JP2010146209A - Drowsiness detection device and drive control device using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drowsiness detection device and a drive control device that uses the device, capable of markedly enhancing the safety in driving. <P>SOLUTION: The device is the drowsiness detecting device for detecting the drowsiness of a driver driving a vehicle, in which when the traveling direction of the vehicle is predicted to be changed caused by disturbance to the vehicle responding to a bumpy state of the road surface, from the detection result of a road-surface state detecting means for detecting bumpy state of the road surface where the vehicle is traveling, when the detection result of a steering angle detection means to detect the steering angle of the vehicle and/or a steering power detection means to detect the steering power for changing the travelling direction of the vehicle is the steering angle and/or the steering power for correcting the traveling direction of the vehicle, a drowsiness-determining means that determines if the driver is becoming drowsy, determines that the driver is awake; and when the steering angle for correcting the traveling direction and/or steering power are not acquired, without having to correct the traveling direction of the vehicle despite the traveling direction is changed by the disturbance, the driver is determined as being in a drowsy state. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a drowsiness detection device and a driving control device using the same, and in particular, without being affected by a road surface on which a vehicle is traveling or a driving habit that is different for each driver, The present invention is suitable for application to a drowsiness detection device that detects a decrease (drowsiness) and a driving control device using the same.

  In recent years, various support devices have been proposed for vehicles that support driving for a driver. For example, when a driver who is driving a vehicle falls asleep, the device is generally disposed near a steering wheel (hereinafter simply referred to as a steering wheel) as a device for detecting this dozing. For example, a dozing operation detection device that detects a dozing operation from a steering situation by using a steering angle sensor that detects an operation state of a steering wheel is known.

  In this case, only the rudder angle is detected because of the influence of disturbance due to input from the road surface (kickback, etc.), steering during dozing, road surface dredge, cant, camber, etc. Therefore, there is a problem that it is difficult to accurately determine the drowsiness state. Therefore, in order to detect a drowsy driving more accurately, it is necessary to detect or discriminate a disturbance caused by a habit.

  Therefore, in order to solve such a problem, the steering load (steering force) that the driver himself applies to the steering wheel is compared with the load based on the input (disturbance) from the road surface that is applied to the steering wheel according to the unevenness of the road surface. Thus, there has been proposed a drowsiness detection device that identifies whether or not the driver is awake (ie, detects drowsy driving) (see, for example, Patent Document 1).

In addition, as a driving warning device that supports safe driving, steering torque that directly reflects the steering operation by the driver without any time delay is used, and driving is performed based on the relationship between the curvature of the road (road surface) and the steering torque. If the driver does not steer the vehicle according to the curvature of the road, it will promptly detect that the steering is abnormal, in other words abnormal driving such as armpit driving or doze driving, and alert the driver about such abnormal driving. On the other hand, an operation warning device that is performed at an early stage is known (for example, see Patent Document 2).
JP-A-5-262162 JP-A-10-166891

  By the way, in the dozing operation detection device of Patent Document 1, the value of the stress signal output from the stress sensor (hereinafter referred to as the stress value) and the rudder angle pulse output from the rudder angle sensor are determined during the dozing operation. When it becomes a peculiar pattern, it is judged that the driver is in a drowsy driving state, so if the stress value does not exceed the judgment reference stress value, the driver is in a drowsy driving state. Not determined.

  For this reason, for example, when a vehicle approaches an inclined road surface and travels on a road surface having an inclination from a state where there is no inclination, the driver takes the handle, and the wheel and the handle are both corresponding to the road surface. When the stress value does not exceed the judgment reference stress value even though it flows along the slope, there is a problem that it is difficult to detect this even if the driver is asleep.

  Further, in the driving warning device of Patent Document 2, when no abnormality is detected in the behavior of the vehicle due to a steering abnormality or the like, it is not determined that the vehicle is in an abnormal state. In other words, when the vehicle is not steered according to the curvature of the road surface due to a curve or the like, it is determined (detected) that it is an abnormal driving such as aside driving or dozing, but an alarm is generated, but aside driving or dozing Even if driving, if the vehicle is steered according to the road surface condition (curvature, etc.), an abnormal driving is not detected and no alarm is generated.

