JP2020018770A - Evaluation device, control device, kinesia reduction system, evaluation method, and computer program - Google Patents

Abstract

To provide an evaluation device capable of estimating a degree of kinesia.SOLUTION: An evaluation device 1 includes a processor 11 comprising a calculation unit 110 that executes calculation processing 111 to calculate a degree of kinesia on the basis of a value corresponding to a motion sense amount of each of a plurality of sense organs differing from each other. A first example based on a value corresponding to a motion sense amount of each of the plurality of sense organs differing from each other uses, for each of the plurality of sense organs, a value corresponding to a motion sense amount of the sense organ and a value corresponding to estimation on a motion sense amount (motion estimation) in an internal model of a sense organ constructed in a central nervous system.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an evaluation device, a control device, a motion sickness reduction system, an evaluation method, and a computer program.

  Motion sickness is a disease caused by imbalance, and includes motor sickness, seasickness, and the like. Therefore, it is effective to suppress the occurrence and degree of motion sickness in order to improve the comfort (ride comfort) of vehicles such as vehicles and ships.

  There is a theory that the cause of motion sickness is sensory contradiction (sensory contradiction theory). The sensory contradiction is, for example, a difference between information obtained by a sensory organ and information obtained by an internal model. The internal model is a neural mechanism that is described as being constructed in the central nervous system and describes from a movement command to a movement result (body movement).

  In addition, there is a theory that the cause of motion sickness is a subjective gravitational direction error related to the sensory contradiction theory (a subjective gravitational direction error theory). The subjective gravitational direction error is a difference between the sensation of the gravitational direction obtained by integrating various kinds of sensory information and the gravitational direction obtained by the internal model.

  The inventor expressed a subjective gravitational direction error theory as a mathematical model in a paper "Study on Modeling of Motion Sickness Based on Occupant's Motion Perception Characteristics" (Non-Patent Document 1), and experimented with this mathematical model. The effectiveness of has been verified. Estimation and quantification of the degree of motion sickness have been attempted using such a mathematical model.

Uechi, Maruo, Wada, Doi, "A Study on Modeling of Car Sickness Based on Occupant's Perception of Sway", Transactions of the Society of Automotive Engineers of Japan, Society of Automotive Engineers of Japan, 2008, Vol. 39, No. 2, pp. . 381-386

  In order to improve the comfort (ride quality) of a vehicle, it is required to more accurately estimate the degree of the sickness. In this regard, the method disclosed in Non-Patent Document 1 considers only one sensory organ. Therefore, there is room for improvement in the estimation of the degree of motion sickness. On the other hand, according to an embodiment, the evaluation device includes an arithmetic unit that calculates the degree of motion sickness based on a value corresponding to the amount of kinesthetic sensation in each of a plurality of different sensory organs.

  According to another embodiment, the control device is a control device that controls the motion sickness reduction device, and calculates the degree of motion sickness based on a value corresponding to the amount of kinesthetic sensation in each of a plurality of mutually different sensory organs. The reduction device is controlled based on the evaluation result obtained from the evaluation device to be performed.

  According to another embodiment, a motion sickness reduction system includes an evaluation device that calculates the degree of motion sickness, a motion sickness reduction device, and a control device that controls the reduction device based on an evaluation result obtained from the evaluation device. The evaluation apparatus calculates the degree of motion sickness based on a value corresponding to the amount of motor sensation in each of a plurality of different sensory organs.

  According to another embodiment, the evaluation method is a method for evaluating the degree of motion sickness in an evaluation device, and determines the degree of motion sickness based on a value corresponding to the amount of motor sensation in each of a plurality of different sensory organs different from each other. calculate.

  According to another embodiment, the computer program is a computer program for causing a computer to function as an evaluation device for evaluating the degree of motion sickness, the computer program corresponding to each of a plurality of different sensory organs. It is made to function as a calculation unit for calculating the degree of motion sickness based on the calculated value.

  This calculation method is, for example, a calculation based on the difference between the kinesthetic amount and the kinetic amount, which is the kinetic amount estimated by the internal model of the sensation built in the central nervous system, for each of the plurality of sensory organs, Calculation based on the difference between the value obtained from the kinesthetic amount of the plurality of sensory organs and the value obtained from the motion estimator based on their internal model, and the calculation based on the difference in the kinesthetic amount for each of the plurality of sensory organs, It is.

FIG. 1 is a diagram schematically illustrating a configuration of a system for reducing the degree of motion sickness according to an embodiment. FIG. 2 is a block diagram showing an outline of a device configuration of an evaluation device included in the system. FIG. 3 is a diagram illustrating an outline of a calculation process in the evaluation device. FIG. 4 is a block diagram illustrating an example of a functional configuration of a calculation unit of the evaluation device according to the first embodiment. FIG. 5 is a block diagram illustrating an example of a detailed process of each function in FIG. FIG. 6 is a block diagram illustrating an example of a functional configuration of a calculation unit of the evaluation device according to the second embodiment. FIG. 7 is a block diagram illustrating an example of a functional configuration of a calculation unit of the evaluation device according to the third embodiment.

[1. Overview of evaluation device, control device, motion sickness reduction system, evaluation method, and computer program]
(1) The evaluation device included in the present embodiment includes an arithmetic unit that calculates the degree of motion sickness based on a value corresponding to the amount of kinesthetic sensation in each of a plurality of different sensory organs.

  The degree of motion sickness is, for example, motion sickness incidence (MSI). MSI is the ratio of the number of subjects to vomiting to physical stimulation.

  Since there are multiple sensory organs that actually perceive movement, the degree of motion sickness is calculated based on the value corresponding to the amount of motor sensation in each of multiple different sensory organs, so that a more realistic sense The motion sickness is evaluated near. That is, the degree of motion sickness is estimated with high accuracy.

  By calculating the degree of motion sickness in the evaluation device, various controls for suppressing the degree of motion sickness using the evaluation result become possible. As a result, the riding comfort of a vehicle or the like can be improved.

(2) Preferably, the calculation unit includes a value corresponding to the amount of kinesthetic sensation in the first sensory organ, a value corresponding to the amount of kinesthetic sensation in at least one other sensory organ of the first sensory organ, The degree of motion sickness is calculated based on the difference between the two. As a result, the difference between the values corresponding to the amount of motor sensation in each of the plurality of sensory organs is used to calculate the degree of motion sickness. As a result, it is considered that the motion sickness is evaluated closer to the actual feeling.

(3) Preferably, the value corresponding to the amount of kinesthetic sensation at the first sensory organ is a value corresponding to the amount of kinesthetic sensation at the vestibular sensory organ. As a result, the difference between the values of the kinesthetic sensations of the vestibular sensory organ and the other sensory organs is used to calculate the degree of motion sickness. As a result, it is considered that the motion sickness is evaluated closer to the actual feeling.

(4) Preferably, the arithmetic unit calculates a value corresponding to the amount of kinesthetic sensation at the sensory organ and a kinetic estimator that is a kinetic sensation estimated by an internal model of the sensory organ constructed in the central nervous system. The degree of motion sickness is calculated based on the difference between the corresponding values. As a result, the difference between the value corresponding to the amount of motor sensation in each of the plurality of sensory organs and the value corresponding to the estimated amount of movement in the internal model of the sensory organ is used for calculating the degree of motion sickness. As a result, it is considered that the motion sickness is evaluated closer to the actual feeling.

(5) Preferably, the value corresponding to the kinesthetic amount at the sensory organ is a value corresponding to the first kinesthetic amount at the vestibular sensory organ, and the value corresponding to the second kinetic sensation at at least one other sensory organ. A value corresponding to the motion estimator, wherein the value corresponding to the motion estimator is a value corresponding to the motion estimator estimated by the internal model of the vestibular sensory organ, and the value corresponding to the motion estimator is estimated by the internal model of at least one other sensory organ. And a value corresponding to the obtained motion estimator. Thereby, in the calculation of the degree of motion sickness, the value corresponding to the amount of kinesthetic sensation in the sensory organs and the value corresponding to the amount of kinesthetic sensation in other sensory organs, and the motion estimation amount in the internal model of the sensory organ are used. The difference from the corresponding value is used. As a result, it is considered that the motion sickness is evaluated closer to the actual feeling.

