JP2016022787A - Stimulation imparting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To impart stimulation becoming a proper feeling value to a stimulation object person, regardless of a greatness of disturbance.SOLUTION: Greatness of floor vibration is detected by a floor acceleration sensor 14. When a disturbance determination part 30 determines that there is disturbance, a steering vibration calculation part 32 calculates a greatness of steering vibration for materializing a feeling value to the greatness of the floor vibration detected by a floor acceleration sensor 14 based on the ratio of the greatness of the floor vibration and the greatness of the steering vibration, predetermined to the feeling value of indicating the greatness of the steering vibration felt by a driver. A vibration control part 34 controls a reaction actuator 16 so as to impart the steering vibration of the greatness calculated by the steering vibration calculation part 32.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a stimulus applying device, and more particularly, to a stimulus applying device that applies a stimulus to a person to be stimulated.

  2. Description of the Related Art Conventionally, there is known an electric power steering apparatus that alerts a user that a failure has occurred in a power steering apparatus by applying vibration to the steering (Patent Document 1). In this electric power steering device, it is easy to notice by increasing vibration.

  Also, a vehicular warning device is known that changes the strength of vibrating the steering wheel in accordance with the degree of urgency in order to make the driver recognize a vehicle abnormality (Patent Document 2).

  Further, there is known a dozing prevention device that estimates the driver's sleepiness and changes the intensity of vibration stimulation according to the strength of sleepiness to give to the driver (Patent Document 3).

JP 2013-251936 A JP2013-166534A JP 2010-186276 A

  The problems of the above-mentioned Patent Documents 1 to 3 will be described using an alarm by steering vibration as an example.

  In the case of the prior art in which the urgency or importance of an alarm is proportional to the magnitude (amplitude) of the steering vibration, the driver always treats the steering vibration at the same level (sensation) regardless of disturbance (such as vehicle vibration). It is desirable to feel as a quantity) (see FIG. 7).

  However, due to human sensory characteristics, when vibration is transmitted from the vehicle body (floor or seat) to the driver, there is a problem that the magnitude of the steering vibration may be weakened.

  With respect to this problem, in the technique described in Patent Document 1 described above, when a disturbance enters, it is difficult to feel steering vibration and there is a possibility that a failure is not noticed. Further, in the technique described in Patent Document 2, the vehicle issues a warning with a high degree of urgency. However, when a disturbance enters, the vibration may be weakened and the driver may erroneously recognize that the degree of urgency is low. . In the technique described in Patent Document 3 described above, the stimulation is increased according to the strength of sleepiness. However, the stimulus may be weakened by the stimulation of disturbance, and the effect of preventing sleepiness may not be obtained.

  On the other hand, it is possible to use a large stimulus from the beginning in anticipation of a decrease in the sense of stimulation due to disturbance such as vibration, but this method increases the discomfort of the driver and adverse effects on the operation, so it feels appropriate It is desirable to maintain a level of stimulation. In addition, there is a method of presenting vibration and other information such as an image together depending on the degree of urgency, but the cost becomes high.

  The present invention has been made in order to solve the above-described problems, and provides a stimulus applying device capable of applying a stimulus having an appropriate sensory value to a person to be stimulated regardless of the magnitude of a disturbance. The purpose is to provide.

  In order to achieve the above object, a stimulus applying apparatus according to the present invention includes a stimulus applying unit that applies a stimulus to a stimulated person, a disturbance detecting unit that detects the magnitude of the disturbance, and the stimulated person feels Based on a ratio between the magnitude of the disturbance and the magnitude of the stimulus, which is predetermined for a sensory value indicating the magnitude of the stimulus, with respect to the magnitude of the disturbance detected by the disturbance detection unit, A stimulus calculation unit that calculates the magnitude of the stimulus for realizing the sensory value, and a control unit that controls the stimulus application unit to apply the stimulus of the size calculated by the stimulus calculation unit; It is comprised including.

