JP2020029210A - Driving control adjustment device and driving control adjustment method - Google Patents

Abstract

To support comfortable driving control for a plurality of passengers and loads.SOLUTION: A driving control adjustment device 100 is used in a driving control system DC which executes at least one driving control selected from driving support and automatic driving of a moving body such as a vehicle CR. The driving control adjustment device 100 comprises: an information acquisition unit 10 which acquires information about a plurality of bodies mounted on the moving body; a state determination unit 20 which determines the states of the plurality of mounted bodies on the basis of the information acquired by the information acquisition unit 10; a selection unit 30 which selects from the plurality of mounted bodies; and an adjustment unit 40 which adjusts the control amount of the driving control so as to change the state of the mounted body selected by the selection unit 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation control adjustment device and an operation control adjustment method used in an operation control system that performs operation control such as automatic operation of a moving object.

  2. Description of the Related Art Conventionally, there has been proposed a technique of controlling a vehicle by adapting to a sense and a preference of an occupant of the vehicle. For example, Patent Literature 1 discloses an automatic parameter tuning system for a connected car based on a user profile for the purpose of customizing the operation of a driving support system based on user preferences. In this system, the vehicle has a function of receiving a wireless message via a wireless network and changing a control parameter of the driving assistance system. The wireless message includes optimization setting value data describing how to change the operation of the driving support system based on the preference of the user who has reserved the use of the vehicle with respect to the operation of the driving support system. In the changing step, the control parameters of the driving support system are changed based on the optimization set value data so that the operation of the driving support system matches the user's preference.

  Further, Patent Literature 2 discloses a travel control device capable of performing travel control according to the occupant's feeling. This traveling control device controls automatic driving capable of traveling without requiring driving operation of the driver or automatic driving assisting driving operation of the driver. The travel control device relaxes the restriction on the vehicle body behavior amount in automatic driving according to the state of the occupant detected by the occupant sensor.

JP 2017-206239 A JP 2018-039460 A

  In recent years, systems for automatic driving and driving assistance have been adopted for vehicles, and are expected to increase in the future. Further, it is estimated that the number of cases where a plurality of people ride and ride on a vehicle driven by such a system will increase. In a vehicle or the like in which a plurality of people ride together, it is normal that each person has a preference or a sense of how to drive. It is not enough just to match tastes and sensations. For example, even if the driving control is performed in accordance with the driver's preference, the passenger may be nervous.

  The present invention has been devised in view of the above circumstances, and is a driving method that enables comfortable driving control for a plurality of occupants in a moving body such as a vehicle that is occupied by a plurality of people. A control adjustment device and an operation control adjustment method are provided. Further, the present invention provides an operation control adjustment device and an operation control adjustment method that enable appropriate operation control not only for a plurality of persons but also for a plurality of types of loads.

In order to solve the above-described problem, an operation control adjustment device used in an operation control system that performs at least one of driving support and automatic driving of a moving object is provided, and information on a plurality of mounted objects of the moving object is stored. An information acquisition unit to be acquired, a state determination unit that determines a state of the plurality of mounted objects based on the information acquired by the information acquisition unit, a selection unit that selects from among the plurality of mounted objects, and a selection unit. An operation control adjustment device including: an adjustment unit that adjusts a control amount of operation control so as to change a state of a selected mounted body.
According to this, it is possible to provide an operation control adjustment device that appropriately adjusts the operation control of a moving body by selecting from among a plurality of mounted bodies of occupants and loads, and changing the control amount to an appropriate control amount. Can be.

Further, the mounted object may be an occupant of a moving object.
According to this, a comfortable driving control can be performed by selecting from a plurality of occupants and changing the control amount so as to be suitable for the occupant.

Further, the information acquisition unit acquires the biological signals of a plurality of occupants, the state determination unit determines the state of the biological signals of the plurality of occupants acquired by the information acquisition unit, and the selection unit determines the state determination unit. The worst occupant may be selected from the plurality of occupants, and the adjustment unit may adjust the control amount so as to improve the state of the worst occupant selected by the selection unit.
According to this, it is possible to perform comfortable driving control by selecting the occupant in the worst state from among the plurality of occupants whose states have been determined, and adjusting the control amount so as to improve the state of the occupant. .