(6) Preferably, the calculation unit is configured to determine, based on the first motion information corresponding to the stimulus to the vestibular sensory organ and the second motion information corresponding to the stimulus to at least one other sensory organ, The processing corresponding to the processing of the perception in and the processing corresponding to the processing of the perception of at least one other sensory organ are performed, and the value corresponding to the first kinesthetic amount and the second kinesthetic amount are calculated. A sensory organ process for outputting a corresponding value, a first motion information, and a process corresponding to a motion estimation process in an internal model of the vestibular sensory organ based on at least one of the second motion information, and An internal unit that performs a process corresponding to the motion estimation process in the internal model of at least one other sensory organ and outputs a value corresponding to the first motion estimator and a value corresponding to the second motion estimator. Model processing and kinesthetic amount And executing a process of calculating the difference between the value corresponding to the motion estimator, a process of calculating the degree of motion sickness from the calculated differences, a.

  The calculation unit calculates the degree of motion sickness based on the first motion information and the second motion information obtained by the process corresponding to the process of perceiving the motion information in each of the vestibular sensory organ and the other sensory organs. The degree of motion sickness is calculated in consideration of a plurality of types of sensory organs. Since there are a plurality of sensory organs in which a person actually perceives movement, it is considered that motion sickness is evaluated closer to the actual sense by considering a plurality of types of sensory organs. That is, it is considered that the evaluation device estimates the degree of the motion sickness with high accuracy.

(7) Preferably, the arithmetic unit includes a first difference between a value corresponding to the first kinesthetic amount and a value corresponding to the first kinetic amount, and a value corresponding to the second kinesthetic amount. Calculating a second difference between the value corresponding to the second motion estimation amount and the degree of the motion sickness, wherein the difference used in the processing includes a first difference and a second difference . Thereby, for each of the vestibular sensory organ and the visual organ, a difference called a sensory contradiction, which is equivalent to an error in the amount of movement between the sensory organ and the internal model, is obtained. Then, the degree of motion sickness can be calculated using these differences.

(8) Preferably, the arithmetic unit performs a process of combining the value corresponding to the first kinesthetic amount and the value corresponding to the second kinesthetic amount, and obtains the first information obtained by performing the process. The difference between the value corresponding to the quantity and the value is calculated. As a result, a difference corresponding to an error in the amount of movement between the sensory organ including the vestibular sensory organ and the visual organ and the internal model of the sensory organ is obtained. Then, the degree of motion sickness can be calculated using these differences.

(9) Preferably, the arithmetic unit is configured to execute a process of combining the first information with a value corresponding to the first motion estimator and a value corresponding to the second motion estimator. And the difference between the information. As a result, a difference corresponding to an error in the amount of movement between the sensory organ consisting of the vestibular sensory organ and the visual organ and the internal model consisting of the internal model of the vestibular sensory organ and the internal model of the visual organ is obtained. Then, the degree of motion sickness can be calculated using these differences.

(10) Preferably, the at least one other sensory organ is a visual organ. Thus, the motion sickness is evaluated closer to the actual sensation in consideration of a plurality of types of sensory organs of the vestibular sensory organ and the visual organ. In other words, the evaluation device according to the present embodiment evaluates the vestibular sensory organ and the visual organ based on the difference between the kinesthetic amount and the motion estimation amount estimated by each internal model, Evaluation based on the difference between the value obtained from the amount and the kinesthetic amount of the visual organ and the value obtained from the motion estimator by each internal model, and the kinetic amount of the vestibular sensory organ and the kinesthetic amount of multiple visual organs And evaluation based on the difference between them. As a result, the evaluation device according to the present embodiment estimates the degree of motion sickness with high accuracy.

(11) Preferably, the calculation unit further executes a process of converting information corresponding to a visual stimulus that is a stimulus to the visual organ into motion information. Thus, even if the information corresponding to the visual stimulus is different from the motion information, it can be used for calculating the degree of the motion sickness.

(12) Preferably, the information corresponding to the visual stimulus that is a stimulus to the visual organ includes image information. The image information is, for example, the image itself entering the occupant's retina. Alternatively, the image information may be a captured image of a vehicle such as a vehicle from a vehicle window in a specific direction. Such image information can be obtained by a sensor such as a camera installed on the occupant's head or a vehicle-mounted camera.

(13) Preferably, the difference is a difference in a vertical component between the kinesthetic amount and the estimated motion amount. The difference in the vertical component of the estimated amount of momentum is called a subjective gravitational direction error (Subjective Vertical Conflict) and is said to be a cause of motion sickness (for example, Bles W, Bos JE, de Graaf). B, Groen E, Wertheim AH, “Motion sickness: only one provocative conflict?”, Brain Research Bulletin, 1998 Nov, etc.). By estimating the degree of motion sickness based on the difference in the vertical component of the estimated amount of momentum, the degree of motion sickness can be estimated with high accuracy based on this theory.

(14) The control device included in the present embodiment is a control device for controlling the motion sickness reduction device, and the degree of motion sickness is determined based on a value corresponding to the amount of kinesthetic sensation in each of a plurality of different sensory organs. Is calculated. This control device controls the reduction device based on the evaluation results obtained from the evaluation devices described in (1) to (13), and thus has the same effects as these evaluation devices. Thereby, the degree of motion sickness can be effectively reduced. As a result, the ride comfort of vehicles such as vehicles can be improved.

(15) The motion sickness reduction system included in the present embodiment controls the reduction device based on the evaluation device that calculates the degree of the motion sickness, the motion sickness reduction device, and the evaluation result obtained from the evaluation device. A control device, and the evaluation device calculates the degree of motion sickness based on a value corresponding to the amount of motor sensation in each of the plurality of different sensory organs.

  The motion sickness reduction device is, for example, a motion device that operates at least a part of a vehicle. The reduction device as a motion device is, for example, a device that is provided in a seat of a vehicle and includes a mechanism that inclines the posture of an occupant seated in the seat in a predetermined direction. Alternatively, the reduction device is, as another example, a display device that gives visual information to an occupant. The reduction device as the display device is, for example, a projector that displays an image on a monitor (not shown) arranged at the position of the vehicle window.

  Since the motion sickness reduction system includes the evaluation devices described in (1) to (13), the same effects as those of the evaluation devices can be obtained.

(16) The evaluation method included in the present embodiment is a method for evaluating the degree of motion sickness in the evaluation device, and is based on a value corresponding to the amount of kinesthetic sensation at each of a plurality of different sensory organs. Calculate the degree. Since this evaluation method is a method for evaluating the degree of motion sickness in the evaluation devices described in (1) to (13), it has the same effects as these evaluation devices.

(17) The computer program included in the present embodiment is a computer program for causing a computer to function as an evaluation device for evaluating the degree of motion sickness. Function as an arithmetic unit for calculating the degree of motion sickness based on the value corresponding to. Since this computer program is a computer program that causes a computer to function as the evaluation device described in (1) to (13), it has the same effects as these evaluation devices.

[2. Example of evaluation device, control device, reduction system for motion sickness, evaluation method, and computer program]
[First Embodiment]
<System configuration>
FIG. 1 is a diagram schematically illustrating a configuration of a system 100 according to the present embodiment. The system 100 is a system for preventing or reducing the degree of sickness (motion sickness) of an occupant of a vehicle V as an example of a vehicle. The vehicle may be a ship, a train, an aircraft, or the like, as another example.