  According to the stimulus applying apparatus according to the present invention, the disturbance detecting unit detects the magnitude of the disturbance. Detected by the disturbance detection unit based on a ratio between the magnitude of the disturbance and the magnitude of the stimulus, which is determined in advance by the stimulus calculation unit with respect to a sensory value indicating the magnitude of the stimulus felt by the stimulated person The magnitude of the stimulus for realizing the sensory value is calculated with respect to the magnitude of the disturbance.

  Then, the stimulus applying unit is controlled by the control unit so as to apply the stimulus having the magnitude calculated by the stimulus calculating unit.

  Thus, based on the ratio between the magnitude of the disturbance and the magnitude of the stimulus, which is predetermined for the sensory value indicating the magnitude of the stimulus felt by the person to be stimulated, the magnitude of the detected disturbance is By calculating the magnitude of the stimulus for realizing the sensory value and applying the stimulus of the calculated magnitude, the appropriate sensory value can be obtained for the subject regardless of the magnitude of the disturbance. Irritation can be applied.

  The stimulation applying apparatus according to the present invention is predetermined for each of the plurality of stimulation levels, a request receiving unit that receives a stimulation request for applying any one of a plurality of predetermined stimulation levels, and the stimulation level. And a sensory value determining unit that determines the sensory value for the stimulus level of the stimulus request received by the request receiving unit based on the sensory value, wherein the stimulus calculating unit feels the stimulated person Based on a ratio between the magnitude of the disturbance and the magnitude of the stimulus, which is predetermined for each of the sensory values indicating the magnitude of the stimulus, the magnitude of the disturbance detected by the disturbance detection unit Thus, the size of the stimulus for realizing the sensory value determined by the sensory value determining unit can be calculated. Thereby, regardless of the magnitude of the disturbance, it is possible to give a stimulus having a sensory value determined with respect to the stimulus level of the stimulus request to the subject.

  The ratio may be a ratio of the magnitude of the disturbance to the mth power (m is 1 or more) and the magnitude of the stimulus to the nth power (n is 1 or more).

  The stimulated person is a driver of a vehicle, and the stimulus applying unit applies a stimulus to the driver who is the stimulated person via a steering wheel, a pedal, or a seat, and the disturbance detecting unit is The magnitude of the vibration of the vehicle can be detected as the magnitude of the disturbance.

  The stimulus applying unit may apply vibration as the stimulus.

  As described above, according to the stimulus applying apparatus of the present invention, based on the ratio between the magnitude of the disturbance and the magnitude of the stimulus, which is predetermined for the sensory value indicating the magnitude of the stimulus felt by the person to be stimulated. , By calculating the magnitude of the stimulus for realizing the sensory value with respect to the detected magnitude of the disturbance, and applying the stimulus of the calculated magnitude, regardless of the magnitude of the disturbance, An effect that a stimulus having an appropriate sensory value can be given to the person to be stimulated is obtained.

It is a graph which shows a sensory characteristic map in case there exists floor vibration. It is the schematic which shows the structure of the irritation | stimulation apparatus which concerns on embodiment of this invention. It is a figure for demonstrating the sense value of a steering vibration. It is a graph which shows a sensory characteristic map when there is no floor vibration. It is a flowchart which shows the content of the vibration level setting process routine in the control apparatus of the stimulus imparting apparatus which concerns on embodiment of this invention. It is a flowchart which shows the content of the vibration control processing routine in the control apparatus of the stimulus imparting apparatus which concerns on embodiment of this invention. It is a graph which shows the relationship between the magnitude | size of the floor vibration in the prior art, and the sense value of steering vibration.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, a case where the present invention is applied to a stimulus applying apparatus that applies vibration to a driver of a vehicle via a steering will be described as an example.

  First, the principle of the embodiment of the present invention will be described.

  When vibration disturbance is transmitted from the vehicle body (floor seat) to the driver, the sense of steering vibration may be less felt than when there is no vibration (when the sense of steering vibration is reduced).

  However, if you want to convey information about the vehicle and surroundings (alarms) to the driver with the magnitude of the steering vibration (eg strong / weak), the sensory value that indicates the magnitude of the vibration felt by the driver changes due to disturbance such as vibration. That is not preferable.

  Therefore, it is possible to accurately convey information to the driver by maintaining the strength of the steering vibration at a level that feels constant according to the magnitude of the disturbance.

