JP2018147247A - Driver body conditions recovery support device, method, and program - Google Patents

Driver body conditions recovery support device, method, and program Download PDF

Info

Publication number
JP2018147247A
JP2018147247A JP2017041900A JP2017041900A JP2018147247A JP 2018147247 A JP2018147247 A JP 2018147247A JP 2017041900 A JP2017041900 A JP 2017041900A JP 2017041900 A JP2017041900 A JP 2017041900A JP 2018147247 A JP2018147247 A JP 2018147247A
Authority
JP
Japan
Prior art keywords
driver
stability
automatic driving
body condition
condition
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2017041900A
Other languages
Japanese (ja)
Other versions
JP2018147247A5 (en
Inventor
芽衣 上谷
Mei Kamiya
芽衣 上谷
啓 菅原
Hiroshi Sugawara
啓 菅原
岡地 一喜
Kazuyoshi Okaji
一喜 岡地
充恵 鵜野
Mitsue Uno
充恵 鵜野
光司 滝沢
Koji Takizawa
光司 滝沢
Original Assignee
オムロン株式会社
Omron Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オムロン株式会社, Omron Corp filed Critical オムロン株式会社
Priority to JP2017041900A priority Critical patent/JP2018147247A/en
Publication of JP2018147247A publication Critical patent/JP2018147247A/en
Publication of JP2018147247A5 publication Critical patent/JP2018147247A5/ja
Application status is Pending legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/08Estimation 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
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00Alarms responsive to a single specified undesired or abnormal operating condition and not elsewhere provided for
    • G08B21/02Alarms for ensuring the safety of persons
    • G08B21/06Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems

Abstract

An object of the present invention is to support recovery of a lowered physical condition of a driver that affects the driving operation of the driver without impairing safety. A driver awakening support device is based on a sensing result of a stability determination unit that determines the stability of automatic driving by an automatic driving control device and a driver state detection sensor that detects the state of a driver of a vehicle. A body condition determination unit that determines the physical condition of the driver, and when the body condition determination unit determines that the driver's physical condition has fallen below a preset physical condition threshold, the body condition recovery support is provided to the driver. And a body condition recovery support unit for the body condition. The body condition recovery support unit changes the stimulus given to the driver as the body condition recovery support based on the stability of the automatic driving determined by the stability determination unit. [Selection] Figure 2

Description

  The present invention relates to a driver physical condition recovery support apparatus, method, and program for supporting recovery of a driver's physical condition that is lowered in an automatic driving mode of a vehicle.

  The driver has to continue the same posture for driving operation for a long time, and fatigue accumulates, which causes stiff shoulders and neck stiffness. Therefore, in recent years, a vehicle equipped with an automatic driving control device that automatically controls the driving operation of the vehicle has been proposed.

  The driver of the vehicle is required to be sufficiently awake while driving the vehicle. However, on the other hand, during such automatic driving, the driver is not driving, so the driver is likely to become sleepy. The driver of the vehicle is required to be sufficiently awake while driving the vehicle, and this is the same even during automatic driving. This is because, in the present situation, the driving operation is not completely left to the automatic driving control device, and it is necessary to be able to cope with an emergency situation.

  Under such circumstances, a device for awakening the driver's sleepiness during automatic driving, in other words, a device for promoting the driver's awakening has been proposed. For example, Japanese Patent Laying-Open No. 2015-032291 (hereinafter referred to as Patent Document 1) determines whether or not automatic driving can be continued during automatic driving, and in addition, the driver makes a doze or the like. A device is disclosed that determines whether or not the vehicle is capable of normal driving, and warns the driver even if automatic driving can be continued if the vehicle is not in a normal driving state. .

Japanese Patent Laying-Open No. 2015-032291

  The above-mentioned Patent Document 1 does not disclose how to give a warning specifically. In general, it is assumed that the driver is given a passive stimulus such as sound, vibration, light, and scent.

  Currently, development is progressing in methods and techniques for detecting driver drowsiness, stimuli given to the driver, and how to give the stimulus. However, the degree of improvement of the driver's arousal level varies depending on the stimulus. In addition, when there is a high possibility that the automatic operation mode is suddenly switched to the manual operation mode for some reason, it is preferable that the stimulus given to the driver is a stimulus that can return to the manual operation.

  Further, the decrease in the driver's physical condition that affects the driving operation of the driver includes not only sleepiness but also stiff shoulders and neck stiffness due to fatigue accumulation. It is expected that the driver's physical condition such as shoulder and neck stiffness may be recovered by giving the driver some kind of stimulation.

  However, in this case as well, the degree of recovery of the driver's body condition varies depending on the stimulus as in the case of sleepiness described above. Similarly, when there is a high possibility that the automatic operation mode is switched to the manual operation mode, it is preferable that the stimulus given to the driver is a stimulus that can return to the manual operation.

  The present invention is intended to provide a driver body condition recovery support apparatus, method, and program capable of supporting recovery of a lowered body condition of a driver without impairing safety.