  Referring to the figure, system 100 includes an evaluation device 1. The evaluation device 1 performs an operation corresponding to a step of obtaining a kinesthetic sensation in each of a plurality of types of sensory organs of a person, and calculates the degree of the sickness of the person. Therefore, the evaluation device 1 uses the first sensor SE1 and the second sensor SE2 installed in the vehicle V as a plurality of types of sensors corresponding to the plurality of types of sensory organs. The evaluation device 1 performs an operation using the sensor signals from the sensors SE1 and SE2 as inputs, and outputs the result.

  The first sensor SE1 is a sensor corresponding to a vestibular sensory organ as a first sensory organ. The first sensor SE1 detects a motion stimulus given to the occupant's head, and outputs motion information (hereinafter, first motion information) corresponding to the motion stimulus. The output signal I1 of the first sensor SE1 represents the first movement information. Hereinafter, the output from the first sensor SE1 is also referred to as first motion information I1. The first motion information I1 is head acceleration and head angle. In addition, the head speed or a combination of two or more of these may be used. The first sensor SE1 is, for example, an acceleration sensor attached to the head (for example, a hat) of an occupant, which measures head acceleration, and a gyro sensor which measures head angle.

  Note that the first motion information I1 may be information regarding a motion regarded as a motion stimulus given to the occupant's head, and may be, for example, an acceleration and an angle of the vehicle V itself. This is because the acceleration and the angle of the vehicle V are estimated to be the same as those of the occupant of the vehicle V. In this case, the first sensor SE1 is a vehicle-mounted acceleration sensor and a gyro sensor.

  The second sensor SE2 is a sensor corresponding to the visual organ as at least one other sensory organ (second sensory organ) of the first sensory organ. The second sensor SE2 detects a visual stimulus of the occupant and outputs motion information (hereinafter, second motion information) corresponding to the visual stimulus. The second motion information is a parameter that affects the stimulus received by the sight, and is, for example, motion information obtained from image information entering the occupant's retina.

  The output signal I2 of the second sensor SE2 represents visual information. Hereinafter, the output from the second sensor SE2 is also referred to as second motion information I2. The second sensor SE2 is, for example, a camera that is attached to the head (for example, a hat) of the occupant and captures the direction in which the occupant's face is facing. This is because it is assumed that the image captured by the camera is the same as the image entering the occupant's retina.

  The second motion information I2 may be motion information corresponding to an image of the vehicle V in a specific direction (for example, forward) in addition to motion information corresponding to an image entering the retina of the occupant. In this case, the second sensor SE2 is a vehicle-mounted camera. The in-vehicle camera captures, for example, a scene outside the vehicle in the direction in which the face of the occupant faces. This is because the occupant assumes that the behavior is the same as that of the vehicle V, and assumes that the image captured by the camera fixed to the vehicle V is the same as the image that enters the retina of the occupant.

  The first sensor SE1 and the second sensor SE2 each execute sensing at a predetermined interval (for example, at an interval of 10 msec), and transmit the first motion information I1 and the second motion information I2 to the evaluation device 1. Output.

  In the following description, the first sensor SE1 and the second sensor SE2 are independent sensors and output the first motion information I1 and the second motion information I2 to the evaluation device 1, respectively. And

  The system 100 includes a reduction device 5 mounted on the vehicle V for reducing the sickness of the occupant of the vehicle V. The reduction device 5 will be described later.

  The system 100 has a control device 3 for controlling the reduction device 5. The control device 3 is mounted on, for example, the vehicle V. The control device 3 may be a vehicle control device (ECU: Electronic Control Unit) included in the vehicle V, a gateway that controls one or more ECUs, and the like. The control device 3 receives the input of the calculation result from the evaluation device 1 and controls the reduction device 5 based on the calculation result.

<Equipment configuration of evaluation device>
FIG. 2 is a block diagram illustrating an outline of a device configuration of the evaluation device 1. The evaluation device 1 is configured by a general computer or the like having a processor 11 and a storage unit 12. The processor 11 is, for example, a CPU (Central Processing Unit).

  The evaluation device 1 includes a sensor interface (I / F) 14. The sensor I / F 14 is connected to each of the first sensor SE1 and the second sensor SE2 by wire or wirelessly, and receives an input of a sensor signal. The sensor I / F 14 inputs the input sensor signal to the processor 11.

  The storage unit 12 includes a flash memory, an electrically erasable programmable read only memory (EEPROM), a ROM, a random access memory (RAM), and the like. The storage unit 12 stores an arithmetic program 121 including one or a plurality of programs. The processor 11 functions as an arithmetic unit 110 that reads the arithmetic program 121 stored in the storage unit 12 according to the sensor signal and executes the arithmetic processing 111. The arithmetic program 121 can be transferred in a state recorded on a recording medium such as a CD-ROM, a (Compact Disc Read only memory) or a DVD-ROM (Digital Versatile Disk ROM), or can be transferred from a computer such as a server computer. It can be transferred by download. The calculation program 121 may be a so-called web application that runs on a web browser, or a so-called dedicated application that runs only on the processor 11.

  The evaluation device 1 includes a control device interface (I / F) 13. The control device I / F 13 is connected to the control device 3 by wire or wirelessly. The control device I / F 13 inputs the calculation result of the calculation process 111 in the calculation unit 110 by executing the calculation program 121 to the control device 3.

<Overview of calculation processing>
The calculation process 111 is a process of calculating the degree of motion sickness based on a value corresponding to the amount of motor sensation at each of a plurality of different sensory organs. A first example of the value based on the value corresponding to the kinesthetic amount of each of a plurality of different sensory organs is a value corresponding to the amount of kinesthetic sensation at each of the plurality of sensory organs and the central nervous system. And a value corresponding to the estimation of the amount of motor sensation (motion estimation) in the internal model of the constructed sensory organ. In the evaluation device 1 according to the present embodiment, the sensory organ perceives a vestibular sensation and at least one other sensation. In this example, the at least one other sensation is visual.

  FIG. 3 is a diagram illustrating an outline of the arithmetic processing 111 in the evaluation device 1. Referring to the figure, the operation unit 110 that executes the operation process 111 includes motion information (first motion information) I1 corresponding to a motion stimulus and motion information (second motion information) corresponding to a visual stimulus. I2 is input.

  The arithmetic processing 111 includes sensory organ processing (step S1). Sensory organ processing is processing corresponding to processing of motion perception in sensory organs including vestibular sensory organs and visual organs as other sensory organs, based on the first motor information I1 and the second motor information I2. And outputs kinesthetic information I3 indicating the amount of kinesthetic sensation.

  The arithmetic processing 111 includes an internal model processing (step S2). The internal model processing corresponds to the processing of motion estimation in the internal model of the vestibular sensory organ and the visual organ as another sensory organ based on at least one of the first motion information I1 and the second motion information I2. This is the process of performing the above-described processing and outputting the motion estimation information I4 indicating the motion estimation amount that is the estimated motion sensation amount.

  The calculation processing 111 includes an error calculation processing (step S3). The error calculation process is a process of calculating an error between the kinesthetic amount output as the kinesthetic information I3 and the motion estimation amount output as the motion estimation information I4.

  The calculation process 111 includes a motion sickness degree calculation process (step S4). The motion sickness degree calculation processing is processing for calculating the degree of motion sickness from the error calculated in the error calculation processing. The degree of motion sickness is represented by an index value as an example. The index indicating the degree of motion sickness is, for example, the motion sickness incidence (MSI). MSI is the ratio of the number of subjects to vomiting to physical stimulation.

  The calculation unit 110 outputs the calculation result obtained in the motion sickness degree calculation process to the control device 3. Thereby, the control device 3 can control the reduction device 5 based on the calculation result.