  Here, a map representing the relationship between the three by investigating the relationship between the magnitude of the steering vibration (presentation of information and warning), the magnitude of floor vibration (vibration disturbance), and the sensory value of the steering vibration through experiments by the inventors. (Sensory characteristic map: see FIG. 1) was derived. Based on this map, even if the magnitude of the floor vibration is different, the magnitude (correction level) of the steering vibration can be calculated so as to make it feel like the steering vibration of the same magnitude.

  Further, this method can be applied not only to steering, but also to information transmission by seat, accelerator, brake pedal vibration, and the like.

  Next, an embodiment of the present invention will be described.

  As shown in FIG. 2, the stimulus applying apparatus 10 according to the present embodiment includes a steering acceleration sensor 12 installed on a steering (not shown), a floor acceleration sensor 14 installed on a vehicle floor seat, and a steering acceleration sensor. A reaction force actuator 16 and a control device 18 for controlling the operation of the reaction force actuator 16 are provided. The reaction force actuator 16 is an example of a stimulus applying unit, and the floor acceleration sensor 14 is an example of a disturbance detecting unit. Steering is an example of a vibrating object, and a vehicle floor is an example of a vibrating object different from the vibrating object.

  The steering acceleration sensor 12 detects the magnitude of steering vibration in a predetermined direction (for example, the steering circumferential direction).

  The floor acceleration sensor 14 detects the magnitude of floor vibration in the vertical direction, for example.

  The reaction force actuator 16 is operated to apply, for example, circumferential vibration to the steering. The magnitude of vibration by the reaction force actuator is controlled by the control device 18.

  The control device 18 has a vibration level setting unit 20 for setting the magnitude of the steering vibration to be given to the driver for each vibration level, and a sensation indicating the magnitude of the vibration felt by the driver with and without the floor vibration. Based on the sensory characteristic map storage unit 22 storing a sensory characteristic map indicating the relationship between the value and the magnitude of the steering vibration, and the sensory characteristic map when there is no floor vibration, the vibration level setting unit 20 sets each vibration level. A sense value conversion unit 24 that converts the magnitude of the steering vibration into a sense value for each vibration level, and a level sense value storage unit 26 that stores the magnitude and sense value of the steering vibration for each vibration level. .

  The sensory characteristic map stored in the sensory characteristic map storage unit 22 when there is no floor vibration is experimentally created in advance as described below.

  Here, as shown in FIG. 3, the sensory value of steering vibration is the magnitude of vibration in the steering circumferential direction that is felt by the hand to the forearm.

  First, in an environment where there is no floor vibration as a disturbance, a certain amount of steering vibration in the steering circumferential direction is determined as a reference (sensory value 1), and a sensory value for the magnitude of the vibration is set to one.

  Next, a vibration having a magnitude of n times the reference is applied, the subject is asked how many times the vibration feels relative to the reference, and a sensory value for the vibration is measured. Do this multiple times.

  The correspondence relationship between the magnitudes of the plurality of steering vibrations and the sensory amount is measured and held as a function as shown in FIG. In the function shown in FIG. 4, the magnitude of vibration (feeling value) felt by the driver is β, and the magnitude of the steering vibration is α. The function shown in FIG. 4 is created as a sensory characteristic map when there is no floor vibration.

  In addition, the sensory characteristic map stored in the sensory characteristic map storage unit 22 when there is floor vibration is experimentally created in advance as described below.

  A combination of several different levels of steering vibration and floor vibration in the same direction as in Fig. 4 above, is given to the subject and asks the subject how many times it feels larger than the reference. The magnification for the sensory value 1 in FIG. 4 is measured as a sensory value.

  When there is floor vibration (disturbance) (δ> 0), the ratio of the m-th power of the steering vibration magnitude (physical quantity) to the n-th power of the floor vibration magnitude (physical quantity) at the time of measurement is expressed as (1 ) Calculate according to the formula. The sensory value is plotted and held as a function (see Fig. 1 above). Here, the ratio to the sensory value β is γ. m and n are 1 or more and are determined experimentally.