Further, the information acquisition unit includes an imaging device that captures at least a plurality of occupant face images, the state determination unit outputs an estimated age based on the face image captured by the imaging device, and the selection unit includes a state determination unit Based on the estimated age output by the occupant, the occupant with the smallest or the largest estimated age is selected, and the adjustment unit adjusts the control amount so that the state of the occupant with the smallest or the largest estimated age selected by the selection unit does not deteriorate at least. It may be characterized in that
According to this, comfortable driving control can be performed by adjusting the control amount so as to be suitable for an occupant whose state is easily changed, such as the oldest or the youngest, whose state has been determined.

The selection unit further includes an external input unit that receives an input from the user, the selection unit selects an occupant of the one mobile unit specified by the external input unit, and the adjustment unit determines a state of the occupant selected by the selection unit. May be characterized by adjusting the control amount so as not to worsen at least.
According to this, a comfortable driving control can be performed by adjusting the control amount so as to be suitable for a specific occupant.

Further, the information acquisition unit acquires the biosignals of the plurality of occupants, the state determination unit determines the states of the biosignals of the plurality of occupants acquired by the information acquisition unit, and the selection unit includes all of the occupants of the moving body. May be selected, and the adjustment unit may adjust the control amount so that at least the average of the states of all the occupants of the moving object selected by the selection unit is not deteriorated.
According to this, comfortable driving control can be performed by adjusting the control amount so as to be suitable for all the occupants.

Further, the mounted object may be a plurality of types of loads loaded on the moving body.
According to this, it is possible to perform appropriate operation control by selecting from a plurality of types of loads and changing the control amount so as to be suitable for the load.

Further, the information acquisition unit acquires information on a plurality of types of loads and accelerations of the loads, and the state determination unit allows the acceleration information obtained by the information acquisition unit to be permitted for each type of loads. The degree is determined, and the selection unit selects the load of the state having the smallest allowable level from the plurality of types of loads determined by the state determination unit, and the adjustment unit determines the maximum allowable level selected by the selection unit. The control amount may be adjusted so that the state of the load of the type having a small state is not deteriorated at least.
According to this, the load of the type of the state having the smallest allowable degree is selected from the plurality of types of loads whose states have been determined, and the control amount is adjusted so that the state of the load is not deteriorated at least. , And appropriate operation control can be performed.

In order to solve the above-mentioned problem, there is provided an operation control adjustment method used in an operation control system that performs at least one of driving support and automatic operation of a moving body, and includes information on a plurality of mounted bodies of the moving body. Obtain and determine the state of a plurality of mounted objects based on the obtained information, select from among the plurality of mounted objects whose states have been determined, and control the operation so as to change the state of the selected mounted object. An operation control adjustment method for adjusting the control amount of the operation control is provided.
According to this, it is possible to provide an operation control adjustment method for appropriately adjusting the operation control of the moving body by selecting from a plurality of mounted bodies of the occupant and the load and changing the control amount to an appropriate control amount. Can be.

  As described above, according to the present invention, in a moving object such as a vehicle in which a plurality of people ride and ride, a driving control adjustment device that enables comfortable driving control for a plurality of occupants is provided. An operation control adjustment method can be provided. Further, according to the present invention, it is possible to provide an operation control adjustment device and an operation control adjustment method that can perform appropriate operation control not only for a plurality of persons but also for a plurality of types of loads.

