JP2010052590A - ドライバ状態推定装置 - Google Patents
ドライバ状態推定装置 Download PDFInfo
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- JP2010052590A JP2010052590A JP2008219789A JP2008219789A JP2010052590A JP 2010052590 A JP2010052590 A JP 2010052590A JP 2008219789 A JP2008219789 A JP 2008219789A JP 2008219789 A JP2008219789 A JP 2008219789A JP 2010052590 A JP2010052590 A JP 2010052590A
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- Prior art keywords
- steering angle
- steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
- B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Traffic Control Systems (AREA)
Abstract
【解決手段】 ドライバ状態推定装置1は、ステアリングの操舵角を検出する舵角センサ2と、ステアリングに加わる操舵トルクを検出する操舵トルクセンサ3と、舵角推定部5及びドライバ状態推定部6を有するECU4とを備えている。舵角推定部5は、舵角センサ2で検出された操舵角(操舵角検出値)MAと操舵トルクセンサ3で検出された操舵トルク(操舵トルク検出値)MTとを入力した後、操舵角検出値MAが0であるかどうかを判断し、操舵角検出値MAが0であるときは、操舵トルクに対する操舵角の勾配(比例係数)αを操舵トルク検出値MTに乗じることで操舵角推定値MAestを求め、操舵角検出値MAが0でないときは、操舵角検出値MAを操舵角推定値MAestとする。
【選択図】 図1
Description
MA-est=α×MT …(A)
MAest-=MAO+α×[MT(n)−MTO] …(B)
Claims (3)
- ステアリングの操作状態に基づいてドライバの運転状態を推定するドライバ状態推定装置において、
前記ステアリングの操舵角を検出する操舵角検出手段と、
前記ステアリングに加わる操舵トルクを検出する操舵トルク検出手段と、
前記操舵角検出手段で検出された操舵角が所定値よりも小さいときに、前記操舵トルク検出手段で検出された操舵トルクに基づいて前記ステアリングの操舵角を推定する操舵角推定手段とを備えることを特徴とするドライバ状態推定装置。 - 前記操舵角推定手段は、前記操舵トルク検出手段で検出された操舵トルクに係数を乗じることで、前記ステアリングの操舵角を推定することを特徴とする請求項1記載のドライバ状態推定装置。
- 前記操舵角推定手段は、前記操舵角検出手段で検出された操舵角の値が変化したときに、当該操舵角の値を初期値として前記操舵トルクに基づいて前記ステアリングの操舵角を推定することを特徴とする請求項1または2記載のドライバ状態推定装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008219789A JP4483984B2 (ja) | 2008-08-28 | 2008-08-28 | ドライバ状態推定装置 |
US12/678,245 US8930080B2 (en) | 2008-08-28 | 2009-08-07 | Driver state estimation device |
CN2009801004613A CN101801754B (zh) | 2008-08-28 | 2009-08-07 | 驾驶员状态推断装置 |
PCT/JP2009/064022 WO2010024109A1 (ja) | 2008-08-28 | 2009-08-07 | ドライバ状態推定装置 |
EP09809051.7A EP2316704B1 (en) | 2008-08-28 | 2009-08-07 | Device for estimating state of driver |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008219789A JP4483984B2 (ja) | 2008-08-28 | 2008-08-28 | ドライバ状態推定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010052590A true JP2010052590A (ja) | 2010-03-11 |
JP4483984B2 JP4483984B2 (ja) | 2010-06-16 |
Family
ID=41721281
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008219789A Expired - Fee Related JP4483984B2 (ja) | 2008-08-28 | 2008-08-28 | ドライバ状態推定装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8930080B2 (ja) |
EP (1) | EP2316704B1 (ja) |
JP (1) | JP4483984B2 (ja) |
CN (1) | CN101801754B (ja) |
WO (1) | WO2010024109A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8806722B2 (en) | 2010-11-25 | 2014-08-19 | Daiwa Kasei Kogyo Kabushiki Kaisha | Clip |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10880340B2 (en) | 2008-11-26 | 2020-12-29 | Free Stream Media Corp. | Relevancy improvement through targeting of information based on data gathered from a networked device associated with a security sandbox of a client device |