  The function as shown in FIG. 1 is created as a sensory characteristic map when there is floor vibration.

  From FIG. 1 above, in order to maintain the level of the sense value β, the steering vibration (α ′) is increased with respect to the magnitude (δ) of the floor vibration so that the ratio becomes γ (however, α ′ ≧ α).

  Here, the magnitude α ′ of the steering vibration for maintaining the ratio γ can be obtained from the following equation (2).

  The steering vibration when there is no floor vibration (disturbance) (δ = 0) is α ′ = α.

  The vibration level setting unit 20 operates the reaction force actuator 16 at various frequencies or amplitudes for each of a plurality of vibration levels according to an adjustment operation by the driver before traveling, as information presentation of the vibration level. The frequency or amplitude of the steering vibration that is considered good is set, and the magnitude of the steering vibration detected by the steering acceleration sensor 12 is acquired for each vibration level.

  The sensory value conversion unit 24 uses the sensory characteristic map stored in the sensory characteristic map storage unit 22 when there is no floor vibration, and the magnitude of the steering vibration for each vibration level obtained by the vibration level setting unit 20. Is converted into a sensory value for each vibration level and stored in the level sensory value storage unit 26.

  The level sense value storage unit 26 stores the magnitude and sense value of the steering vibration for each vibration level.

  The control device 18 also includes a vibration request receiving unit 28 that receives a steering vibration request including a desired vibration level from an external device (for example, an alarm device) that uses steering vibration, and floor vibration from the floor acceleration sensor 14. Based on the disturbance determination unit 30 that determines whether or not there is a disturbance based on the magnitude, and the magnitude of the floor vibration from the floor acceleration sensor 14 and the sensory characteristic map when there is the floor vibration, A steering vibration calculation unit 32 that calculates the magnitude of the steering vibration for realizing the vibration level, and a vibration control unit 34 that operates the reaction force actuator 16 so as to realize the vibration level required for the steering vibration are provided. . The steering vibration calculation unit 32 is an example of a sensory value determination unit and a stimulus calculation unit.

  The disturbance determination unit 30 determines that there is a disturbance when the magnitude of the floor vibration from the floor acceleration sensor 14 is larger than a threshold value (for example, 0).

  When the disturbance determination unit 30 determines that there is a disturbance, the steering vibration calculation unit 32 acquires the sensory value β corresponding to the vibration level of the steering vibration request from the level sensory value storage unit 26 and determines the sensory value β. A ratio γ with respect to the sensation value β is acquired from the sensation characteristic map when there is floor vibration stored in the characteristic map storage unit 22. The steering vibration calculation unit 32 realizes the vibration level of the steering vibration request according to the above equation (2) based on the floor vibration magnitude δ from the floor acceleration sensor 14 and the acquired ratio γ to the sensed value β. Calculate the steering vibration magnitude α ′.

  When the disturbance determination unit 30 determines that there is no disturbance, the steering vibration calculation unit 32 acquires the steering vibration magnitude α corresponding to the vibration level of the steering vibration request from the level sense value storage unit 26, and the steering vibration A steering vibration magnitude α ′ for realizing the required vibration level is assumed.

  The vibration control unit 34 operates the reaction force actuator 16 based on the steering vibration magnitude α ′ calculated by the steering vibration calculation unit 32. Thereby, the vibration level of the steering vibration request is realized.

  Next, the operation of the stimulus applying apparatus 10 according to the embodiment of the present invention will be described.

  When the vehicle is stopped and the driver is holding the steering wheel by hand, if the vibration level is instructed by the driver's operation, the control device 18 causes the vibration shown in FIG. A level setting processing routine is executed.

  First, in step 100, the reaction force actuator 16 is operated at the magnitude of the steering vibration with respect to any one of the plurality of vibration levels, and the frequency or amplitude of the steering vibration is increased according to the driver's adjustment operation. The magnitude of the steering vibration that is good for the driver as information presentation of the target vibration level is determined. In step 102, the magnitude of the steering vibration corresponding to the target vibration level is acquired from the steering acceleration sensor 12, and in step 104, the operation of the reaction force actuator 16 is stopped to stop the steering vibration.