FIG. 1 is a block configuration diagram of an operation control adjustment device according to a first embodiment of the present invention. FIG. 2 is a block diagram of a state determination unit according to the first embodiment of the present invention. FIG. 3 is a block diagram of a selection unit according to the first embodiment of the present invention. FIG. 2 is a block diagram of an adjustment unit according to the first embodiment of the present invention. 4 is a flowchart of the overall processing of the operation control adjustment device of the first embodiment according to the present invention. 5 is a flowchart of a process of comfort control for a worst-case occupant of the driving control apparatus according to the first embodiment of the present invention. 9 is a flowchart of comfort control processing for selecting an occupant in real time from a plurality of persons in the operation control adjustment device according to the first embodiment of the present invention. 5 is a flowchart of a process of comfort control for an occupant with a designated seat by the driving control apparatus according to the first embodiment of the present invention. 6 is a flowchart of a comfort control process for the occupant selected by the initial input of the operation control adjustment device of the first embodiment according to the present invention. 5 is a flowchart (part 1) of a process for a load by the operation control and adjustment device according to the first embodiment of the present invention. 9 is a flowchart (part 2) of a process for a load by the operation control and adjustment device according to the first embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First embodiment>
With reference to FIG. 1, an operation control adjustment device 100 in the present embodiment will be described. The driving control adjustment device 100 is installed in a vehicle CR that is one of the moving objects. The vehicle CR may be a passenger car such as a train or a train. However, in the present embodiment, a description will be given of an example of a car including a relatively small car having a capacity of several people to a large car such as a bus. The moving body is not particularly limited as long as it is a vehicle on which a plurality of people ride at the same time, and may be an elevator. In addition, it may be a small car, a privately owned car, or a car shared by a plurality of people, such as a share car. In the vehicle CR, a plurality of occupants (three in this figure) and a load (two in this figure) are mounted as mounted bodies. Here, the occupant will be mainly described, and the load as a thing will be described later.

  The vehicle CR includes a driving control system DC that performs driving support and automatic driving control of the vehicle CR. The operation control system DC includes many sensors in addition to sensors related to a main control system for acceleration, steering, and braking in order to perform driving support and automatic driving. For example, vehicle sensors (vehicle sensors 1 to 4 in this figure) include an acceleration sensor, a vehicle speed sensor, a steering angle sensor, a vibration sensor, a yaw rate sensor, a gyroscope, an inter-vehicle distance sensor, a camera, a LIDAR, and a position sensor (GPS: Global). Positioning System), a road sign sensor, an in-vehicle network, and the like, and acquire information such as target physical quantities from many information sources.

  Further, the operation control system DC includes a number of ECUs (Electronic Control Units) that actually perform driving support and automatic driving control (ECUs 1 to 3 in this figure). For example, those related to the main control system include an auto cruise ECU, an engine control ECU, a steering control ECU, a brake control ECU, and the like. Each ECU is provided with an actuator (actuator 1 to 3 in this figure) corresponding to a motor, a solenoid, and the like, which generates an operation. For example, the engine control ECU corresponds to the engine, the steering control ECU corresponds to the steering, and the brake control ECU corresponds to the brake. For example, the steering control ECU controls steering as an actuator in accordance with a steering angle detected by a steering angle sensor that is one of vehicle sensors. The operation control system DC includes an automatic operation ECU. The automatic driving ECUs cooperate to realize automatic driving by instructing the other ECUs on various control amounts and the like.

  It should be noted that there are various modes of the driving support and the automation level of the automatic driving, and accordingly, various combinations of the ECU and the actuator are conceivable. For example, in a lane keeping assist system that is considered to be one of automatic driving, when the vehicle CR is likely to deviate from the lane, the steering control ECU controls the steering so as not to deviate from the lane. On the other hand, the lane departure prevention support system, which is considered as one of driving assistance, issues a warning to the driver when the vehicle CR is likely to deviate from the lane, and assists the driver in controlling the steering in response to the warning. . The combination of the vehicle sensors 1-4, the ECUs 1-3, and the actuators 1-3 is not a fixed relation but changes according to the level of automation and the state of the vehicle CR. When more autonomous automatic driving is performed, an automatic driving ECU is provided in the vehicle, and based on sensor information and traveling route information from various parts of the vehicle, each control amount such as speed, brake amount, steering amount, etc. is sequentially integrated. These control amounts are instructed to the engine control ECU, the steering control ECU, and the brake control ECU.

  The operation control adjustment device 100 is provided in the operation control system DC by being connected to the ECUs 1 to 3 and the vehicle sensors 1 to 4 via a communication bus such as CAN (Car Area Network). The driving control adjustment device 100 is used in a driving control system DC that executes at least one of driving support and automatic driving of the vehicle CR as described above. The operation control adjustment device 100 adjusts a control amount when the operation control system DC controls the actuators 1 to 3 as described later, and supports the operation control system DC.

