulse signal.

  The display device 9 is a device for displaying predetermined information. For example, a message prompting the driver to input an ID number on a liquid crystal display or an LED (Light Emitting Diode) on an instrument panel is displayed or registered. In order to select an ID number unique to the driver from the plurality of ID numbers, the plurality of ID numbers are displayed.

  The power steering 10 is a device for steering the wheel by converting the rotation of the steering wheel into a linear motion (steering force) of the tie rod, and can assist the steering force using an electric motor or a hydraulic actuator.

  The brake system 11 is a device for braking the rotation of the wheel, and can change the magnitude of the brake pressure corresponding to the depression of the brake pedal using an electric motor or a hydraulic actuator. The brake system 11 includes a brake switch that is switched on when the brake pedal is depressed, and is switched off when the depression stroke is no longer changed. Detects the presence or absence of additional steps.

  The driving operation support means 20 is a means for supporting the driving operation of the vehicle by the operating means such as the power steering 10 and the brake system 11. For example, when the vehicle is traveling at a high speed by controlling the power steering 10. The steering force is assisted so as to obtain an appropriate steering force. On the other hand, when the vehicle is traveling at a low speed, the assist of the steering force is further increased so that the steering wheel can be steered with a small force. Further, the driving operation support means 20 controls the brake system 11 to assist the brake pressure applied to the brake pedal using a hydraulic actuator so as to obtain an appropriate wheel braking force.

  The driver attribute estimation means 21 is a means for estimating attributes such as the gender, age, and physique of the driver. For example, the eyes, nose, ears are obtained from a database of face images whose actual age (actual age) is known. The driver is extracted from the driver's face image captured by the camera 4 using a computer system based on a neural network that extracts necessary features such as hairline positions, intervals between them, and the like and stores them associatively. The gender and age are estimated, or the physique is estimated based on the signal from the physique detection sensor 7.

  Further, the driver attribute estimation means 21 estimates (acquires) attributes such as the gender, age, and physique of the driver based on the driver information read from the magnetic storage card or the non-contact IC card by the card reader 5. Alternatively, the driver information by the card reader 5 and the estimation result by the camera 4 or the measurement result by the physique detection sensor 7 may be combined to estimate the driver's sex, age, physique and other attributes.

  The support characteristic changing unit 22 is a unit for changing the support characteristic of the driving operation support unit 20. For example, when the driver attribute estimation unit 21 estimates that the driver is an elderly person, the driving operation support unit 22 The support characteristic is changed so that the responsiveness of the support by means 20 becomes high.

  The “support characteristic” is the content of support by the driving operation support means 20. For example, when the driver is a woman, the driver provides a force that supports the steering force (hereinafter referred to as “steering force assist amount”). Support content such as increasing from the case of men, and support content such as reducing the steering force assist amount as the vehicle speed increases regardless of the gender of the driver. The assist characteristic is indicated by, for example, a coefficient such as a rate of increase in the steering force assist amount set for each gender or age, or a characteristic diagram in which the vertical axis represents the steering force assist amount and the horizontal axis represents the steering wheel steering force. It is. The support characteristic may be fixed in advance, or may be dynamically changed according to a predetermined calculation formula.

  “Higher responsiveness” refers to increasing the response of assistance by the driving operation support means 20 when the driver performs an operation by the operation means. For example, the steering force assist amount at the start of steering by the steering wheel That is, the rate of increase of the steering force is increased locally, or the rate of increase of the steering force assist amount is increased locally when the steering wheel is turned back and forth.

  Next, support characteristics that are changed according to driver attributes will be described.

  FIG. 2 is an example of a characteristic diagram showing the relationship between the steering force of the steering wheel and the steering force assist amount. The horizontal axis indicates the steering force of the steering wheel, and the vertical axis indicates the steering force assist amount. Further, regarding the steering force of the steering wheel shown on the horizontal axis, the right side shows the steering force in the right direction across the vertical axis, and the left side of the vertical axis shows the steering force in the left direction.

  In FIG. 2A, a solid line N1 that is symmetrical is an example of a diagram (support characteristic) showing the relationship between the steering force of the steering wheel and the steering force assist amount when the vehicle speed is relatively small. The solid line N2, which is symmetrical, is an example of a diagram (support characteristic) showing the relationship between the steering force of the steering wheel and the steering force assist amount when the vehicle speed is relatively high. Here, FIG. 2A shows that the steering force assist amount decreases as the vehicle speed increases over the entire region of the steering force of the steering wheel.