<Principle of estimation of degree of motion sickness>
The arithmetic processing 111 according to the present embodiment is a processing for calculating the degree of the motion sickness based on the idea that the motion sickness develops by the following mechanism. That is, head movement is detected in the vestibular apparatus, which is one of the sensory organs, and a signal corresponding to the head movement (kinetic sensation signal) is generated. It is also considered that an internal model that simulates a similar process is constructed in the central nervous system. In the internal model, a signal indicating the amount of kinesthetic sensation (first kinesthetic amount) of head movement (kinetic estimation) is used. Signal) is generated. If there is an error between the kinesthetic signal and the motion estimation signal, that is, if there is an error between the kinesthetic amount obtained by the sensory organ and the kinesthetic amount estimated by the internal model, the error is It is inconsistent. It is said that sensory contradiction causes motion sickness.

  On the other hand, a person has not only a vestibular sensory organ but also a plurality of types of sensory organs. Then, it is considered that a person grasps his / her physical movement by integrating various sensory information in the nervous system. For example, in the visual organ, which is one of the sensory organs, a signal (visual sensory signal) corresponding to the amount of kinesthetic sensation (second kinesthetic sensation) in the visual organ in response to a visual stimulus is generated. It is also considered that the internal model includes an internal model corresponding to the visual organ.

  Therefore, the mathematical model M used for the calculation in the calculation unit 110 of the evaluation device 1 according to the present embodiment causes the calculation unit 110 to calculate the amount of kinesthetic sensation in each of a plurality of different sense organs. The degree of motion sickness is estimated based on the corresponding value. The plurality of different sensory organs are a plurality of types of sensory organs (for example, a vestibular sensory organ and a visual organ) that are at least one other sensory organ in addition to the vestibular sensory organ. In the following description, a plurality of types of sensory organs are assumed to be a vestibular sensory organ and a visual organ, and a specific example is given in that case. However, for humans, other sensory organs of the vestibular sensory organ are not limited to visual organs, and may be other sensory organs. Alternatively, three or more sensory organs may be considered without being limited to two sensory organs.

<Functional configuration of evaluation device>
FIG. 4 is a block diagram illustrating an example of a functional configuration of the arithmetic unit 110 of the evaluation device 1 that executes the arithmetic processing 111 according to the mathematical model M. Each unit shown in the figure is realized by the processor 11.

  Referring to the figure, arithmetic unit 110 includes a first processing unit 101 that executes a process corresponding to a motion perception process in a vestibular sensory organ as a first type of sensory organ. The first motion information I1 is input to the first processing unit 101. The first motion information I1 includes a head acceleration, which is a resultant force of the gravitational force and the inertial force of the head as viewed from the head coordinate system, and a head angular velocity. The processing in the first processing unit 101 includes processing corresponding to the motion perception in the otolith device and processing corresponding to the motion perception in the semicircular canal. When the first motion information I1 is input, the vestibular sensation is detected. And outputs kinesthetic information (hereinafter, first kinesthetic information) 21 corresponding to the kinesthetic signal indicating the first kinesthetic amount.

  The calculation unit 110 includes a second processing unit 113 that executes processing corresponding to motion perception by a visual organ as a second type of sensory organ. The second motion information I2 is input to the second processing unit 113. When the second motion information I2 is input, the second processing unit 113 outputs kinesthetic information corresponding to a visual sensation signal that indicates a second kinesthetic amount and is output from the visual organ (hereinafter, second kinetic information). Sensory information) 22 is output. The first kinesthetic information and the second kinesthetic information correspond to the kinesthetic information I3 in FIG.

  The second motion information I2 input to the second processing unit 113 is motion information corresponding to the visual stimulus detected by the sensor SE2. However, the input information from the sensor SE2 may be image information (for example, a captured image) representing a visual stimulus instead of the motion information. When the input information from the sensor SE2 is image information, the calculation unit 110 includes a preprocessing unit 123 that is a conversion unit that converts the image information into motion information.

  The preprocessing unit 123 performs predetermined image processing on the image input from the sensor SE2 and converts the image into speed, thereby converting the image into second motion information I2. The predetermined image processing is performed, for example, by detecting a specific target object in a continuous image and specifying the position of the target object in each image, and thereby inputting the displacement speed of the sensor SE2, that is, the occupant's retina. This is a process of converting a visual stimulus into motion information.

  Further, as another example, the predetermined image processing detects a specific object in the image input from the sensor SE2, calculates the occupant's posture from the angle of the object, and estimates the vertical direction from the posture. By doing so, a process of converting the gravitational acceleration of the displacement of the sensor SE2, that is, the visual stimulus input to the occupant's retina into motion information may be performed.

  The calculation unit 110 includes a body motion estimation unit 103. The body movement estimating unit 103 executes a process corresponding to a process of generating information (hereinafter, abbreviated as copy information) corresponding to an efferent copy or a somatic sensation of a stimulus given to the body in the nervous system. That is, the body movement estimating unit 103 receives the input of the first movement information I1, multiplies the first movement information I1 by an appropriate predetermined gain, and outputs the first copy information 23. The first copy information 23 corresponds to first motion information EI1 including an error. Further, the body movement estimating unit 103 receives the input of the second movement information I2, multiplies the second movement information I2 by an appropriate predetermined gain, and outputs the second copy information 24. The second copy information 24 corresponds to the second motion information EI2 including an error.

  The operation unit 110 includes an integration processing unit 105, and receives the first copy information 23 and the second copy information 24. The integration processing unit 105 executes an integration process described later, and outputs the processed information 25 and 26 to the internal model.

  The calculation unit 110 includes a vestibular sensory model 107 and a visual organ model 117 that execute processing corresponding to the motion estimation processing in the internal model. Information 25 is input to the vestibular sensory model 107. Information 26 is input to the visual organ model 117.

  The vestibular sensation model 107 estimates the kinesthetic amount by executing a process corresponding to the motion estimation process in the vestibular sensation model of the internal model using the input information 25, and estimates the kinetic amount. The motion estimation information 27 indicating the motion estimation amount (first motion estimation amount) is output. The visual organ model 117 estimates a kinetic amount by executing a process corresponding to the motion estimation process in the internal model using the input information 26, and calculates a motion estimation amount (a second motion estimation amount). The motion estimation information 28 is output. The motion estimation information 27 and the motion estimation information 28 correspond to the motion estimation information I4 in FIG.

  The operation unit 110 includes a first comparison unit 108 and a second comparison unit 114. The first comparing unit 108 and the second comparing unit 114 are adders. The first comparing section 108 receives the first kinesthetic information 21 output from the first processing section 101 and the kinetic estimation information 27 output from the vestibular sensory organ model 107. The second kinesthetic information 22 output from the second processing unit 113 and the motion estimation information 28 output from the visual organ model 117 are input to the second comparing unit 114.

  The first comparing unit 108 performs a comparison process using the first kinesthetic information 21 and the motion estimation information 27, and the kinesthetic amount obtained by the first processing unit 101 and the vestibular sensory model 107. Is compared with the kinesthetic amount (motion estimation amount) estimated in the above, and a difference (error) between them is calculated. The calculated error is output as first sensory contradiction information 29.

  The second comparing unit 114 performs a comparison process using the second kinesthetic information 22 and the motion estimation information 28, and obtains the kinesthetic amount and the visual organ model 117 obtained by the second processing unit 113. The estimated motion sensation amount (motion estimation amount) is compared, and their difference (error) is calculated. The calculated error is output as second sense contradiction information 30.

  The operation unit 110 includes a first adaptive processing unit 109 and a second adaptive processing unit 119. The first adaptive processing unit 109 receives the sense inconsistency information 29 output from the first comparing unit 108. The second adaptive processing unit 119 receives the sensory contradiction information 30 output from the second comparing unit 114. The first adaptation processing unit 109 accumulates the input sensory inconsistency information 29 and outputs information 31 that has been subjected to adaptation processing for adapting to processing in the internal model. The second adaptation processing unit 119 accumulates the input sensory contradiction information 30 and outputs information 32 that has been subjected to adaptation processing for adapting to the processing in the internal model.