  In order to solve the above-described problem, a first aspect of the present invention is a driving for supporting recovery of a lowered body condition of a driver when the vehicle is equipped with an automatic driving control device and the vehicle is in an automatic driving mode. A body condition recovery support device based on a sensing result of a stability determination unit that determines the stability of automatic driving by the automatic driving control device and a driver state detection sensor that detects the state of the driver of the vehicle Body condition determination unit for determining the driver's body condition, and body condition recovery when the body condition determination unit determines that the driver's body condition is lower than a preset body condition threshold value. And a physical condition recovery support unit that provides support to the driver. The body condition recovery support unit changes the stimulus given to the driver as the body condition recovery support based on the stability of the automatic driving determined by the stability determination unit.

  The driver physical condition recovery support device according to the second aspect of the present invention is the driver physical condition recovery support device according to the first aspect, in which the physical condition recovery support unit is configured to be the driver by the physical condition determination unit. When it is determined that the body condition of the vehicle is lower than the preset body condition threshold, if the stability determined by the stability determination unit is equal to or greater than the preset stability threshold, the driver It outputs guidance information that suggests that the body will stretch.

  The driver physical condition recovery support device according to a third aspect of the present invention is the driver physical condition recovery support device according to the first aspect, wherein the physical condition recovery support unit has the stability of the automatic driving in advance as described above. When the stability level is lower than the set stability threshold, guidance information other than guidance information suggesting that the driver performs a body stretching exercise is output.

  A driver body condition recovery support device according to a fourth aspect of the present invention is the driver body condition recovery support device according to any one of the first to third aspects, wherein the preset stability threshold is In the automatic operation control device, a control limit that is a condition in which support is restricted by a limit in control performance, a recognition limit that is a condition in which support is restricted by a limit in recognition performance, and a limit in processing performance The degree of stability is determined based on each of the processing limits, which are the conditions for which support is restricted, and is determined to be stable so that it can be determined that the automatic driving is stable.

  According to a fifth aspect of the present invention, there is provided a recovery of a driver's body condition performed by a device that is mounted on a vehicle having an automatic driving control device and that assists the recovery of the lowered body condition of the driver when the vehicle is in an automatic driving mode. A driving method based on a stability determination step for determining the stability of automatic driving by the automatic driving control device and a sensing result of a driver state detection sensor for detecting a state of the driver of the vehicle. A body condition determination step for determining a person's body condition, and a determination in the stability determination step when it is determined in the body condition determination step that the driver's body condition is lower than a preset body condition threshold value. Based on the stability of the automated driving Is provided with a body condition recovery support step to change the obtain stimulus, the.

  According to a sixth aspect of the present invention, there is provided a program for causing a computer to execute the function of each unit provided in the driver body condition recovery support device according to the first to fourth aspects.

  According to the first and fifth aspects of the present invention, the stability of the automatic driving is determined when the stability of the automatic driving is determined during the automatic driving by the automatic driving control device, and the physical condition of the driver is lowered. Therefore, since the stimulus given to the driver is changed, the recovery of the lowered physical condition of the driver can be supported without impairing the safety.

  According to the second aspect of the present invention, if the determined stability of the automatic driving is equal to or higher than a preset stability threshold, that is, if the stability is high, the probability of returning to manual driving is high. It is low, so for example, it is unlikely that it will be a problem for the driver to move his body away from the steering wheel and his foot from the accelerator pedal or brake pedal. Guidance information that suggests is output. As a result, in a situation where automatic driving can be continued, the body condition recovery support is performed in consideration of the stability of the automatic driving, so that the driver's body condition recovery can be supported without sacrificing safety. .

  According to the third aspect of the present invention, when the determined stability of the automatic driving is lower than a preset stability threshold, that is, when the stability is low, the probability of returning to manual driving is high. Because it becomes higher, guidance information other than guidance information that suggests that the driver performs body stretching movements, such as sound and vibration, is output to the driver, so that the body of the driver can be obtained without sacrificing safety. Can support condition recovery.

  According to the fourth aspect of the present invention, the stability that can be determined that the automatic operation set as the stability threshold is stable is determined based on each of the control limit, the recognition limit, and the processing limit. Whether or not automatic driving is stable can be accurately determined from various factors.

  According to the sixth aspect of the present invention, the function of each unit included in the driver body condition recovery support device according to any one of the first to fourth aspects is executed by the computer.

  That is, according to each aspect of the present invention, it is possible to provide a driver body condition recovery support apparatus, method, and program that can support the recovery of the decreased body condition of the driver without impairing safety.

It is a figure showing the whole automatic driving control system composition provided with the driver awakening assistance device as one embodiment of the driver physical condition recovery assistance device of this invention. It is a block diagram which shows the function structure of the driver | operator awakening assistance apparatus shown in FIG. It is a flowchart which shows the procedure and the content of a driver | operator awakening assistance by the driver awakening assistance apparatus shown in FIG. In one Embodiment of this invention, it is a figure which shows the assumed social background typically. In one Embodiment of this invention, it is a figure which shows typically another social background assumed.

Embodiments according to the present invention will be described below with reference to the drawings.
[One Embodiment]
(Constitution)
FIG. 1 is a diagram showing an overall configuration of an automatic driving control system including a driver awakening support device as an embodiment of a driver body condition recovery support device of the present invention. This automatic driving control system is mounted on a vehicle 1 such as a passenger car.