  In other words, even if the driver is drowsy, the driving warning device is configured such that, for example, the vehicle is traveling on a flat and straight road, and the vehicle is steered according to the road surface condition. When driving without any abnormal behavior, the driver's sleepiness is not detected, so there is still an insufficient problem that it is difficult to accurately and reliably detect the driver's sleepiness. It was.

  Therefore, the present invention has been made in view of such problems, and can reliably detect the driver's drowsiness regardless of the road surface condition, thereby greatly improving the safety during driving. It is a main object to provide a drowsiness detection device that can be improved and an operation control device using the same.

  One aspect of the present invention for achieving the above object is a drowsiness detection device for detecting drowsiness of a driver who is driving a vehicle, wherein the road surface state detects an uneven state of a road surface on which the vehicle is traveling. Detection means, steering angle detection means for detecting a steering angle for changing the traveling direction of the vehicle, and / or steering force detection means for detecting a steering force for changing the traveling direction, and the road surface state detection means A doze determination unit that determines whether or not the driver is drowsy based on a correlation between the detection result of the road surface condition by the steering angle detection unit and / or the detection result of the steering force detection unit From the detection result of the road surface state detection unit, the dozing determination unit is predicted to change the traveling direction of the vehicle due to disturbance to the vehicle according to the uneven state of the road surface. If When the detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force for correcting the traveling direction of the vehicle, the driver is awakened. The detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force that does not correct the traveling direction of the vehicle, and the traveling The driver is determined to be drowsy when the steering angle and / or the steering force for correcting the traveling direction is not obtained for a predetermined time despite the change of the direction due to the disturbance. I made it.

  Therefore, according to one aspect of the present invention, it is predicted that the traveling direction of the vehicle can be changed due to a disturbance applied to the vehicle body according to the road surface state detected by the road surface state detecting means while the vehicle is traveling. If the detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force for correcting the traveling direction of the vehicle, the driver Can be clearly determined to be awake.

  At the same time, according to one aspect of the present invention, when the vehicle travels, the travel direction of the vehicle is changed due to a disturbance applied to the vehicle body according to the road surface state detected by the road surface state detection unit. If predicted, the detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force that does not correct the traveling direction of the vehicle, and the traveling Even though the direction has been changed by the disturbance, when the steering angle and / or steering force for correcting the traveling direction is not obtained for a predetermined time, the driver is sleepy. It can be determined with high accuracy.

  Thus, according to one aspect of the present invention, the driver's drowsiness state can be reliably detected regardless of the road surface state. Thereby, the safety | security at the time of driving | operation can be improved significantly.

  Moreover, in one aspect of the present invention, the road surface state detection means accurately detects movement caused by disturbance from the road surface of the left and right wheels by using G sensors respectively provided on the left and right symmetrical wheel portions of the vehicle. And the difference between the movements of the left and right wheels can be clearly detected.

  Furthermore, in one aspect of the present invention, when the driver's drowsiness is detected by the doze determination unit, the driver is provided with awakening means for waking up the driver, so that the driver can drive while drowsy. Since it can avoid, the safety | security at the time of driving | operation can be improved further.

  In one aspect of the present invention, a drowsiness detection unit that detects drowsiness of a driver who is driving the vehicle is provided, and when the drowsiness of the driver is detected by the drowsiness detection unit, the driver is awakened. And / or a driving control device for controlling driving of the vehicle, wherein the drowsiness detecting unit includes road surface state detecting means for detecting an uneven state of a road surface on which the vehicle is traveling, and a traveling direction of the vehicle. Steering angle detection means for detecting a steering angle for changing the driving angle, and / or steering force detection means for detecting a steering force when changing the traveling direction, detection result of the road surface state by the road surface state detection means, and A snoozing determination unit that determines whether the driver is drowsy based on a correlation with a detection result of the steering angle detection unit and / or the steering force detection unit, and the dozing determination unit The road above When it is predicted from the detection result of the state detection means that the traveling direction of the vehicle is changed due to disturbance to the vehicle according to the uneven state of the road surface, the steering angle detection means and / or the When the detection result of the steering force detection means is a steering angle and / or steering force for correcting the traveling direction of the vehicle, it is determined that the driver is awake, and the steering angle detection means, And / or the detection result of the steering force detection means is a steering angle and / or steering force that does not correct the traveling direction of the vehicle, even though the traveling direction is changed by the disturbance. First, when the steering angle for correcting the traveling direction and / or the steering force cannot be obtained for a predetermined time, it is determined that the driver is drowsy.