  The operation unit 110 includes the integration processing unit 105. The integrated processing unit 105 includes the first copy information 23 and the second copy information 24 output from the body motion estimation unit 103, the information 31 output from the first adaptation processing unit 109, and the second adaptation The information 32 output from the processing unit 119 is input. The integration processing unit 105 executes an integration process that is a process corresponding to sensory integration that integrates various types of sensory information performed by a person in order to grasp his / her body movement. The integration processing unit 105 executes integration processing on these pieces of information, and outputs information 25 and 26 to the internal model.

  The operation unit 110 includes a sense inconsistency processing unit 125. The sensory inconsistency processing unit 125 receives the sensory inconsistency information 29 output from the first comparing unit 108 and the sensory inconsistency information 30 output from the second adaptive processing unit 119. The sensory inconsistency processing unit 125 previously stores an arithmetic expression for calculating an index value indicating the degree of motion sickness using the sensory inconsistency information 29, 30 and stores the sensory inconsistency information 29, 30 in the arithmetic expression. By substituting, an index value indicating the degree of motion sickness is calculated.

<Detailed block diagram>
FIG. 5 is a block diagram illustrating an example of a detailed process of each function in FIG. Referring to the figure, an arithmetic unit 110 that executes arithmetic processing 111 according to a mathematical model M has a first motion information I1 from the sensor SE1 that is the sum of the gravitational acceleration g and the inertial acceleration a applied to the head. The head acceleration f (f = g + a), the head angular velocity ω, and the inertial acceleration a are input.

  The first processing unit 101 includes a processing unit OTO that executes a process corresponding to the process of motion perception in the otolith device, and a processing unit SCC that executes a process corresponding to the process of motion perception in the semicircular canal. The head acceleration f is input to the processing unit OTO, and the head angular velocity ω is input to the processing unit SCC. The transfer characteristics of the processing unit OTO and the processing unit SCC are both represented by equations described in a fixed head coordinate system. The transfer characteristic of the processing unit OTO is represented by a unit matrix. The transfer characteristic of the processing unit SCC is represented by equation (1) in the figure. Note that τa and τd in Expression (1) are time constants.

  The processing unit OTO outputs the signal f ', and the processing unit SCC outputs the sensory amount ω' of the head angular velocity ω. By applying the low-pass filter LP to the signal f ′ and the signal ω ′, the sensation amount vs of the velocity in the gravitational direction is calculated, and the sensation amount as of the inertial acceleration a is calculated using this. The characteristics of the low-pass filter LP are represented by equation (2) in the figure. In the equation (2), τ is a time constant. The sensory amount as, the sensory amount ωs, and the sensory amount vs correspond to the first kinesthetic information 21.

  The vestibular sensation organ model 107 includes a processing unit <OTO> corresponding to the internal model of the otolith device and a processing unit <SCC> corresponding to the internal model of the semicircular canal. Symbols sandwiched between notations “<>” indicate processing units that perform processing corresponding to the internal model. The same applies to the following description.

  The transfer characteristic of the processing unit <OTO> is represented by a unit matrix. The transfer characteristic of the processing unit <SCC> is represented by equation (3) in the figure. The processing section <OTO> outputs a signal 41, and the processing section <SCC> outputs a signal 42. By applying the low-pass filter <LP> to the signals 41 and 42, an estimated amount as ^ of the inertial acceleration a, an estimated amount ωs ^ of the head angular velocity ω, and an estimated amount vs ^ of the velocity in the direction of gravity are obtained. . The characteristic of the low-pass filter <LP> is also represented by equation (2) in the figure. The signals 41 and 42 correspond to the motion estimation information 27.

  The first comparing unit 108 outputs the sensation amount as, the sensation amount vs, and the sensation amount ωs output from the processing unit OTO and the processing unit SCC, respectively, and is output from each of the processing unit <OTO> and the processing unit <SCC>. The estimated amounts as ^, ωs ^, and errors Δa, Δv, and Δω with respect to the estimated amount vs ^ are calculated, and signals 61, 62, and 63 indicating them are output. The signals 61, 62, and 63 correspond to the first sensory contradiction information 29.

  The first adaptive processing unit 109 integrates the errors Δa, Δv, and Δω shown in the signals 61, 62, and 63, respectively, and multiplies the integrated values by the gains Kac, Kωc, and Kvc. Δv ′ and Δω ′ are input to the integration processing unit 105.

  The second processing unit 113 includes a processing unit VISω that executes a process corresponding to a process of perceiving an angular velocity by a visual device, and a processing unit VISγ that executes a process of perceiving a vertical speed. The angular velocity ωγ obtained from the second motion information I2 is input to the processing unit VISω, and the gravitational direction velocity Vγ obtained from the second motion information I2 is input to the processing unit VISγ. The processing section VISω outputs a signal 43 corresponding to the visual perception of the angular velocity ωγ, and the processing section VISγ outputs a signal 44 corresponding to the visual perception of the gravity direction velocity Vγ. The signals 43 and 44 correspond to the second kinesthetic information 22.

  The visual organ model 117 includes a processing unit <VISω> that executes a process corresponding to a process of estimating an angular velocity by an internal model of the visual organ, and a processing unit <VISγ> that executes a process of estimating a vertical speed. . The processing unit <VISω> outputs a signal 45 corresponding to the estimated amount of the angular velocity ωγ based on the visual organ model. The processing unit <VISγ> outputs a signal 46 corresponding to the estimated amount of the velocity Vγ in the gravitational direction based on the visual organ model. The signals 45 and 46 correspond to the motion estimation information 28.

  Second comparing section 114 includes adders 47 and 48. The adder 47 receives the signal 43 output from the processing unit VISω and the signal 45 output from the processing unit <VISω>. The adder 47 outputs a signal 49 indicating an error Δωγ between the visual perception of the angular velocity ωγ indicated by the signals and the estimated amount of the angular velocity ωγ based on the visual organ model.

  The adder 48 receives the signal 44 output from the processing unit VISγ and the signal 46 output from the processing unit <VISγ>. The adder 48 outputs a signal 50 indicating an error ΔVγ between the visual sensation amount of the gravitational direction velocity Vγ indicated by those signals and the estimated amount of the gravitational direction velocity Vγ by the visual organ model. Signals 49 and 50 correspond to second sensory contradiction information 30.

  The signals 49 and 50 are input to the second adaptive processing unit 119. The second adaptive processing unit 119 inputs signals 51 and 52 indicating errors Δωγ ′ and ΔVγ ′ obtained by multiplying the errors Δωγ and ΔVγ indicated by the signals 49 and 50 by the gains Kvω and Kvγ to the integrated processing unit 105. I do. The signals 51 and 52 correspond to the information 32 in FIG.

  The body motion estimating unit 103 receives the head angular velocity ω and the inertial acceleration a. The body motion estimating unit 103 inputs the head angular velocity ω ~ obtained by multiplying the head angular velocity ω by the gain Kω to the integration processing unit 105. The body motion estimating unit 103 inputs the inertial acceleration a ~ obtained by multiplying the inertial acceleration a by the gain Ka to the integrated processing unit 105. The head angular velocity ω ~ and the inertial acceleration a ~ correspond to the first copy information 23.

  In addition, the angular velocity ωγ and the gravitational velocity Vγ are input to the body motion estimating unit 103. The body motion estimating unit 103 inputs the angular velocity ωγ obtained by multiplying the angular velocity ωγ by the gain Kωγ to the integration processing unit 105. The body motion estimating unit 103 inputs the gravitational direction speed Vγ ~ obtained by multiplying the gravitational direction speed Vγ by the gain KVγ to the integration processing unit 105. The angular velocity ωγ ~ and the gravity direction velocity Vγγ correspond to the second copy information 24.