  The vehicle 1 includes, as basic equipment, a power unit 2 including a power source and a transmission, and a steering device 3 equipped with a steering wheel 3a. An engine and / or a motor is used as the power source.

  The vehicle 1 is configured to be able to travel in either a manual operation mode or an automatic operation mode.

  The manual driving mode is a mode in which the vehicle 1 is driven mainly by a driver's manual driving operation, for example. The manual operation mode includes, for example, an operation mode for driving the vehicle based only on the driver's driving operation, and an operation mode for performing driving operation support control for supporting the driving operation of the driver while mainly driving the driver's driving operation. Is included.

  In the driving operation support control, for example, the steering torque is assisted so that the driver's steering becomes an appropriate steering amount based on the curvature of the curve when the vehicle 1 is traveling on the curve. The driving operation support control includes control for assisting a driver's accelerator operation (for example, operation of an accelerator pedal) or brake operation (for example, operation of a brake pedal), manual steering (manual operation of steering), and manual speed adjustment (speed). Adjustment manual operation) is also included. In manual steering, the vehicle 1 is steered mainly by the driver's operation of the steering wheel 3a. In manual speed adjustment, the speed of the vehicle is adjusted mainly by the driver's accelerator operation or brake operation.

  Note that the driving operation support control does not include control for forcibly intervening in the driving operation of the driver to automatically drive the vehicle. In other words, in the manual driving mode, the driving operation of the driver is reflected in the driving of the vehicle within a preset allowable range, but forcibly intervenes in the driving of the vehicle under certain conditions (for example, deviation from the lane of the vehicle). Control to do is not included.

  On the other hand, the automatic driving mode is a mode that realizes a driving state in which the vehicle automatically travels along the road on which the vehicle travels, for example. The automatic driving mode includes, for example, a driving state in which the vehicle automatically travels toward a preset destination without driving by the driver. In the automatic driving mode, it is not always necessary to automatically control all of the vehicle, and the driving state in which the driving operation of the driver is reflected in the driving of the vehicle within the preset allowable range is also included in the automatic driving mode. That is, the automatic driving mode includes control for forcibly intervening in driving of the vehicle under certain conditions, while reflecting the driving operation of the driver in driving of the vehicle within a preset allowable range.

  In FIG. 1, the vehicle 1 is also provided with an automatic driving control device 5 for executing driving control in the automatic driving mode. The automatic driving control device 5 acquires sensing data from the steering sensor 11, the accelerator pedal sensor 12, the brake pedal sensor 13, the GPS (Global Positioning System) receiver 14, the gyro sensor 15, and the vehicle speed sensor 16, respectively. The automatic driving control device 5 is a peripheral monitoring system that monitors these sensing data, route information generated by a navigation system (not shown), traffic information acquired by road-to-vehicle communication, and the positions and movements of surrounding people and vehicles. The vehicle 1 is automatically controlled based on the information obtained by the above. The surrounding monitoring system, for example, measures a distance from a surrounding vehicle and outputs distance information to the automatic driving control device 5, and images the surroundings of the vehicle and outputs a video signal thereof to the automatic driving control device 5. And a peripheral camera 18.

  Automatic control includes, for example, automatic steering (automatic steering operation) and automatic speed adjustment (automatic driving of speed). Automatic steering is an operating state in which the steering device 3 is automatically controlled. Automatic steering includes LKA (Lane Keeping Assist). For example, the LKA automatically controls the steering device 3 so that the vehicle 1 does not deviate from the traveling lane even when the driver does not perform the steering operation. Even when LKA is being executed, the driver's steering operation may be reflected in the steering of the vehicle in a range where the vehicle 1 does not deviate from the travel lane (allowable range). Note that automatic steering is not limited to LKA.

  Automatic speed adjustment is an operating state in which the speed of the vehicle 1 is automatically controlled. Automatic speed adjustment includes ACC (Adaptive Cruise Control). For example, when there is no preceding vehicle ahead of the vehicle 1, ACC performs constant speed control that causes the vehicle 1 to travel at a constant speed at a preset speed, and when the preceding vehicle exists ahead of the vehicle 1. Is a follow-up control that adjusts the vehicle speed of the vehicle 1 in accordance with the inter-vehicle distance from the preceding vehicle. The automatic operation control device 5 decelerates the vehicle 1 according to the driver's brake operation (for example, operation of the brake pedal) even when ACC is being executed. In addition, the automatic operation control device 5 can perform the driver's accelerator operation (for example, accelerator) up to a preset maximum allowable speed (for example, the maximum speed legally determined on the traveling road) even during execution of ACC. The vehicle can be accelerated according to the pedal operation. The automatic speed adjustment is not limited to ACC but also includes CC (Cruise Control).

  The automatic driving control system of the present embodiment includes a driver monitoring system 10 that monitors the driver. The driver monitoring system 10 includes a driver awakening support device 6 that promotes a driver's awakening, a driver camera 7 as a driver state detection sensor that detects a driver's state, and an awakening from the driver awakening support device 6. A guidance output device 8 for outputting guidance information for assistance.

  The driver camera 7 is installed at a position in front of the driver, such as on a dashboard, for example, and images the driver and outputs the video signal to the driver awakening support device 6.