  In the next step 106, the magnitude of the steering vibration corresponding to the target vibration level obtained in step 102, based on the sensory characteristic map stored in the sensory characteristic map storage unit 22 when there is no floor vibration. Are converted into corresponding sensory values, and in step 108, the magnitude of the steering vibration corresponding to the target vibration level acquired in step 102 and the sensory value converted in step 106 are acquired in correspondence with the target vibration level. The value is stored in the level sense value storage unit 26.

  In step 110, it is determined whether or not the processing of step 100 to step 108 has been executed for all vibration levels. If there is a vibration level in which the processing of step 100 to step 108 is not executed, Returning to step 100, the process is repeated for the vibration level. On the other hand, when the processes in steps 100 to 108 are executed for all vibration levels, the vibration level setting process routine is terminated.

  Next, the vibration control routine shown in FIG. 6 is executed by the control device 18 when the driver holds the steering wheel by hand for driving the vehicle.

  First, in step 120, it is determined whether or not a steering vibration request including a desired vibration level has been received from an alarm device mounted on the host vehicle. When a steering vibration request is received from an alarm device mounted on the host vehicle, the routine proceeds to step 122.

  In step 122, the magnitude of floor vibration is acquired from the floor acceleration sensor 14. In step 124, it is determined whether or not there is a disturbance depending on whether or not the magnitude of the floor vibration acquired in step 122 is greater than or equal to a threshold value (for example, 0). If it is determined that there is no disturbance, in step 126, the magnitude of the steering vibration corresponding to the vibration level of the steering vibration request received in step 120 is acquired from the level sense value storage unit 26. Then, the reaction force actuator 16 is operated with the acquired magnitude of the steering vibration, the steering vibration at the vibration level required for the steering vibration is applied to the driver, and the process proceeds to step 136.

  On the other hand, if it is determined in step 124 that there is a disturbance, a sensory value corresponding to the vibration level of the steering vibration request received in step 120 is acquired from the level sensory value storage unit 26 in step 128. To decide.

  In step 130, the ratio of the steering vibration and the floor vibration corresponding to the sensory value acquired in step 128 is acquired from the sensory characteristic map in the case where there is floor vibration, stored in the sensory characteristic map storage unit 22. To do.

  In step 132, the magnitude of steering vibration corresponding to the ratio acquired in step 130 is calculated according to the above equation (2) based on the ratio acquired in step 130 and the magnitude of floor vibration acquired in step 122. calculate. In the next step 134, the reaction force actuator 16 is operated with the magnitude of the steering vibration calculated in the above step 132, the steering vibration of the vibration level required for the steering vibration is applied to the driver, and the process proceeds to step 136. .

  In step 136, it is determined whether or not to end the steering vibration. For example, when a steering vibration stop request is received from another device mounted on the vehicle, it is determined that the steering vibration is to be ended, and in step 138, the reaction force actuator 16 is stopped, the steering vibration is stopped, The vibration control processing routine is terminated. On the other hand, if it is determined in step 136 that the steering vibration is not terminated, the process returns to step 122.

  As described above, according to the stimulus applying apparatus according to the embodiment of the present invention, for each of the sensory values β indicating the magnitude of the vibration felt by the driver, the magnitude of the floor vibration and the magnitude of the steering vibration are Based on a predetermined sensory characteristic map, the ratio γ is obtained as a ratio to the desired sensory value β, and the magnitude of the steering vibration for realizing the sensory value β is determined with respect to the detected floor vibration magnitude. By calculating and applying the steering vibration of the calculated magnitude, it is possible to give the driver a steering vibration having a desired sensory value regardless of the magnitude of the disturbance.

  In the above embodiment, the case where the mechanism for applying vibration is the reaction force actuator 16 has been described as an example. However, the present invention is not limited to this. For example, using a reaction force motor, You may make it provide a vibration.

  In addition, since continuous vibration presentation results in familiarity with vibration (decrease in sensation), intermittent presentation (eg, 2 second vibration → 1 second rest → 2 second vibration) may be performed. Alternatively, it may be presented while increasing the amplitude in consideration of a decrease in sensation (for example, 10% increase after 10 seconds).