  Therefore, according to one aspect of the present invention, when the vehicle is traveling, it is predicted that the traveling direction of the vehicle is changed due to a disturbance to the vehicle body with respect to the road surface state detected by the road surface state detecting unit. When the detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force for correcting the traveling direction of the vehicle, the driver is awakened. It can be clearly determined that

  At the same time, according to one aspect of the present invention, during traveling of the vehicle, it is predicted that the traveling direction of the vehicle is changed due to disturbance to the vehicle body with respect to the road surface state detected by the road surface state detecting means. In this case, the detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force that does not correct the traveling direction of the vehicle, and the traveling direction is Despite being changed by a disturbance, when the steering angle and / or steering force for correcting the traveling direction is not obtained for a predetermined time, it is more accurately determined that the driver is drowsy. can do.

  Thus, according to one aspect of the present invention, the driver's drowsiness state can be reliably detected regardless of the road surface state. Thereby, the safety | security at the time of driving | operation can be improved significantly.

  Moreover, in one aspect of the present invention, it is preferable to include a wake-up unit that wakes up the driver when the sleepiness of the driver is detected by the sleepiness detection unit. As a result, it is possible to avoid driving while the driver is drowsy, so the safety during driving can be further improved.

  Furthermore, in one aspect of the present invention, it is preferable that the vehicle has a traveling control unit that controls traveling of the vehicle so as to reduce the speed of the vehicle when the sleepiness of the driver is detected by the sleepiness detecting unit. . As a result, regardless of whether the driver awakens or not, the vehicle can be controlled so that the vehicle speed is reduced and the vehicle is stopped. The performance can be further improved.

  Moreover, in one aspect of the present invention, the travel control means controls the travel of the vehicle so as not to deviate from the travel lane in which the vehicle travels, so that the vehicle deviates from the lane. Therefore, safety during driving can be further improved.

  According to the present invention, the drowsiness detection device that can reliably detect the driver's drowsiness regardless of the road surface state, and thus can significantly improve the safety during driving, and driving using the same. A control device can be realized.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. However, general vehicles can be widely applied as vehicles equipped with the drowsiness detection device of the present invention. Accordingly, the basic configuration, concept and control method, main hardware configuration, operation principle, and the like of the vehicle are known to those skilled in the art, and detailed description thereof is omitted here.

  FIG. 1 is a block diagram showing a schematic configuration in an embodiment of an operation control apparatus using a drowsiness detection apparatus according to the present invention.

  The driving control apparatus 1 according to the present embodiment includes a steering angle sensor 2 as a steering angle detection unit that detects a steering angle that is operated via a steering wheel in order to change the traveling direction of the vehicle, and steering when the traveling direction is changed. And a steering torque sensor 3 as steering force detection means for detecting force.

  Further, the operation control device 1 is disposed on the lower side of the vehicle, that is, a so-called unsprung lower end portion of the suspension, for example, as road surface state detecting means for detecting the uneven state (that is, the road surface state) of the road surface on which the vehicle is traveling The unsprung G sensor 4 is provided. Specifically, as shown in FIG. 2, the unsprung G sensor 4 (4R, 4L) is used for tires 11L, 11R which are left and right symmetric wheel portions in the vehicle 10 (here, front wheels will be described for convenience). Disturbances that are provided at the lower ends of the suspensions to be coupled (not shown) and that are input to the vehicle body via the suspensions and the like when the vehicle tires 11L and 11R move up and down in accordance with the unevenness of the road surface. It is a sensor for detecting.

  Incidentally, in this embodiment, the steering angle sensor 2 and the steering torque sensor 3 are disposed in the box of the steering gear 14 that is coupled to the steering shaft 13 that is coupled to the handle 12, but this is not restrictive.

  Furthermore, the driving control device 1 determines the driver's arousal state (that is, whether or not he is asleep) based on the vehicle speed sensor 5 that detects the speed of the vehicle and the detection results of the sensors 2 to 5. A dozing determination unit 7 and a driving control unit 9 as a traveling control means for automatically controlling the driving of the vehicle based on the determination of the dozing determination unit 7 are provided.

  In this case, the dozing determination unit 7 is provided with an input interface 6 as a connecting means between the sensors 2 to 5 and an output interface 8 between the operation control unit 9 and the input interface 6. The output interfaces 6 and 8 are connected to the corresponding sensors 2 to 5 and the operation control unit 9, respectively.