  The guidance output device 8 includes, for example, a speaker and a display, and outputs a voice signal of guidance information output from the driver awakening support device 6 from the speaker and displays a display signal of guidance information on the display. The guidance output device 8 may be configured by one of a speaker and a display. The guidance output device 8 may be configured using an image display function or a voice output function of the navigation system.

  The driver wake-up support device 6 urges the driver to wake up when the driver's wakefulness level is low when the automatic driving control device 5 performs the driving control in the automatic driving mode. Configured. FIG. 2 is a block diagram showing the functional configuration.

  The driver awakening support device 6 includes a control unit 61, an input / output interface unit 62, and a storage unit 63.

  The input / output interface unit 62 receives the video signal output from the driver camera 7, converts it into digital data, and inputs the digital data to the control unit 61. The input / output interface unit 62 also receives the operation mode information and the stability information output from the automatic operation control device 5 and inputs them to the control unit 61. The input / output interface unit 62 further converts the guidance information output from the control unit 61 into a voice signal and a display signal, and outputs them to the guidance output device 8.

  The storage unit 63 uses a non-volatile memory that can be written and read as needed, such as a solid state drive (SSD) and a hard disk drive (HDD), as a storage medium. The storage unit 63 includes a driver monitoring video storage unit 631 that stores a driver's monitoring video and a driver state storage unit 632 that stores a driver's status as storage areas used to implement the present embodiment. And a guide information storage unit 633 storing guide information.

  The control unit 61 has a CPU (Central Processing Unit) and a program memory that constitute a computer. The control unit 61 includes an automatic driving determination unit 611, a driver monitoring video acquisition unit 612, a driver state determination unit 613, a stability determination unit 614, as control functions necessary for carrying out this embodiment. A guidance output unit 615. All of these control functions can be realized by causing the CPU to execute a program stored in the program memory.

  The automatic driving determination unit 611 determines whether the vehicle 1 is currently traveling in the manual driving mode or the automatic driving mode based on the driving mode information output from the automatic driving control device 5. have. When traveling in the automatic operation mode, the control unit 61 performs the present embodiment by using the driver monitoring image acquisition unit 612, the driver state determination unit 613, the stability determination unit 614, and the guidance output unit 615. To work.

  The driver monitoring video acquisition unit 612 has a function of acquiring a driver monitoring video from the driver camera 7. The driver monitoring video acquisition unit 612 takes in the digital data (driver monitoring video data) of the video signal of the driver output from the driver camera 7 from the input / output interface unit 62, and uses the captured driver monitoring video data. The information is stored in the driver monitoring video storage unit 631 of the storage unit 63.

  The driver state determination unit 613 has a function of determining the state of the driver. The driver state determination unit 613 reads the driver monitoring video data from the driver monitoring video storage unit 631 at a preset time interval. Next, every time the driver monitoring video data is read, the driver status determination unit 613 performs a process of determining the driver status based on the driver monitoring video data. The driver state determination unit 613 stores the determination result in the driver state storage unit 632.

  The stability determination unit 614 has a function of determining whether the stability of the current automatic driving is high based on the stability information output from the automatic driving control device 5.

  The guidance output unit 615 has a function of reading guidance information stored in advance from the guidance information storage unit 633 and outputting the guidance information to the guidance output device 8. Which guidance information the guidance output unit 615 reads and outputs from the guidance information storage unit 633 depends on the determination result of the driver state determination unit 613 stored in the driver state storage unit 632 and the stability determination unit. This is determined according to the determination result at 614.

(Assumed driving environment or world)
Next, prior to the description of the operation of the driver awakening support device configured as described above, the driving environment assumed in this embodiment will be described. In this embodiment, the assumed driving environment is, for example, as follows.

  (1) The case where driving in the automatic driving mode is not possible in every part of the world, but the automatic driving lane is provided in a part of the expressway, and the driving in the automatic driving mode is possible only in the exclusive lane. Suppose.

  FIG. 4 schematically shows such an operating environment. In FIG. 4, a vehicle C1 represents a vehicle traveling in the manual operation mode, and a vehicle C2 represents a vehicle traveling in the automatic operation mode. Hereinafter, for convenience, the vehicle C1 is referred to as a manually driven vehicle C1, and the vehicle C2 is referred to as an automatically driven vehicle C2. The lane TL1 represents a so-called traveling lane, and is located on the side where the service area, the parking area, and the interchange side road are located. Lane TL2 represents a so-called overtaking lane. The lane TL3 represents an automatic driving permission lane in which traveling in the automatic driving mode is permitted. The autonomous driving vehicle C2 exists only in the lane TL3.

  In this driving environment, the driver is allowed to concentrate to something other than driving to some extent while traveling in the automatic driving mode. However, when the destination is approaching, that is, when the interchange to get off is approaching, the driver needs to finish traveling in the automatic operation mode and switch to traveling in the manual operation mode.

  (2) Traveling in the automatic driving mode is not possible everywhere in the world, and in some sections of the highway, vehicles running in the manual driving mode and vehicles running in the automatic driving mode coexist. Assume that there is a lane.

  FIG. 5 schematically shows such an operating environment. In FIG. 5, the meanings of the vehicle C1 and the vehicle C2 are the same as those in FIG. The lane TL1 represents a so-called traveling lane, and is located on the side where the service area, the parking area, and the interchange side road are located. Lane TL2 represents a so-called overtaking lane. In the lane TL1, a manual driving vehicle C1 and an automatic driving vehicle C2 are mixed.