  The broken line S1 that is symmetrical is a steering force and a steering force assist by the steering wheel when the vehicle speed is relatively small and when the driver attribute estimating means 21 estimates that the driver is a woman. This is an example of a diagram (support characteristic) showing the relationship with the amount. Similarly, a broken line S2 that is symmetrical is a case where the vehicle speed is relatively high, and the driver attribute estimation means 21 allows the driver to It is an example of the diagram (support characteristic) which shows the relationship between the steering force of a steering wheel when it is estimated that it is a woman, and a steering force assist amount. Here, FIG. 2 (A) shows that when the driver attribute estimating means 21 estimates that the driver is a woman, all regions of the steering force of the steering wheel are compared to when the driver is a man. It shows that the assist characteristic is changed so that the steering force assist amount increases.

  The support characteristic changing unit 22 may change the above-described support characteristic when the driver attribute estimating unit 21 estimates that the driver's physique is small.

  Due to such assist characteristics, the vehicle control device 100 provides a larger steering force assist amount to a woman or a driver with a small physique, which is considered to have relatively weak force, and the vehicle is driven by the operating means. The amount of work such as the force or time required for operation or the amount of movement of each operation means can be reduced.

  Further, in FIG. 2B, a broken line E1 that is symmetrical is a case where the vehicle speed is relatively low and the driver attribute estimation means 21 estimates that the driver is a female elderly person. Is a diagram showing the relationship between the steering force of the steering wheel and the steering force assist amount (assist characteristic), and similarly, a broken line E2 that is symmetrical is a case where the vehicle speed is relatively high, and It is an example of a diagram (support characteristic) showing the relationship between the steering force of the steering wheel and the steering force assist amount when the driver attribute estimation means 21 estimates that the driver is a female elderly person.

  In FIG. 2B, a broken line E1 and a broken line E2 correspond to the steering force of the steering wheel at the initial stage of steering when the steering wheel starts steering from the neutral point or the current point to the left or right of the steering wheel. The steering force assist amount increases non-linearly, and the rate of increase in the steering force assist amount is higher in the initial stage. That is, it indicates that the increasing rate of the steering force assist amount is changed according to the steering acceleration of the steering wheel.

  As described above, the support characteristic considering the time factor is such that when an elderly person operates the steering wheel, the initial operation is made small, and thereafter the correction operation (for example, steering wheel turning and turning back) is frequently performed. Based on the feature of performing.

  Therefore, with this non-linear support characteristic, the vehicle control apparatus 100 can appropriately support driving by an elderly person even when the elderly person encounters a scene where sudden steering is required. When there is an obstacle in the vehicle traveling direction and sudden steering is required, it is possible to prevent the operation of avoiding the obstacle from being delayed as a result of rotating the steering wheel in small increments.

  Note that the non-linear increase in the steering force assist amount shown in FIG. 2B can be similarly applied to male elderly people.

  Further, in FIG. 2C, a broken line E3 indicates an initial stage of steering when steering by the steering wheel is started from the neutral point or the current point of the steering wheel to the left and right, and at the subsequent increase of the steering wheel. This shows that the steering force assist amount increases nonlinearly as the steering force increases by the steering wheel, and the increase rate of the steering force assist amount increases in two stages, that is, the initial stage and the additional stage.

  Further, the non-linear increase in the steering force assist amount shown in FIG. 2C can be similarly applied when the steering wheel is turned back.

  As described above, the vehicle control device 100 uses the assist characteristic shown in FIG. 2C to increase the rate of increase of the steering force assist amount when the steering acceleration of the steering wheel is large, thereby performing the initial operation. Therefore, it is possible to provide support for appropriate driving operation according to the characteristics of elderly people who have a small size.

  The support characteristic changing means 22 estimates the driver's gender and age and changes the support characteristic in a non-linear manner as described above, but estimates only the driver's age and changes the support characteristic as described above. The support characteristic may be changed in combination with the estimation result of the physique. Furthermore, the support characteristic changing unit 22 may change the support characteristic by combining the estimation results of other attributes such as visual acuity, presence / absence of injury, and injury with the above-described attribute estimation results.

  FIG. 3 is an example of a characteristic diagram showing the relationship between the brake pedal force and the brake pressure, where the horizontal axis indicates the brake pedal force and the vertical axis indicates the brake pressure.