  The doze determination unit 7 correlates the detection result of the steering angle sensor 2 and / or the detection result of the steering torque sensor 3 input via the input interface 6 with the detection result of the unsprung G sensor 4, and the vehicle speed. Based on the vehicle speed detection result by the sensor 5, it is determined whether or not the driver of the vehicle is drowsy, that is, whether or not the vehicle is in a dozing state.

  Specifically, the dozing determination unit 7 includes a low-pass filter 71 (LPF: Low-Pass Filter) and a calculation unit 72. The low-pass filter 71 includes an electrical signal as a detection result of the steering angle sensor 2 and / or the steering torque sensor 3, an electrical signal as a detection result of the unsprung G sensors 4R and 4L, and a detection result of the vehicle speed sensor 5. Is a filter circuit that extracts a low frequency component by performing digital filter processing such as DSP processing (Digital Signal Processor) on the electrical signal. The computing unit 72 computes the movement of a wheel, which will be described later, and the direction of steering with respect to the movement (that is, the operation of the driver) based on the low frequency component extracted from each electrical signal by the low-pass filter 71, The driver is determined to fall asleep.

  At this time, in the dozing determination unit 7, the low-pass filter 71 performs filtering on the electrical signal as the detection result input from each of the sensors 2 to 5, thereby removing unnecessary high frequency components in the electrical signal. It can be suppressed. In this embodiment, the case where the low-pass filter 71 performs digital filter processing such as DSP processing has been described. However, the present invention is not limited to this, and the filter processing that removes high-frequency components from the electrical signal is essential. In addition to this, various general analog filtering processes may be performed.

  Here, since a link mechanism for changing the traveling direction of the vehicle (the direction of the tire) is connected to the wheel portion of the vehicle, when the wheel moves up and down, the link also moves up and down in a chain, A phenomenon that changes the direction of the tire occurs.

  That is, when the vehicle 10 is running, the wheel portion has a roll steer characteristic in which the vertical axis represents the suspension stroke and the horizontal axis represents the tire turning angle as shown in FIG. For this reason, when both the left and right wheels bounce, and the left and right wheels move in the same upward direction, the left tire 11L toward the vehicle traveling direction is directed to the outside of the vehicle body, and the right tire 11R is also coupled to the vehicle body. The direction is toward the outside, and the tires 11L and 11R are in opposite directions. As a result, the vector on which the vehicle 10 is going to travel is canceled, and the traveling direction of the vehicle 10 does not change (see FIG. 2).

  Similarly, when both the left and right wheels rebound, the left and right wheels 11L move toward the inside of the vehicle body, and the right tire 11R also has the vehicle body. Inward, the traveling direction of the vehicle 10 does not change as described above. As described above, the change in the direction of the tires 11L and 11R caused by the wheels moving up and down depending on the uneven state of the road surface is referred to as unsprung characteristics.

  However, when the left and right wheels move in reverse, for example, when the left wheel rebounds and the right wheel bounces, the left wheel moves downward and the right wheel moves upward. As an unsprung characteristic, since the tire 11L is directed to the inside of the vehicle body and the 11R is directed to the outside of the vehicle body, the vector on which the vehicle 10 is going to move indicates the right side in the traveling direction, and the traveling direction of the vehicle 10 is the right side. (Or vice versa).

  Therefore, in order to effectively determine that the traveling direction of the vehicle 10 changes due to the movement of the wheels caused by the unsprung characteristics due to the uneven state of the road surface, in other words, to determine with high accuracy, the dozing determination unit 7 Then, the filter processing in the low-pass filter 71 is performed.

  Thus, the dozing determination unit 7 has the steering angle detected by the steering angle sensor 2 on the vertical axis and the unsprung characteristics due to the road surface unevenness detected by the unsprung G sensors 4L and 4R on the horizontal axis. As shown in a), the steering direction (that is, the detection result of the steering angle sensor 2) and the traveling direction in which the direction of the vehicle 10 is expected to change depending on the road surface unevenness obtained as described above, and If the detection result of the steering torque sensor 3) is a result of a direction that corrects (cancels) the traveling direction in which the direction of the vehicle 10 is expected to change, it is accurately determined that the driver is awake. Can be determined.