  In this driving environment, the driver is allowed to concentrate to something other than driving to some extent while traveling in the automatic driving mode. However, when the destination is approaching, that is, when the interchange to get off is approaching, the driver needs to finish traveling in the automatic operation mode and switch to traveling in the manual operation mode.

(Operation)
Next, the operation of the driver awakening support device 6 configured as described above under the assumption of such a driving environment will be described. FIG. 3 is a flowchart showing the procedure and details of driver awakening support.

  This flowchart is based on the fact that the automatic driving determination unit 611 of the driver awakening support device 6 determines that the automatic driving control device 5 has started automatic driving based on the driving mode information from the automatic driving control device 5. Start.

(1) Driver monitoring start When automatic driving by the automatic driving control device 5 is started, the driver monitoring system 10 starts monitoring the driver in step S1. Driver monitoring continues, for example, during automatic driving. The driver is monitored as follows, for example.

  When automatic driving is started, the driver camera 7 is activated, and continuously captures a predetermined range including the driver's face and outputs the video signal. In this state, the driver awakening support device 6 receives digital data (driver monitoring video data) of the video signal output from the driver camera 7 from the input / output interface unit 62 under the control of the driver monitoring video acquisition unit 612. The captured driver monitoring video data is stored in the driver monitoring video storage unit 631 of the storage unit 63.

  In addition, you may perform a driver | operator's imaging intermittently at a predetermined time interval. In addition, the driver camera 7 or the input / output interface unit 62 may encode the video signal according to a predetermined encoding method. In this way, it is possible to reduce the information amount of the monitoring video data and save the storage capacity of the driver monitoring video storage unit 631.

(2) Determination of Driver State When acquisition of driver monitoring video data is started, the driver awakening support device 6 next passes a certain time under the control of the driver state determination unit 613 in step S2. Each time is determined, the state of the driver is determined. The time interval for determining the state of the driver may be set to a short interval such as about 1 second so that a substantially continuous determination can be performed, or set to a relatively long interval such as 10 to 30 seconds. It may be. The determination of the driver's state is performed as follows, for example.

  The driver state determination unit 613 reads the driver monitoring video data from the driver monitoring video storage unit 631 and determines the state of the driver based on the driver monitoring video data. The driver state determination unit 613 stores information indicating the determination result in the driver state storage unit 632 in association with information indicating the determination timing, for example, time stamp information.

  The state of the driver determined by the driver state determination unit 613 is whether or not the body condition is lowered. Specifically, in this embodiment, it is whether or not the driver is drowsy. The determination of the driver's state is performed as follows, for example.

  The driver state determination unit 613 recognizes the driver's arousal level by detecting the eye open state, the blinking frequency, the eye movement, or the like based on the driver monitoring video data. Next, the driver state determination unit 613 compares the driver's arousal level with a preset arousal level threshold value to determine whether or not the driver's physical condition is reduced, that is, the driver is drowsy. Determine whether or not. Here, the preset arousal level threshold is determined by deep learning of driver monitoring video data for a large number of subjects, or established academically, and the driver is drowsy. It may be set to the degree of awakening.

(3) Determination of Stability When it is determined by the driver state determination unit 613 that the driver is drowsy, that is, the driver's physical condition is reduced, the driver awakening support device 6 is determined in step S3. Determines whether the stability is high under the control of the stability determination unit 614. The determination of the stability is performed as follows, for example.

  The stability determination unit 614 of the driver awakening support device 6 determines the stability of automatic driving indicated by the stability information received from the automatic driving control device 5 via the input / output interface unit 62 as a preset stability threshold value. To determine whether or not the stability of the automatic driving is high.

  Here, the automatic operation control device 5 determines whether or not to continue the automatic operation as disclosed in, for example, Japanese Patent Application Laid-Open No. 2015-032291. In other words, the control limit, which is a condition in which support is restricted by a limit on control performance, the recognition limit, which is a condition in which support is restricted by a limit on recognition performance, and the condition in which support is restricted by a limit on processing performance Whether or not to continue the automatic operation is determined based on the three kinds of conditions of the processing limit. As for the control limit, for example, automatic driving is continued when another vehicle has not suddenly interrupted in front of the vehicle during follow-up traveling, or when sufficient deceleration can be achieved despite sudden deceleration of the preceding vehicle. As for the recognition limit, for example, when the wiper is not operated at high speed, or when the dirt of the peripheral camera 18 is not detected, the surrounding environment acquired by the peripheral camera 18 is good, for example, no fog is generated. When the reliability of the radar sensor 17 is high, the automatic operation is continued. With regard to the processing limit, for example, when it is not in a state where the original automatic travel support cannot be performed due to abnormality of various sensors or CPU, the automatic operation is continued with high reliability.

  The automatic operation control device 5 determines whether or not the respective conditions are satisfied by comparing the measured values for each of the three types of conditions used for the continuation determination of the automatic operation with the respective threshold values. In the present embodiment, these measurement values are output to the driver awakening support device 6 as stability information indicating the stability. In this case, the automatic operation control device 5 may output these measurement values as stability information as they are, but adds them together, averages them, or takes a weighted average weighted for each condition. Etc. Further, for example, only one condition such as a measurement value for the recognition limit may be output as the stability information.