  The operation control adjustment device 100 includes an information acquisition unit 10, a state determination unit 20, a selection unit 30, and an adjustment unit 40. The information acquisition unit 10 acquires information on the biological signal of each of the occupants 1 to 3 of the vehicle CR. The biological signal includes at least vital signs, reflection, and voluntary movement. Vital signs are proof of living as a living thing, reflex is an unconscious reaction of the living thing, and voluntary movement is movement and vocalization based on the will and intention of the living thing. In the case of an occupant's biological signal, it may include not only humans but also pets such as dogs and cats living with their owners. Creatures such as livestock and racehorses may be handled as cargo to be described later.

Vital signs include blood pressure, pulse rate, respiratory rate, body temperature, sweating, brain waves, pupil reflex (light reflex), urinary bladder volume, arterial oxygen saturation (SpO ₂ ), consciousness level (consciousness scale: GCS (Glasgow Coma) Scale), JCS (Japan Coma Scale), and the like. The reflection is a chemical reflection, a physical reflection, or an electric reflection. The chemical reflex is, for example, a reflex in which the respiratory rate decreases and the blood oxygen concentration (oxygen saturation) decreases. Physical reflexes are, for example, reflexes that close the eyelids when exposed to intense light in the eyes or that cause the muscles to be tense when the patella tendon is stimulated. The electrical reflex is, for example, a reaction in which a muscle responds and contracts when a low-frequency electrical stimulus is applied.

  The measuring device 10 (information acquisition unit) for measuring these may be provided on a seat surface, a backrest, a headrest, an armrest, or the like of a seat on which an occupant sits, and may directly or indirectly measure them. An imaging device that can irradiate an electromagnetic wave of visible light / invisible light with a wavelength and image the reflected light. When the measuring device 10 is installed on a seat, the measuring device 10 is preferably installed for each seat.

  For example, in order to acquire heart rate data, a millimeter wave radar, a vibration sensor, or the like is used as the heart rate sensor 11. To acquire respiration data, a millimeter wave radar, a vibration sensor, or the like is used as the respiration sensor 11 (not shown). To acquire pulse wave data, a millimeter wave radar, a vibration sensor, or the like is used as the pulse wave sensor 11 (not shown). In order to acquire perspiration data, a humidity sensor (capacitance), an impedance sensor, or the like is used as the perspiration sensor 11 (not shown). To acquire body temperature data, an imaging device equipped with thermography or the like is used as the body temperature sensor 11 (not shown). The camera 12 is used to acquire pupil and eyelid movement data. The camera 12 obtains eye movement data based on the size of the pupil, the number of blinks, the line of sight, and the like, and the occupant also obtains information such as the shaking of the head, the facial expression formed from the eyes / interline / lips / mouth corner, and the like. As state data. To acquire audio data, an audio microphone 11 (not shown) is used. The voice microphone 11 can acquire data such as its timbre by capturing the frequency as a frequency, and can also acquire the meaning of utterance as data by combining voice recognition technology. In order to acquire the data of the urinary bladder volume, a device using ultrasonic waves is used as the urinary bladder volume measurement sensor 11 (not shown). A pulse oximeter or the like is used to obtain arterial blood oxygen saturation data. To obtain consciousness level data, a question may be asked from a speaker, and the response may be collected and detected. These measuring devices 10 are merely examples, and the acquisition method is not particularly limited as long as the desired data can be acquired.

  The state determination unit 20 determines the state of each of the plurality of occupants 1 to 3 based on the biological information acquired by the information acquisition unit 10. The state determination unit 20 will be described with reference to FIG. The measuring device 10 will be described using a heart rate sensor 11 and a camera 12 as an example, and the vehicle sensors 1 to 4 will be described using a sensor that detects the steering angle of a steering and the strength of a moment as an example.

  The state determination unit 20 receives image data from the camera 12 and stores the image data. The image storage unit 21 extracts the image data stored in the image storage unit 21 and extracts a feature amount of the face image. And a feature amount analyzing unit 23 for analyzing the extracted feature amount. The state determination unit 20 further receives heart rate data from the heart rate sensor 11, stores the heart rate data storage unit 24, extracts the heart rate data stored in the heart rate data storage unit 24, and analyzes the heart rate data. An analysis unit 25 is provided. The state determination unit 20 further determines a state of each occupant detected by the camera 12 and the heart rate sensor 11 based on the analysis result performed by the feature amount analysis unit 23 and the heart rate data analysis unit 25. 26. The state determination unit 20 further includes a wireless signal reception unit 27 that receives a signal from a load that is a thing, an acceleration data analysis unit 28, and a second state determination unit 29. Will be described later.