  The integration process executed by the integration processing unit 105 is, for example, an addition process. Therefore, the integration processing unit 105 includes adders 64-69. The adder 64 adds the inertial acceleration a ~ and the error Δa ′, and passes the result to the adder 66. The adder 65 adds the error Δv ′ and the error ΔVγ ′ and passes the result to the adder 66 and the adder 69. The adder 66 outputs to the processing unit <OTO> a signal 53 indicating a result obtained by adding the addition result of the inertia acceleration a ~ and the error Δa ′ and the addition result of the error Δv ′ and the error ΔVγ ′. input.

  The adder 67 passes the result of adding the head angular velocity ω ~, the error Δω ′, and the error Δωγ ′ to the adder 68, and inputs the signal 54 indicating the addition result to the processing unit <SCC>. The adder 68 inputs a signal 55 indicating a result obtained by adding the angular velocity ωγ ~ to the addition result of the head angular velocity ω ~, the error Δω ', and the error Δωγ' to the processing unit <VISω>. .

  The adder 69 inputs a signal 56 indicating the result obtained by adding the gravitational direction velocity Vγ に to the addition result of the error Δv ′ and the error ΔVγ ′ to the processing unit <VISγ>.

  The sense inconsistency processing unit 125 includes processing units 125A and 125B and the adder 70. The error Δv output from the first comparing unit 108 is input to the processing unit 125A. The signal 50 indicating the error ΔVγ output from the adder 48 is input to the processing unit 125B. The error Δv is also called a subjective gravitational direction error (Subjective Vertical Conflict).

  The processing unit 125A executes a process of applying a second-order Hill function and a second-order delay transfer function to the error Δv, and outputs a signal 71 indicating a process result. Note that the second-order Hill function is represented by equation (4) in the figure. The second-order lag transfer function is represented by equation (5) in the figure. The combination of Expressions (4) and (5) corresponds to an arithmetic expression for calculating an index value indicating the degree of motion sickness stored in advance by the sensory inconsistency processing unit 125.

  The processing unit 125B performs a process of applying a second-order Hill function and a second-order delay transfer function to the error ΔVγ, and outputs a signal 72 indicating a processing result. The second-order Hill function is represented by equation (6) in the figure. The combination of Expressions (6) and (5) corresponds to an arithmetic expression for calculating an index value indicating the degree of motion sickness stored in advance by the sensory inconsistency processing unit 125.

  Signals 71 and 72 are input to the adder 70. The adder 70 adds information indicated by these signals and outputs the result. Information indicated by the signal output from the adder 70 corresponds to the motion sickness incidence rate MSI.

<Effects of Embodiment>
The evaluation device 1 according to the present embodiment calculates the degree of motion sickness based on a value corresponding to a sensory contradiction between the sensory organ and the internal model, based on a sensory contradiction theory in which the cause of motion sickness is a sensory contradiction. . At that time, the evaluation device 1 according to the present embodiment uses information corresponding to kinesthetic information in a plurality of types of sensory organs, which are a vestibular sensory organ and one or more other sensory organs. Thereby, in the evaluation device 1 according to the present embodiment, the degree of the motion sickness is estimated in consideration of the kinesthetic sensations of a plurality of types of sensory organs. Since there are a plurality of sensory organs in which a person actually perceives movement, it is considered that motion sickness is evaluated closer to the actual sense by considering a plurality of types of sensory organs. That is, it is considered that the evaluation device 1 according to the present embodiment estimates the degree of motion sickness with high accuracy.

  In particular, an error in the vertical component of the kinesthetic amount is called a subjective gravitational direction error, and there is a theory that it is a factor of motion sickness. By estimating the degree of motion sickness based on the error in the vertical component of the kinesthetic amount, the degree of motion sickness can be estimated based on this theory.

  By estimating the degree of the motion sickness in the evaluation device 1, the system 100 including the evaluation device 1 according to the present embodiment uses the estimation result of the evaluation device 1 to determine the degree of the motion sickness of the occupant of the vehicle V. It is possible to perform control to reduce the amount. Based on the above principle, reducing at least one of the error of the vestibular sensory signal between the vestibular apparatus and the internal model, and the error of the visual sensory signal between the visual organ and the internal model reduces the degree of motion sickness. It is effective to reduce.

  Therefore, the reduction device 5 is a motion device that operates at least a part of the vehicle V as an example. The reduction device 5 as a motion device is, for example, a device that is provided on a seat (not shown) of the vehicle V and includes a mechanism that inclines the posture of an occupant seated on the seat in a predetermined direction. The tilting mechanism is, for example, an air bag disposed under a seat and / or a backrest, and a pump or valve that inflates and contracts by supplying and exhausting air to and from the air bag. In this case, the control device 3 controls the reduction device 5 so that the seat is inclined by a predetermined amount of change with respect to the evaluation result from the evaluation device 1. Then, the change amount is changed until the evaluation result from the evaluation device 1 after the change is improved. This reduces errors in the vestibular sensory signal between the vestibular apparatus and the internal model, and as a result, reduces the degree of motion sickness.

  Another example of the reduction device 5 as a motion device is an electronically controlled suspension of the vehicle V. In this case, the control device 3 changes the damping force and the spring constant of the electronic control suspension based on the evaluation result from the evaluation device 1.

  Further, as another example, the reduction device 5 is a display device that gives visual information to an occupant. The reduction device 5 as a display device is, for example, a projector that displays an image on a monitor (not shown) arranged at the position of the vehicle window. In this case, the control device 3 changes (tilts) an image displayed on the monitor by a predetermined change amount with respect to the evaluation result from the evaluation device 1. Then, the change amount is changed until the evaluation result from the evaluation device 1 after the change is improved. Thereby, the error of the visual sensory signal between the visual organ and the internal model is reduced, and as a result, the degree of motion sickness is reduced.

  As another example, the control device 3 may change the amount of change and the size of the image displayed on the monitor in advance with respect to the evaluation result from the evaluation device 1.

  Another example of the reduction device 5 as a display device may be a display device of an electronic device used in the vehicle V. The electronic devices used in the vehicle V include a vehicle-mounted television, a navigation device, and a terminal device such as a smartphone or a tablet terminal carried by an occupant of the vehicle V. In this case, the control device 3 changes the amount of change, the size and brightness of the image displayed on the monitor, and the like with respect to the evaluation result from the evaluation device 1. Note that the control device 3 may be mounted on a display device. That is, a control unit (not shown) of the reduction device 5 as a display device may function as the control device 3. When the reduction device 5 is a terminal device carried by the occupant of the vehicle V, a program (application) for control by the control unit of the reduction device 5 is distributed to the terminal device from an ECU or a gateway (not shown) of the vehicle V. Is also good.

  Note that the reduction device 5 may be a combination of a motion device and a display device as described above.

[Modification]
Note that the body movement estimating unit 103 does not have to generate only the first copy information 23 and generate the second copy information 24. As an example, the body motion estimating unit 103 sets the gains Kωγ and KVγ to 0. In this case, the input of the angular velocity ωγ ~ and the velocity in the gravitational direction Vγ ~ from the body motion estimation unit 103 to the integration processing unit 105, which are indicated by the dotted lines in FIG. Further, as another example, the angular velocity ωγ and the gravity direction velocity Vγ from the second movement information I2 may not be input to the body movement estimating unit 103. In this case, in addition to the input of the angular velocity ωγ ~ and the gravitational direction velocity Vγ ~ from the body movement estimating unit 103 to the integration processing unit 105 shown by the dotted line in FIG. Not done.

[Second embodiment]
The functional configuration of the arithmetic unit 110 of the evaluation device 1 that executes the arithmetic processing 111 according to the mathematical model M is not limited to the configuration in FIG. FIG. 6 is a block diagram illustrating a functional configuration of the calculation unit 110 of the evaluation device 1 according to the second embodiment.

  Referring to the figure, a calculation unit 110 of the evaluation device 1 according to the second embodiment includes a first processing unit 201 that executes a process corresponding to the process of motion perception by a vestibular sensory organ, and a visual organ. And a second processing unit 215 for executing a process corresponding to the motion perception process. These are the same as the first processing unit 101 and the second processing unit 113 shown in FIG. Also, as in FIG. 4, when the input information from the sensor SE2 is image information, the calculation unit 110 includes a preprocessing unit 213 that is a conversion unit that converts the image information into the second motion information I2.