  On the contrary, as shown in FIG. 4B, the dozing determination unit 7 controls the steering direction of the steering wheel (that is, the steering direction) with respect to the traveling direction in which the direction of the vehicle 10 is expected to be changed by the uneven state of the road surface. If the detection result of the angle sensor 2 and / or the detection result of the steering torque sensor 3) is a result that does not correct the traveling direction in which the direction of the vehicle 10 is expected to be changed, the driver is sleepy. It can be accurately determined that the child is tinged (in other words, asleep).

  Therefore, if the driving control unit 9 determines that the driver is in a dozing state based on the determination result of the dozing determination unit 7, a dedicated alarm device or navigation device mounted on the vehicle is separately provided. By controlling the device by a method such as diverting, the driver is given a flash, a warning sound, an announcement, or the like is generated, and the driver is alerted visually and audibly to awaken to sleep. In addition to this, the driving control unit 9 controls the traveling of the vehicle that is driven to fall asleep, thereby reducing the speed of the vehicle and retracting it to the nearest safety zone. At this time, the driving control unit 9 may control the traveling of the vehicle so that the vehicle does not travel out of the lane.

  Thus, according to the operation control apparatus 1 of the present embodiment, the vehicle 10 travels due to the disturbance applied to the vehicle body according to the road surface unevenness detected by the unsprung G sensors 4L and 4R. When the traveling direction of the vehicle 10 is predicted to be changed, the detection result of the steering angle sensor 2 and / or the steering torque sensor 3 indicates a steering angle for correcting the traveling direction of the vehicle 10, and / or Alternatively, when the steering force is applied, it can be clearly determined that the driver is awake.

  At the same time, according to the present embodiment, the vehicle 10 travels due to the disturbance given to the vehicle body according to the road surface unevenness detected by the unsprung G sensors 4L, 4R. When the direction is predicted to be changed, the detection result of the steering angle sensor 2 and / or the steering torque sensor 3 does not correct the traveling direction of the vehicle 10 and / or the steering. If the steering angle for correcting the traveling direction and / or the steering force is not obtained for a predetermined time even though the traveling direction is changed by the disturbance, the driver of the vehicle 10 It can be determined with higher accuracy that the person is drowsy. Thus, according to the driving control apparatus 1 of the present embodiment, the driver's drowsiness state can be reliably detected, and thus the safety during driving can be significantly improved.

  Further, according to the driving control device 1 of the present embodiment, when the driver's drowsiness is detected by the drowsiness determination unit 7, a warning sound for awakening the driver is generated or an announcement is made, so that the driver Therefore, it is possible to prevent the driver from continuing to drive while drowsy, and to further improve the safety during driving.

  Furthermore, according to the driving control apparatus 1 of the present embodiment, when the driver's drowsiness is detected by the dozing determination unit 7, the driving control unit 9 causes the vehicle 10 to travel so as to reduce the speed of the vehicle 10. Control. As a result, regardless of whether the driver awakens or not, the vehicle can be controlled so that the vehicle speed is reduced and the vehicle is stopped. The performance can be further improved.

  In addition, at this time, the operation control unit 9 controls the traveling of the vehicle 10 so as not to depart from the traveling lane in which the vehicle 10 is traveling, so that the vehicle 10 deviates from the lane in advance. This can be avoided, and safety during driving can be further improved.

  Thus, according to the driving control apparatus 1 of the present embodiment, the driver's drowsiness state can be reliably detected regardless of the road surface state. Thereby, the safety | security at the time of driving | operation can be improved significantly.

  In the present embodiment, it is desirable to use the detection result of the steering torque sensor 3 in addition to the detection result of the steering angle sensor 2 described above for the determination of dozing in the dozing determination unit 7. Thereby, when the correction amount of the steering angle with respect to the traveling direction in which the direction of the vehicle 10 is expected to be changed depending on the uneven state of the road surface (that is, the steering operation amount in the direction that cancels the traveling direction that is expected to be changed) is small. Even so, by detecting the amount of steering torque, the direction of steering operation can be acquired with high accuracy and sensitivity, and this makes it possible to make the doze determination more reliably. That is, the driver's drowsiness can be determined with higher accuracy.

  The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

  The present invention can be used in the automobile manufacturing industry, the automobile parts manufacturing industry, and the like. However, the specifications of the applied vehicle shape, size, displacement, etc. can be applied to all types.