  The image storage unit 21 and the heartbeat data storage unit 24 are configured by a memory, and store the image data and the heartbeat data in a time-series manner. The face image feature value extraction unit 22 extracts a feature value of a face portion of the image data stored in the image storage unit 21. For example, the face image feature amount extraction unit 22 extracts feature points around eyebrows and eyes, contour points, and nose and mouth from the face image. The feature analysis unit 23 analyzes the distance between the feature points extracted by the face image feature extraction unit 22 and the distribution of the feature of the pixel in the area surrounded by these feature points, and analyzes the attributes and facial expressions of the occupant. I do. In addition, the feature amount analysis unit 23 analyzes the change of the facial expression over time by comparing these feature points between two time points. The heart rate data analysis unit 25 extracts the heart rate data stored in the heart rate data storage unit 24, and analyzes the intervals and strengths of the heartbeats and their changes over time.

  The first state determination unit 26 determines the result of the feature amount analysis of the face image performed by the feature amount analysis unit 23, the analysis result of the heart rate data performed by the heart rate data analysis unit 25, and the steering angle and steering torque from the steering sensor. Based on the above data, a comprehensive analysis is performed to determine the state of each occupant. For example, if a nervous expression can be read from a face image of a certain occupant and the heart rate is faster than the heart rate data, the occupant is determined to be in a nervous state. The driver, one of the occupants, cannot recognize the expression of tension from the face image, but it is detected from the heart rate data that the heart rate is faster, and the steering sensor detects the reaction force by the driver by automatic driving. When strong detection is performed, it is determined that the user is nervous overall.

  The first state determination unit 26 acquires these biological signals measured by the measuring device 10 and is excited whether the user is relaxed, satisfied, uncomfortable, nervous, or excited. It is determined whether the person is afraid, afraid, has a motor sickness, is in a state of physical condition, and how clear the consciousness is. The first state determination unit 26 can accurately determine the state of each occupant by continuously acquiring these biological signals individually for each occupant. The above-described determination by the first state determination unit 26 is an example, and comprehensively determines information obtained from various biological signals.

  The selecting unit 30 selects an occupant to be focused on when determining the control amount of the main control system from the plurality of occupants 1 to 3 determined by the state determining unit 20, and outputs the data. There are various ways to select a crew member. For example, the occupant in the worst state among the occupants 1 to 3 may be selected, or the occupant whose state such as the oldest or the youngest is likely to change may be selected. Note that the worst state can be defined as a health state or a stress state obtained from a biological signal by a numerical value, and a bad state can be defined based on the absolute value or the magnitude of change. Since the age can be estimated from the face image captured by the camera 12, the occupant may be selected using the estimated age.

  As illustrated in FIG. 3, the selection unit 30 includes a selection output unit 31 and an output target determination unit 32. The selection output unit 31 outputs past data and real-time data of a focused occupant. For example, it is the peak value of the heart rate data or data indicating the current state. If the selection output unit 31 outputs analog data, an analog switch or a multiplexer is used. The output target determination unit 32 determines the occupant to be focused on, and controls the selection output unit 31 so as to output data and status of the occupant. For example, if the occupant in the worst state is determined, the selection output unit 31 is controlled to output the data and state of the occupant.

  When the operation control adjustment device 100 includes the external input unit 50, the selection unit 30 further includes an external input analysis unit 33. The external input unit 50 includes a touch panel and receives an input from a user. The external input unit 50 can select, for example, one or more seats provided in the vehicle CR, and the user operates the touch panel when the occupant to be focused on or the load is known in advance. Thus, the occupant or the like to be focused may be selected. In this case, in the case of an occupant, it is assumed that the information obtained from the biological signal of the occupant sitting on the seat and the occupant sitting on the seat is related. In the case of a load, the type of the registered load is displayed by irradiating or capturing an electromagnetic wave on the registered or loaded object when loading, and the user operates the touch panel. Thus, the load to be focused on may be selected.