DE102010039949A1 (de) * | 2010-08-30 | 2012-03-01 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Erkennung fehlender Fahreraktivität am Lenkrad eines Kraftfahrzeugs |
KR102055020B1 (ko) * | 2011-03-02 | 2020-01-22 | 콘티넨탈 테베스 아게 운트 코. 오하게 | 지능형 차량 센서 디바이스 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59153629A (ja) * | 1983-02-18 | 1984-09-01 | Nissan Motor Co Ltd | 居眠り運転警報装置 |
JPH079879A (ja) * | 1993-06-28 | 1995-01-13 | Mitsubishi Motors Corp | 車両用覚醒度検出装置 |
JPH08268190A (ja) * | 1995-03-31 | 1996-10-15 | Isuzu Motors Ltd | 居眠り警告装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3360528B2 (ja) * | 1996-06-19 | 2002-12-24 | 日産自動車株式会社 | 車両運動制御装置 |
US6061610A (en) * | 1997-10-31 | 2000-05-09 | Nissan Technical Center North America, Inc. | Method and apparatus for determining workload of motor vehicle driver |
JP2002036905A (ja) | 2000-07-28 | 2002-02-06 | Nissan Motor Co Ltd | 車両用運転操作監視装置 |
JP3891288B2 (ja) * | 2003-03-28 | 2007-03-14 | 株式会社ジェイテクト | 電気式動力舵取装置 |
JP4294401B2 (ja) * | 2003-07-25 | 2009-07-15 | 富士重工業株式会社 | 車両用走行支援装置 |
US7500538B2 (en) * | 2004-04-30 | 2009-03-10 | Nsk Ltd. | Control unit for electric power steering apparatus |
CN100460261C (zh) * | 2005-08-02 | 2009-02-11 | 日产自动车株式会社 | 车辆转向设备和车辆转向方法 |
CN2823083Y (zh) | 2005-08-19 | 2006-10-04 | 比亚迪股份有限公司 | 一种汽车线传转向控制装置 |
EP1882619B1 (en) * | 2006-07-24 | 2010-11-24 | The Yokohama Rubber Co., Ltd. | Apparatus and method for evaluating driving skill and apparatus and method for informing efficiency of driver's stress to driving operation |
DE102007001362A1 (de) * | 2007-01-09 | 2008-07-10 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrerermüdungserkennung mittels Drehmomentsensorik |
JP5073323B2 (ja) * | 2007-03-12 | 2012-11-14 | 本田技研工業株式会社 | ステアリング保持状態判定装置、ドライバ覚醒度推定装置および適正進路維持装置 |
-
2008
- 2008-08-28 JP JP2008219789A patent/JP4483984B2/ja not_active Expired - Fee Related
-
2009
- 2009-08-07 US US12/678,245 patent/US8930080B2/en not_active Expired - Fee Related
- 2009-08-07 CN CN2009801004613A patent/CN101801754B/zh not_active Expired - Fee Related
- 2009-08-07 WO PCT/JP2009/064022 patent/WO2010024109A1/ja active Application Filing
- 2009-08-07 EP EP09809051.7A patent/EP2316704B1/en not_active Not-in-force
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59153629A (ja) * | 1983-02-18 | 1984-09-01 | Nissan Motor Co Ltd | 居眠り運転警報装置 |
JPH079879A (ja) * | 1993-06-28 | 1995-01-13 | Mitsubishi Motors Corp | 車両用覚醒度検出装置 |
JPH08268190A (ja) * | 1995-03-31 | 1996-10-15 | Isuzu Motors Ltd | 居眠り警告装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8806722B2 (en) | 2010-11-25 | 2014-08-19 | Daiwa Kasei Kogyo Kabushiki Kaisha | Clip |
Also Published As
Publication number | Publication date |
---|---|
EP2316704A4 (en) | 2018-04-25 |
CN101801754B (zh) | 2013-12-04 |
EP2316704A1 (en) | 2011-05-04 |
US8930080B2 (en) | 2015-01-06 |
EP2316704B1 (en) | 2019-03-20 |
US20100211268A1 (en) | 2010-08-19 |
WO2010024109A1 (ja) | 2010-03-04 |
JP4483984B2 (ja) | 2010-06-16 |
CN101801754A (zh) | 2010-08-11 |
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