It is a block diagram which shows schematic structure of the driving | running control apparatus using the drowsiness detection apparatus concerning one Example of this invention. 1 is a perspective view schematically showing a vehicle on which an operation control apparatus according to an embodiment of the present invention is mounted. It is a graph which shows the characteristic of the roll steer showing the cutting angle of the tire with respect to a suspension stroke. The characteristic of the unsprung state by the uneven state of a road surface is represented, (a) is a graph which shows a driver's awakening, and (b) is a driver's nap.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Operation control apparatus 2 ... Steering angle sensor (steering angle detection means)
3. Steering torque sensor (steering force detection means)
4 (4L, 4R) ... Unsprung G sensor (road surface condition detecting means)
5 ... Vehicle speed sensor 6 ... Input interface 7 ... Drowsiness determination unit (drowsiness detection device)
71 ... Low-pass filter 72 ... Calculation unit (sleeping determination means)
8 ... Output interface 9 ... Operation control unit (travel control means)
10 ... Vehicle 11L ... Left tire 11R ... Right tire 12 ... Steering wheel (steering wheel)
13 ... Steering shaft 14 ... Steering gear

Claims (7)

A drowsiness detection device for detecting drowsiness of a driver driving a vehicle,
Road surface state detecting means for detecting the uneven state of the road surface on which the vehicle is traveling;
Steering angle detecting means for detecting a steering angle for changing the traveling direction of the vehicle, and / or steering force detecting means for detecting a steering force for changing the traveling direction;
Whether the driver is drowsy based on the correlation between the detection result of the road surface condition by the road surface condition detection means and the detection result of the steering angle detection means and / or the steering force detection means. A snoozing determination means for determining,
The dozing determination means includes
When it is predicted from the detection result of the road surface state detection means that the traveling direction of the vehicle is changed due to disturbance to the vehicle according to the uneven state of the road surface,
When the detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force for correcting the traveling direction of the vehicle, the driver is awakened. It is determined that
The detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force that does not correct the traveling direction of the vehicle, and the traveling direction is caused by the disturbance. Despite being changed, when the steering angle for correcting the traveling direction and / or the steering force cannot be obtained for a predetermined time, it is determined that the driver is drowsy. Detection device. The drowsiness detection device according to claim 1, wherein the road surface state detection means is a G sensor provided on each of left and right symmetrical wheel portions of the vehicle. The sleepiness detection apparatus according to claim 1, further comprising: awakening means for waking up the driver when the driver's sleepiness is detected by the doze determination means. A drowsiness detection unit that detects drowsiness of a driver who is driving the vehicle, and when the drowsiness of the driver is detected by the drowsiness detection unit, the driver is awakened and / or the vehicle is driven An operation control device for controlling
The sleepiness detection unit
Road surface state detecting means for detecting the uneven state of the road surface on which the vehicle is traveling;
Steering angle detecting means for detecting a steering angle for changing the traveling direction of the vehicle, and / or steering force detecting means for detecting a steering force for changing the traveling direction;
Whether the driver is drowsy based on the correlation between the detection result of the road surface condition by the road surface condition detection means and the detection result of the steering angle detection means and / or the steering force detection means. A snoozing determination means for determining,
The dozing determination means includes
When it is predicted from the detection result of the road surface state detection means that the traveling direction of the vehicle is changed due to disturbance to the vehicle according to the uneven state of the road surface,
When the detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force for correcting the traveling direction of the vehicle, the driver is awakened. It is determined that
The detection result of the steering angle detection means and / or the steering force detection means is a steering angle and / or steering force that does not correct the traveling direction of the vehicle, and the traveling direction is caused by the disturbance. The driving is characterized in that the driver is drowsy when the steering angle and / or the steering force for correcting the traveling direction is not obtained despite the change for a predetermined time. Control device. The driving control device according to claim 4, further comprising: awakening means for waking up the driver when the sleepiness of the driver is detected by the sleepiness detection unit. 5. The driving according to claim 4, further comprising travel control means for controlling travel of the vehicle so as to reduce the speed of the vehicle when the sleepiness of the driver is detected by the sleepiness detection unit. Control device. The driving control device according to claim 6, wherein the traveling control unit controls traveling of the vehicle so as not to deviate from a traveling lane in which the vehicle is traveling.

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