  The stability determination unit 614 of the driver awakening support device 6 compares the stability information input from the automatic driving control device 5 with preset stability threshold information, thereby increasing the stability of automatic driving. It is determined whether or not.

  Here, the preset stability threshold is obtained by deep learning of stability data for a large number of driving situations, or has been established academically, and can be determined to be stable automatic driving. May be set in degrees.

(4) Suggestion of moving body When the stability determination unit 614 determines that the stability of the automatic driving is high, the driver awakening support device 6 controls the body under the control of the guidance output unit 615 in step S4. Guidance information suggesting that the user is moving is transmitted to the guidance output device 8. In this case, it suggests a movement that moves the whole body, which can improve the arousal level, rather than a local movement such as a leg tip. More specifically, it suggests that the driver performs body stretching exercises. For example, guidance information that suggests that the driver performs body stretching exercises is stored in advance in the guidance information storage unit 633, and the guidance output unit 615 reads out the guidance information from the guidance information storage unit 633 and outputs it. To do. The guidance information that suggests that the driver performs body stretching exercises may be content such as “please perform body stretching exercises”, for example. The guidance information that suggests that the driver is to stretch the body is converted into an audio signal and / or a display signal in the input / output interface unit 62 and output to the guidance output device 8.

  For example, the guidance output device 8 outputs an audio signal from a speaker as an audio message. Alternatively, the guidance output device 8 may display the display signal on the display device as a display message.

(5) Other Awakening Support For example, when fog is generated and the reliability of the radar sensor 17 is low, the measurement value related to the condition regarding the recognition limit is low, and the stability determination unit 614 increases the stability of the automatic driving. It is determined that it is not high.

  As described above, when the stability determination unit 614 determines that the stability of the automatic driving is not high, the driver awakening support device 6 determines that the driver is not stretched under the control of the guidance output unit 615 in step S5. Guide information other than the guide information suggesting that exercise is performed is transmitted to the guide output device 8. For example, this guidance information is stored in advance in the guidance information storage unit 633, and the guidance output unit 615 reads out the guidance information indicating the warning message from the guidance information storage unit 633 and outputs it. The guidance information indicating the warning message may be, for example, contents such as “It seems to be drowsy. Be careful.” Or “Please do not sleep.” The guidance information indicating the warning message is converted into an audio signal and / or a display signal in the input / output interface unit 62 and output to the guidance output device 8.

  For example, the guidance output device 8 outputs an audio signal from a speaker as an audio message. Alternatively, the guidance output device 8 may display the display signal on the display device as a display message.

  Further, not a message but a warning sound or music may be used, and not only a sound but also a vibration by a vibrator provided on a driver's seat or the steering wheel 3a may be used.

  Furthermore, it is not limited to such passive stimulation to the driver, but by outputting guidance information that prompts the driver to utter a predetermined response, the driver utters the predetermined voice, that is, Active stimulation may be applied. In this case, it is possible to pick up the driver's voice with a microphone, determine whether or not the driver has made the predetermined response, and repeatedly output guidance information until the predetermined response is made. .

  Moreover, you may output the guidance information which performs the exercise | movement which moves only a leg tip which a driver | operator can do, for example, without removing a hand from a steering wheel.

(6) Automatic Driving Completion Determination If the driver awakening support device 6 determines that the driver is not drowsy in step S2, and after outputting the guidance information in step S4 or step S5, step In S6, it is determined whether or not the automatic operation is finished. This is because the automatic driving determination unit 611 of the driver awakening support device 6 determines whether or not the automatic driving control device 5 finishes the automatic driving and returns to the manual driving based on the driving mode information from the automatic driving control device 5. Judgment by

  If it is determined that the automatic operation has not ended, the process returns to step S2. If it is determined that the automatic operation has ended, the process ends.

(effect)
As described above in detail, in one embodiment of the present invention, whether or not the driver's body condition is lowered by the driver state determination unit 613 during the automatic driving in the automatic driving mode, for example, the driver is sleepy. Determine whether it is hosting. Then, when it is determined that the driver is drowsy, the driver awakening support that suggests an active stimulus, in particular, suggests that the body stretches, is performed. That is, during automatic driving, the driver does not need to perform a driving operation of the vehicle, and thus can perform various exercises using the whole body, such as body stretching exercises. Therefore, it is suggested that when the driver is drowsy during automatic driving, he / she performs body stretching exercises. This makes it possible for the driver to execute such body stretching exercise, and the driver's arousal level can be further increased.

  However, the body stretching movement is a posture in which the hand is away from the steering wheel and the foot is far away from the accelerator pedal or the brake pedal. Therefore, according to one embodiment of the present invention, switching between the suggestion of such body stretching movement and the other awakening support is output according to the stability of automatic driving. That is, it suggests that the body stretches only when the stability of automatic driving is high. In other words, it is judged by the stability of automatic driving whether or not it is safe to get away from the steering wheel, feet from the accelerator pedal or brake pedal, and only when it is safe Suggest to do such exercise.