  The arithmetic unit 110 includes a first sensory integration unit 217, and performs a process of combining the kinesthetic information output by the first processing unit 201 and the kinesthetic information output by the second processing unit 215. In the combining process, the first kinesthetic information output by the first processing unit 201 and the second kinetic information output by the second processing unit 215 are calculated to calculate a difference from second information described later. This is an arithmetic process for converting the sensory information into the first information as one piece of information, for example, an addition process. The combining process may be other arithmetic processes such as a process of calculating an average value and a process of calculating a total value, in addition to the addition.

  In addition, the arithmetic unit 110 includes a body motion estimating unit 205, and generates information corresponding to an efferent copy from the first motion information I1. FIG. 6 shows an example in which the body movement estimating unit 205 does not use the second movement information I2 for the processing. However, similarly to the first embodiment, the second movement information I2 may be used. Good.

  The arithmetic unit 110 includes a vestibular sensory model 209 and a visual organ model 207 that execute processing corresponding to the motion estimation processing in the internal model of the vestibular sensory organ and the internal model of the visual organ. Is entered for each. The vestibular sensory organ model 209 and the visual organ model 207 estimate the amount of kinesthetic sensation based on the information from the body movement estimating unit 205, and output the first kinetic estimation information and the second kinetic estimation information. The operation unit 110 further includes a second sensory integration unit 211, and executes a process of combining the motion estimation information of both models 207 and 209. The combining process is the same as the process in the first sensory integration unit 217, and is an arithmetic process in which the first and second motion estimation information in both models 207 and 209 are used as one piece of second information. It is.

  The calculation unit 110 includes a comparison unit 219, and calculates the difference between the first information and the second information calculated by the sensory integration units 211 and 217 by comparing them. This difference corresponds to a sense contradiction. The operation unit 110 includes an adaptive processing unit 221, and receives the difference calculated by the comparison unit 219. The adaptive processing unit 221 performs processing so as to adapt the input difference to the processing in both models 207 and 209, and inputs the result to the models 207 and 209.

  Further, the arithmetic unit 110 includes a sense inconsistency processing unit 223. The sensory inconsistency processing unit 223 calculates an index value indicating the degree of motion sickness from the difference calculated by the comparison unit 219. For this reason, the sensory inconsistency processing unit 223 stores in advance an arithmetic expression for calculating an index value indicating the degree of motion sickness using the difference between the first information and the second information, and stores the arithmetic expression in the arithmetic expression. An index value indicating the degree of motion sickness is calculated by substituting the difference input from the comparison unit 219.

<Effects of Embodiment>
As described in the present embodiment, the method of calculating the index value of the degree of motion sickness based on the kinesthetic information of a plurality of types of sensory organs and the information corresponding to the sensory contradiction between the internal model and the internal model is based on the first method. The method is not limited to the method shown in FIGS. 4 and 5 described in the embodiment, but may be another method as shown in FIG. 6 described above. Also in the evaluation device 1 according to the present embodiment, since the degree of motion sickness is estimated in consideration of the kinesthetic sensations of a plurality of types of sensory organs, it is considered that the degree of motion sickness is estimated with high accuracy.

  Further, in the present embodiment, a process of combining kinesthetic information in the processing units 201 and 215 corresponding to each sensory organ and a process of combining motion estimation information in the internal models 207 and 209 are performed. , First information and second information. Therefore, in the present embodiment, the processing for calculating the sense inconsistency information is only the processing in the comparator 219. In the first embodiment, since the processing for calculating sensory contradiction information is performed in each of the comparators 108 and 114, the processing for calculating sensory contradiction information can be more easily performed in the present embodiment. Further, in the present embodiment, one sensory contradiction information is obtained. Therefore, as compared with the first embodiment in which two pieces of sensory contradiction information are obtained, the number of calculation formulas for calculating the index value indicating the degree of motion sickness stored in the sensory contradiction processing unit 223 is reduced. Can be. That is, the processing in the sense inconsistency processing unit 223 can be simplified as compared with the first embodiment.

[Third Embodiment]
The second example of the calculation processing 111 based on the value corresponding to the amount of kinesthetic sensation in each of a plurality of mutually different sensory organs corresponds to the estimation of the amount of kinesthetic sensation in an internal model for each of the plurality of sensory organs. Instead of using a value, only a value corresponding to the amount of motor sensation at the sensory organ is used. In the evaluation device 1 according to the present embodiment, the value corresponding to the amount of kinesthetic sensation at each of a plurality of different sensory organs, the value corresponding to the amount of kinesthetic sensation at the vestibular sensory, and at least one other sensory organ Value corresponding to the amount of kinesthetic sensation at. In this example, it is assumed that the value corresponding to the amount of kinesthetic sensation in at least one other sensory organ is a value corresponding to the amount of kinesthetic sensation in the visual organ.

  FIG. 7 is a block diagram illustrating an example of a functional configuration of the calculation unit 110 of the evaluation device 1 according to the third embodiment. 7, the configuration indicated by the same reference numeral as the block diagram of FIG. 6 is the same as the configuration shown in FIG.

  Referring to the figure, in the computing unit 110 of the evaluation device 1 according to the third embodiment, the comparator 219A performs a process corresponding to the process of motion perception by the vestibular sensory organ. These differences are calculated by comparing the kinesthetic information output in step (2) with the kinesthetic information output in the second processing unit 215 that executes processing corresponding to the processing of motion perception in the visual organ. The calculated difference is input to the sensory inconsistency processing unit 223 as information corresponding to sensory inconsistency. The sensory inconsistency processing unit 223 calculates an index value indicating the degree of motion sickness from the difference calculated by the comparator 219A.

  The evaluation device 1 according to the present embodiment also calculates the degree of motion sickness using the amount of kinesthetic sensation in a plurality of types of sensory organs, such as the vestibular sensory organ and other sensory organs. Thereby, in the evaluation device 1 according to the present embodiment, the degree of the motion sickness is estimated in consideration of the kinesthetic sensations of a plurality of types of sensory organs. Since there are a plurality of sensory organs in which a person actually perceives movement, it is considered that motion sickness is evaluated closer to the actual sense by considering a plurality of types of sensory organs. That is, even with the method according to the present embodiment, it is considered that the degree of motion sickness is estimated with high accuracy.

[Fourth Embodiment]
As still another example of the reduction device 5, a navigation device may be used. Alternatively, when the vehicle V has an automatic driving function, the reduction device 5 may be a route setting unit. In this case, the control device 3 is a control unit (not shown) of the reduction device 5 and sets a route according to the evaluation result from the evaluation device 1. That is, the control device 3 previously stores the magnitude of the possibility of motion sickness for each route, or can acquire the magnitude from another device such as a server, and responds to the evaluation result from the evaluation device 1. Establish a route that is likely to be a motion sickness of magnitude.

[Fifth Embodiment]
The evaluation device 1 may be used alone as well as the system 100. For example, the evaluation device 1 may have a communication function and output an evaluation result to a device such as a server that is defined in advance. As a result, it is possible to use other devices for designing a road (curve) that can reduce the degree of the sickness disease, designing a step on the road, and the like.

[Sixth Embodiment]
The evaluation device 1 is a kind of motion sickness, and can also estimate the degree of video sickness, which is considered to be the same principle, so-called VR (virtual reality) sickness. This is because it is considered to be caused by a shift between the movement of the viewer's head and the movement of the video. In this case, the reduction device 5 is a video display device and / or a device that changes the position of the viewer, and is controlled in the same manner as the system 100 that reduces the motion sickness of the vehicle V, so that VR sickness can be reduced. Be expected.