  Moreover, although the case where the steering vibration request | requirement was received from the alarm device using steering vibration was demonstrated to the example, it is not limited to this. A steering vibration request may be received from an external device for guiding operation or attention.

  Moreover, although the case where the vibration stimulus is applied by the vibration via the steering wheel is described as an example, the present invention is not limited to this, and the vibration stimulus is applied by the vibration via the brake pedal, the accelerator pedal, or the seat. May be.

  Moreover, although the case where the vibration level has a plurality of levels has been described as an example, the present invention is not limited to this, and the vibration level may be one level (on / off).

  Further, the target vibration direction may be not only up and down, left and right, and front and rear, but also all directions.

  Moreover, although the case where the floor vibration is detected as a disturbance has been described as an example, the present invention is not limited to this, and the vibration that causes the disturbance may be detected on the suspension.

  Moreover, although the case where vibration was applied as a stimulus was described as an example, the present invention is not limited to this, and a stimulus such as electricity, a magnetic field, or pressure may be applied.

  Moreover, although the case where irritation | stimulation was provided with respect to the driver of a motor vehicle was demonstrated to the example, it is not limited to this, You may provide irritation | stimulation with respect to people other than the driver of a motor vehicle. For example, you may apply when giving a stimulus with respect to the operator of the electric wheelchair for elderly people, or the operator of a senior car.

DESCRIPTION OF SYMBOLS 10 Stimulation provision apparatus 12 Steering acceleration sensor 14 Floor acceleration sensor 16 Reaction force actuator 18 Control apparatus 20 Vibration level setting part 22 Sensory characteristic map memory | storage part 24 Sensory value conversion part 26 Level sensory value memory | storage part 28 Vibration request reception part 30 Disturbance determination part 32 Steering vibration calculation unit 34 Vibration control unit

Claims (6)

A stimulus applying unit for applying a stimulus to the stimulated person;
A disturbance detector for detecting the magnitude of the disturbance,
The disturbance detected by the disturbance detector based on a ratio between the magnitude of the disturbance and the magnitude of the stimulus, which is predetermined for a sensory value indicating the magnitude of the stimulus felt by the person to be stimulated. A stimulus calculator for calculating the magnitude of the stimulus for realizing the sensory value with respect to the magnitude;
A control unit that controls the stimulus applying unit to apply the stimulus of the magnitude calculated by the stimulus calculating unit;
A stimulating device comprising: A request receiving unit that receives a stimulus request for applying any one of a plurality of predetermined stimulus levels;
A sensory value determining unit that determines the sensory value for the stimulus level of the stimulus request received by the request receiving unit based on the sensory value predetermined for each of the plurality of stimulus levels. ,
The stimulus calculation unit is configured to detect the disturbance based on a ratio between the magnitude of the disturbance and the magnitude of the stimulus, which is determined in advance for each of the sensory values indicating the magnitude of the stimulus felt by the stimulated person. The stimulus applying apparatus according to claim 1, wherein a magnitude of the stimulus for realizing the sensory value determined by the sensory value determining unit is calculated with respect to the magnitude of the disturbance detected by a unit.   3. The ratio according to claim 1 or 2, wherein the ratio is a ratio of the magnitude of the disturbance to the mth power (m is 1 or more) and the magnitude of the stimulus to the nth power (n is 1 or more). Stimulation device. The stimulated person is a vehicle driver,
The stimulus applying unit applies a stimulus to a driver who is a person to be stimulated via a steering wheel, a pedal, or a seat,
The stimulus applying apparatus according to any one of claims 1 to 3, wherein the disturbance detection unit detects the magnitude of vibration of the vehicle as the magnitude of the disturbance.   The stimulus applying apparatus according to claim 1, wherein the stimulus applying unit applies vibration as the stimulus. The stimulus applying unit applies vibration as the stimulus via a vibrating object,
The stimulus applying apparatus according to claim 5, wherein the disturbance detecting unit detects the magnitude of vibration of a vibrating object different from the vibrating object as the magnitude of the disturbance.

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