  Therefore, in one embodiment of the present invention, it is possible to assist the recovery of the body condition that the driver has lowered without sacrificing safety.

  And, if the stability of automatic driving is not high, awakening that keeps the posture away from the steering wheel, the foot from the accelerator pedal and the brake pedal, so that you can always return to the manual driving mode By promoting the driver's awakening by the support method, the awakening support can be performed while ensuring safety.

[Other Embodiments]
In the above-described embodiment, a case where the driver state detection sensor is configured by the driver camera 7 and the driver state is determined based on an image signal including the driver's face obtained by the driver camera 7 will be described as an example. did. However, the driver state detection sensor is not limited to the driver camera 7, and is configured by a sensor biosensor that acquires the biometric information of the driver, and is detected by a biosignal obtained by the biosensor, for example, a pulse wave sensor or a heartbeat sensor. The driver's state may be determined based on a driver's pulse wave signal or heartbeat signal, or a signal representing the vertical movement of the diaphragm detected by a pressure sensor.

  Further, when the driver is drowsiness other than during automatic driving, that is, during manual driving, the driver may be awakened by the output of a passive stimulus when the driver is drowsy. Of course.

  In addition, as described above, the driver state detection sensor is configured with a sensor biosensor, so that the driver affects the driving operation other than sleepiness, such as the driver's fatigue and the degree of stiffness of the shoulder and neck. It is possible to detect a decrease in body condition. Therefore, as the driver state determined by the driver state determination unit 613, it may be determined whether or not the driver is drowsy and whether or not the shoulder or neck is stuck. As a result, the guidance output unit 615 releases the hand from the steering wheel only when the stability of the automatic driving is high when the driver's shoulder or neck is stuck during automatic driving in the automatic driving mode. It is possible to provide support for relieving stiff shoulders and necks by suggesting exercises that turn the shoulders and turn the head that shakes the line of sight from the direction of travel. That is, the driver body condition recovery support device may be a driver stiffness elimination support device.

  Thus, the present invention can provide a driver body condition recovery support device that can support recovery without deteriorating safety against various driver body condition lowering.

  In addition, the vehicle type, the function of the automatic driving control device, the driver physical condition recovery support procedure and the support content of the driver physical condition recovery support device, etc. are variously modified and implemented without departing from the gist of the present invention. Is possible.

  In short, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

A part or all of the above embodiment can be described as in the following supplementary notes, but is not limited thereto.
(Appendix 1)
A driver physical condition recovery support device, which is mounted on a vehicle having an automatic driving control device and supports recovery of a lowered physical condition of the driver when the vehicle is in an automatic driving mode, comprising a hardware processor and a memory And
The hardware processor is
During the automatic driving of the vehicle, the sensing result of a driver state detection sensor that detects the state of the driver of the vehicle is stored in the memory, and based on the sensing result, the body condition of the driver is determined,
A driver that changes a stimulus given to the driver based on a stability of automatic driving by the automatic driving control device when it is determined that the physical condition of the driver is lower than a preset physical condition threshold value; Body condition recovery support device.
(Appendix 2)
A driver physical condition recovery support method that is mounted on a vehicle having an automatic driving control device and that is executed by an apparatus for supporting recovery of a reduced physical condition of the driver during the automatic driving mode of the vehicle,
Using a hardware processor, during the automatic driving of the vehicle, a sensing result of a driver state detection sensor that detects the state of the driver of the vehicle is stored in a memory, and based on the sensing result, the body of the driver Judge the condition,
When it is determined that the driver's physical condition is lower than a preset physical condition threshold using the hardware processor, the driver is determined based on the stability of automatic driving by the automatic driving control device. A driver's physical condition recovery support method that changes the stimulus given.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Power unit, 3 ... Steering device, 3a ... Steering wheel, 5 ... Automatic driving control device, 6 ... Driver alert support device, 7 ... Driver camera, 8 ... Guidance output device, 10 ... Driver monitoring System 11, steering sensor 12, accelerator pedal sensor 13 brake pedal sensor 14 GPS receiver 15 gyro sensor 16 vehicle speed sensor 17 radar sensor 18 peripheral camera 61 control unit 62 ... I / O interface unit, 63 ... Storage unit, 611 ... Automatic driving determination unit, 612 ... Driver monitoring video acquisition unit, 613 ... Driver state determination unit, 614 ... Stability determination unit, 615 ... Guidance output unit, 631 ... driver monitoring video storage unit, 632 ... driver state storage unit, 633 ... guidance information storage unit, C1 ... manually driven vehicle, C2 ... automatic Rolling car, TL1, TL2, TL3 ... lane.