[Seventh Embodiment]
The plurality of types of sensory organs are at least one other sensory organ in addition to the vestibular sensory organ, and the other sensory organs are not limited to visual organs. Other sensory organs are, for example, auditory organs, olfactory organs, skin, etc., and the calculation unit 110 is a processing unit that executes processing corresponding to the processing of motion perception by these sensory organs, and an internal model. And a processing unit that executes a process corresponding to the motion estimation process. Even in this case, it is considered that the motion sickness is evaluated closer to the actual feeling. That is, it is considered that the evaluation device 1 according to the present embodiment estimates the degree of motion sickness with high accuracy.

  The present invention is not limited to the above embodiment, and various modifications are possible.

1: Evaluation device 3: Control device 5: Reduction device 11: Processor 12: Storage unit 13: Control device I / F
14: Sensor I / F
21: first kinesthetic information 22: second kinesthetic information 23: first copy information 24: second copy information 25: information 26: information 27: motion estimation information 28: motion estimation information 29: first Sensory contradiction information 30: second sensory contradiction information 31: information 32: information 41: signal 42: signal 43: signal 44: signal 45: signal 46: signal 47: adder 48: adder 49: signal 50: signal 51: signal 52: signal 53: signal 54: signal 55: signal 56: signal 61: signal 62: signal 63: signal 64: adder 65: adder 66: adder 67: adder 68: adder 69: addition Device 70: adder 71: signal 72: signal 100: system 101: first processing unit 103: body motion estimating unit 105: integrated processing unit 107: vestibular sensory organ model 108: first comparing unit 1 09: first adaptive processing section 110: arithmetic section 111: arithmetic processing 113: second processing section 114: second comparing section 117: visual organ model 119: second adaptive processing section 121: arithmetic program 123: before Processing unit 125: sensory contradiction processing unit 125A: processing unit 125B: processing unit 201: first processing unit 205: body motion estimation unit 207: visual organ model 209: vestibular sensory organ model 211: second sensor integration unit 213: Preprocessing unit 215: second processing unit 217: first sensory integration unit 219: comparison unit 219A: comparison unit 221: adaptive processing unit 223: sensory contradiction processing unit EI1: first motion information EI2: second motion Information I1: first motion information I2: second motion information I3: kinesthetic information I4: motion estimation information KVγ: gain Ka: gain Kac: gain Kvω: gain Kω : Gain Kωc: gain Kωγ: gain LP: low-pass filter M: mathematical model MSI: motion sickness incidence OTO: processing unit SCC: processing unit SE1: first sensor SE2: second sensor V: vehicle VISγ: processing unit VISω : Processing unit Vγ: Gravity direction speed Vγ ~: Gravity direction speed a: Inertial acceleration a ~: Inertial acceleration as: Sensitive amount as ^: Estimated amount f: Head acceleration f ': Signal g: Gravity acceleration vs: Sensitive amount vs ^: Estimated amount ΔVγ: error ΔVγ ′: error Δa: error Δa ′: error Δv: error Δv ′: error Δω ′: error Δωγ: error Δωγ ′: error ω: head angular velocity ωω: head angular velocity ω ′: Signal ωs: sensory amount ωs ^: estimated amount ωγ: angular velocity ωγ ~: angular velocity

Claims (17)

An evaluation device, comprising: a calculation unit that calculates a degree of motion sickness based on a value corresponding to the amount of motor sensation in each of a plurality of different sensory organs. The calculation unit is configured to calculate a value based on a difference between a value corresponding to the amount of kinesthetic sensation in the first sensory organ and a value corresponding to the amount of kinesthetic sensation in at least one other sensory organ of the first sensory organ. The evaluation device according to claim 1, wherein the degree of motion sickness is calculated by calculation. The evaluation device according to claim 2, wherein the value corresponding to the amount of kinesthetic sensation at the first sensory organ is a value corresponding to the amount of kinesthetic sensation at the vestibular sensory organ. The arithmetic unit, a value corresponding to the amount of kinesthetic sensation in the sensory organs, a value corresponding to a motion estimator that is the amount of kinesthetic sensation estimated in the internal model of the sensory organs constructed in the central nervous system, Calculating the degree of motion sickness based on the difference between
The evaluation device according to claim 1. The value corresponding to the kinesthetic amount at the sensory organ is a value corresponding to the first kinesthetic amount at the vestibular sensation and a value corresponding to the second kinesthetic amount at at least one other sensory organ. And
The value corresponding to the motion estimator is a value corresponding to the first motion estimator estimated by the internal model of the vestibular sensory organ, and the second value estimated by the internal model of the at least one other sensory organ. The evaluation device according to claim 4, comprising: a value corresponding to the motion estimation amount. The arithmetic unit includes:
Processing corresponding to processing of perception at the vestibular sensory organ based on the first motion information corresponding to the stimulus to the vestibular sensory organ and the second motion information corresponding to the stimulus to the at least one other sensory organ And a process corresponding to the process of perception of the at least one other sensory organ, and outputs a value corresponding to the first kinesthetic amount and a value corresponding to the second kinesthetic amount. Sensory organ processing,
A process corresponding to a motion estimation process in an internal model of the vestibular sensory organ based on at least one of the first motion information and the second motion information, and the other at least one sensory organ An internal model process of performing a process corresponding to the motion estimation process in the internal model, and outputting a value corresponding to the first motion estimator and a value corresponding to the second motion estimator;
A process of calculating a difference between a value corresponding to the kinesthetic amount and a value corresponding to the kinetic estimation amount;
The processing of calculating the degree of the motion sickness from the difference. The calculation unit may include a first difference between a value corresponding to the first kinesthetic amount and a value corresponding to the first kinetic amount, a value corresponding to the second kinesthetic amount, and the second kinetic amount. And a second difference from a value corresponding to the motion estimator 2 is calculated,
The evaluation device according to claim 6, wherein the difference used in the processing for calculating the degree of the motion sickness includes the first difference and the second difference. The arithmetic unit includes a first information obtained by executing a process of combining a value corresponding to the first kinesthetic amount and a value corresponding to the second kinetic amount, and the motion estimation amount. The evaluation device according to claim 6, wherein a difference between the value and a corresponding value is calculated. The calculation unit is configured to execute a process of combining the first information, a value corresponding to the first motion estimation amount, and a value corresponding to the second motion estimation amount, and obtain second information. The evaluation device according to claim 8, wherein the difference is calculated. The evaluation device according to any one of claims 2, 3, 5 to 9, wherein the other at least one sensory organ is a visual organ. The evaluation device according to claim 10, wherein the calculation unit further executes a process of converting information corresponding to a visual stimulus that is a stimulus to the visual organ into motion information. The evaluation device according to claim 10, wherein the information corresponding to a visual stimulus that is a stimulus to the visual organ includes image information. The evaluation device according to any one of claims 2 to 12, wherein the difference is a difference between a value corresponding to a vertical component of the motion sensation amount and the motion estimation amount. A control device for controlling a motion sickness reducing device,
A control device that controls the reduction device based on an evaluation result obtained from an evaluation device that calculates a degree of motion sickness based on a value corresponding to a motor sensation amount of each of a plurality of different sensory organs. An evaluation device for calculating the degree of motion sickness;
A device for reducing motion sickness,
A control device that controls the reduction device based on the evaluation result obtained from the evaluation device,
The sickness reduction system, wherein the evaluation device calculates the degree of sickness based on a value corresponding to the amount of motor sensation at each of a plurality of different sensory organs. A method for evaluating the degree of motion sickness in an evaluation device,
An evaluation method that calculates the degree of motion sickness based on a value corresponding to the amount of motor sensation at each of a plurality of different sensory organs. A computer program for causing a computer to function as an evaluation device for evaluating the degree of motion sickness,
Said computer,
A computer program that functions as a calculation unit that calculates the degree of motion sickness based on a value corresponding to the amount of motor sensation in each of a plurality of different sensory organs.

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