  In FIG. 3 (A), a solid line N3 is an example of a diagram (support characteristic) showing a standard relationship between the brake pedal force and the brake pressure, and a broken line S3 indicates that the driver attribute estimation means 21 causes the driver to be female. FIG. 6 is an example of a diagram showing the relationship between brake pedal force and brake pressure when it is estimated that Moreover, the line segment P shows the play part of a brake. Here, FIG. 3 (A) shows that when the driver attribute estimating means 21 estimates that the driver is a woman, the brake pedal force is applied to all areas of the brake pedal force except the brake play portion P. It shows that the generated brake pressure is larger than the standard case.

  In FIG. 3B, a broken line E4 is a diagram (support characteristic) showing a relationship between the brake pedal force and the brake pressure when the driver attribute estimating means 21 estimates that the driver is an elderly person. It is an example. Here, FIG. 3B shows that when the driver attribute estimating means 21 estimates that the driver is an elderly person, the brake play portion P becomes narrower and the brake pressure is increased in accordance with the increase in the brake pedal force. Increases in a non-linear manner, indicating that the rate of increase in brake pressure is high at the initial stage when the depression of the brake pedal is started. That is, it indicates that the increase rate of the brake pressure is changed according to the acceleration of the depression stroke of the brake pedal.

  As described above, the support characteristic considering the time factor is characterized in that, when an elderly person operates the brake, the initial operation is made small, and thereafter, the correction operation (for example, increasing the brake pedal) is frequently performed. based on.

  Therefore, with this non-linear assist characteristic, the vehicular control device 100 applies the brake in small increments when sudden braking is necessary, and the braking distance is increased due to insufficient increase in brake pressure. Can be prevented.

  In FIG. 3C, a broken line E5 corresponds to an increase in the brake pedal force when the brake pedal is depressed, and when the brake pedal is depressed and then further depressed. It shows that the brake pressure increases nonlinearly, and that the increase rate of the brake pressure is high in the initial stage and the two stages of stepping up.

  As described above, the vehicle control device 100 uses the assist characteristic shown in FIG. 3C to increase the brake pressure increase rate when the acceleration of the depression stroke of the brake pedal is large. It is possible to support driving operations according to the characteristics of elderly people who are small.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the vehicle control device 100 temporarily increases the rate of increase of the steering force assist amount at the start of steering by the steering wheel, at the time of additional turning, and at the time of turning back. The rate of increase of the steering force assist amount is temporarily increased only at the time of increase, only at the time of turning back, only at the start of steering and at the time of turning back, only at the start of steering and at the time of turning back, or only at the time of increasing and turning back May be.

  Further, the vehicle control device 100 temporarily increases the increase rate of the brake pressure when the brake pedal is started to be depressed and increased, but the increase rate of the brake pressure is only increased when the depression is started or only when the depression is increased. May be temporarily increased.

  With these configurations, it is possible to more flexibly perform appropriate support according to the characteristics of operation of the operation means by the elderly.

  In the above-described embodiment, the vehicle control device 100 estimates whether or not the driver is an elderly person and switches the support characteristic. Depending on the estimated age, for example, every 10 years. You may make it change a support characteristic in steps.

  In addition to the power steering 10 and the brake system 11, the vehicle control device 100 may control assist characteristics of an operating unit such as an accelerator or a switch of a power window, an audio, an air conditioner, or the like.

It is a figure which shows the structural example of the control apparatus for vehicles which concerns on this invention. It is a figure which shows the relationship between the steering force of a steering wheel, and a steering force assist amount. It is a figure which shows the relationship between brake pedal force and brake pressure.

Explanation of symbols

1 Control unit 2 RAM
3 NVRAM
DESCRIPTION OF SYMBOLS 4 Camera 5 Card reader 6 Input device 7 Body size detection sensor 8 Vehicle speed sensor 9 Display apparatus 10 Power steering 11 Brake system 20 Driving operation support means 21 Driver attribute estimation means 22 Support characteristic change means 100 Vehicle control apparatus

Claims (3)

Operating means for driving the vehicle;
Driving operation support means for supporting driving operation of the vehicle by the operation means;
A driver attribute estimating means for estimating a driver attribute;
Support characteristic changing means for changing the support characteristic according to the age of the driver estimated by the driver attribute estimating means;
A vehicle control device comprising: The support characteristic changing means changes the support characteristic by the driving operation support means so as to reduce the amount of work required for the driving operation by the operating means as the driver's physique estimated by the driver attribute estimating means is smaller. ,
The vehicle control device according to claim 1. When the driver attribute estimating unit estimates that the driver's gender is female, the support characteristic changing unit supports the driving operation support unit so as to reduce the amount of work required for the driving operation by the operating unit. Change the characteristics,
The vehicle control device according to claim 1.

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