Claims (6)

  1. A driver physical condition recovery support device, which is mounted on a vehicle having an automatic driving control device and supports recovery of a lowered physical condition of the driver during the automatic driving mode of the vehicle,
    A stability determination unit for determining the stability of automatic driving by the automatic driving control device;
    A body condition determination unit that determines a body condition of the driver based on a sensing result of a driver state detection sensor that detects a state of the driver of the vehicle;
    When it is determined by the body condition determination unit that the driver's body condition is lower than a preset body condition threshold, based on the stability of the automatic driving determined by the stability determination unit, A body condition recovery support unit that changes the stimulus given to the driver;
    A driver's body condition recovery support device comprising:
  2.   The body condition recovery support unit determines the stability determined by the stability determination unit when the body condition determination unit determines that the driver's body condition is lower than the preset body condition threshold value. The driver body condition recovery support device according to claim 1, wherein if the degree is equal to or greater than a preset stability threshold value, guidance information suggesting that the driver performs a body stretching exercise is output.
  3.   When the stability of the automatic driving is lower than the preset stability threshold, the body condition recovery support unit outputs guidance information other than the guidance information that suggests that the driver performs a body stretching exercise. The driver body condition recovery support device according to claim 1.
  4.   The preset stability threshold is a control limit, which is a condition in which support is restricted by a limit in control performance, and a recognition limit, which is a condition in which support is restricted by a limit in recognition performance. And the stability that is determined based on each of the processing limits, which is a condition in which the support is restricted by the limit on the processing performance, can be determined to be stable. The driver's body condition recovery support device according to any one of Items 1 to 3.
  5. A driver physical condition recovery support method that is mounted on a vehicle having an automatic driving control device and that is executed by an apparatus for supporting recovery of a reduced physical condition of the driver during the automatic driving mode of the vehicle,
    A stability determination step for determining the stability of automatic driving by the automatic driving control device;
    A body condition determination step for determining a body condition of the driver based on a sensing result of a driver state detection sensor that detects a state of the driver of the vehicle;
    When it is determined in the physical condition determination step that the driver's physical condition is lower than a preset physical condition threshold, based on the stability of the automatic driving determined in the stability determination step, A physical condition recovery support step for changing the stimulus given to the driver;
    A driver's body condition recovery support method comprising:
  6.   A driver body condition recovery support program that causes a computer to execute the function of each unit included in the driver body condition recovery support device according to any one of claims 1 to 4.
JP2017041900A 2017-03-06 2017-03-06 Driver body conditions recovery support device, method, and program Pending JP2018147247A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2017041900A JP2018147247A (en) 2017-03-06 2017-03-06 Driver body conditions recovery support device, method, and program

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017041900A JP2018147247A (en) 2017-03-06 2017-03-06 Driver body conditions recovery support device, method, and program
PCT/JP2017/042566 WO2018163536A1 (en) 2017-03-06 2017-11-28 Driver body condition recovery support device, method and program

Publications (2)

Publication Number Publication Date
JP2018147247A true JP2018147247A (en) 2018-09-20
JP2018147247A5 JP2018147247A5 (en) 2019-05-23

Family

ID=63448504

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017041900A Pending JP2018147247A (en) 2017-03-06 2017-03-06 Driver body conditions recovery support device, method, and program

Country Status (2)

Country Link
JP (1) JP2018147247A (en)
WO (1) WO2018163536A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005352895A (en) * 2004-06-11 2005-12-22 Kenwood Corp Vehicle driver awakening system
JP2007021019A (en) * 2005-07-20 2007-02-01 Toyota Motor Corp Mental condition adjusting device
JP2010271794A (en) * 2009-05-19 2010-12-02 Fuji Heavy Ind Ltd Driving behavior guiding system
JP6298772B2 (en) * 2015-01-14 2018-03-20 日立オートモティブシステムズ株式会社 In-vehicle control device, own vehicle position and orientation identification device, in-vehicle display device

Also Published As

Publication number Publication date
WO2018163536A1 (en) 2018-09-13

Similar Documents

Publication Publication Date Title
US9235987B2 (en) System and method for closed-loop driver attention management
US9751534B2 (en) System and method for responding to driver state
JP5120249B2 (en) Monitoring device and monitoring method, control device and control method, and program
US10331127B2 (en) Automatic driving control device and automatic driving control method, and program
DE10039795C2 (en) Method for warning a driver of a vehicle
CN101198915B (en) Dialogue system
US9873437B2 (en) Coordinated vehicle response system and method for driver behavior
JP2016034782A (en) Vehicle control unit
US9007198B2 (en) Adaptive Actuator interface for active driver warning
EP2675686B1 (en) System and method for responding to driver behavior
JP2009015548A (en) Drive assisting device and method, and program
US7642922B2 (en) Drive support apparatus for a movable body
US9542847B2 (en) Lane departure warning/assistance method and system having a threshold adjusted based on driver impairment determination using pupil size and driving patterns
US8085139B2 (en) Biometric vehicular emergency management system
JP2007528815A (en) Method and mechanism for controlling automobile subsystems based on driver behavior interpretation
US20110254956A1 (en) Driving assistance apparatus
KR20130050113A (en) A driving assist system and method having function of steps warning
US20130135092A1 (en) Driving behavior analysis and warning system and method thereof
CN103732480A (en) Method and device for assisting a driver in performing lateral guidance of a vehicle on a carriageway
JP2014106854A (en) Automatic driving vehicle control apparatus and method
JP4798127B2 (en) Emergency evacuation system, emergency evacuation method
JP2005538457A (en) Driver assistance system for road vehicles
JP6287728B2 (en) In-vehicle system, vehicle control device, and program for vehicle control device
CN102975721A (en) System and method for improving a performance estimation of an operator of a vehicle
EP2102050B1 (en) Drive assist system and method

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190312

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190412