  The external input analysis unit 33 analyzes which occupant or load is selected by the external input unit 50, and inputs the analysis result to the output target determination unit 32. When a seat is designated by the external input unit 50, the output target determination unit 32 controls the selection output unit 31 to output sensor data and a state corresponding to the seat. The selection unit 30 selects one occupant or one load designated by the external input unit 50 and outputs the selected one to the adjustment unit 40. When there is no input in the external input unit 50, it is preferable that the external input analysis unit 33 appropriately has a default value. The default value may be to select the worst occupant.

  When a plurality of occupants and loads are selected in the external input unit 50 (for example, when all the occupants are selected), the external input analysis unit 33 outputs the plurality of occupants selected to the output target determination unit 32. Etc. are output. In this case, the output target determination unit 32 controls the selection output unit 31 so as to output data and status of all the focused occupants or the entire load.

  As illustrated in FIG. 4, the adjustment unit 40 includes a factor estimation unit 41 that receives data and a state of a focused occupant and estimates a factor thereof, and an adjustment amount calculation that calculates an adjustment amount for a control amount related to the factor. And a unit 42. The factor estimating unit 41 is connected to the communication bus, communicates with the vehicle sensors 1 to 4 and the ECUs 1 to 3, and acquires the status of the vehicle and the control amount of the main control system. The factor estimating unit 41 determines, based on the relationship between the vehicle status and the like and the focused occupant status, what kind of movement of the vehicle CR affects the occupant status and the factors of the relationship. To analyze. The analysis method may be correlation analysis, causal relationship analysis, learning by artificial intelligence, or the like, and the relationship between the state and the factor may be stored in a table in advance, and is not particularly limited.

  The adjustment amount calculation unit 42 calculates an adjustment amount for the control amount related to the factor estimated by the factor estimation unit 41. For example, the factor estimating unit 41 does not find a correlation between the information from the acceleration sensor, the vehicle speed sensor, and the steering angle sensor of the vehicle sensor and the stress value, but shows a correlation between the inter-vehicle distance sensor and the stress value. If it is large, it is presumed that the focused occupant feels stress when the inter-vehicle distance is small. In this case, when the inter-vehicle distance becomes smaller, the adjustment amount calculator 42 performs early braking so as to control the inter-vehicle distance so as not to be blocked. Such an adjustment amount may be stored in advance as a table according to the state, or may be changed little by little according to the state, and trial and error may be performed.

  The adjusting unit 40 adjusts the control amount of the operation control so as to change the state of the selected occupants 1 to 3 as described above. For example, the adjustment unit 40 adjusts the control amount so as to improve the state of the occupant in the worst state selected by the selection unit 30. To improve the condition of the occupant means to improve the numerical value such as the numerical stress state. Alternatively, the adjustment unit 40 adjusts the control amount so that at least the state of the occupant estimated to be the oldest or youngest selected by the selection unit 30 is not deteriorated. Further, when receiving data and states of a plurality of focused occupants from the output target determination unit 32, the adjustment unit 40 controls the control amount so that at least the average of the states of all the plurality of focused occupants does not deteriorate. To adjust. For example, the adjusting unit 40 adjusts the control amount in relation to the factor having a large contribution rate estimated by the factor estimating unit 41, and minimizes the total amount such as the stress value of the focused occupant as a whole. adjust.

  The adjustment of the control amount of the operation control performed by the adjustment unit 40 includes, for example, changing the inter-vehicle distance, changing the magnitude of acceleration / deceleration, changing the magnitude of acceleration in the traveling direction, and changing the yaw rate. And the magnitude of the vertical acceleration is changed. For example, when the factor estimating unit 41 estimates that the focused occupant feels stress that the inter-vehicle distance is small, the adjustment amount calculating unit 42 sets the value of the inter-vehicle distance that is the control amount to a value larger than the current value. adjust. Then, the adjusted control amount is output to the auto cruise ECU. On the other hand, when it is estimated that the inter-vehicle distance is large (there are many interrupts) and stress is felt, the adjustment amount calculation unit 42 adjusts the control amount so as to reduce the inter-vehicle distance.

  In the case of automatic operation, the adjustment of the control amount is more complex. For example, in autonomous driving, a vehicle traveling on a white line or around the road is detected from information from vehicle sensors such as a laser radar or a camera that monitors the front or around the vehicle, and a traveling locus is determined. Calculate the running speed and steering angle to move to the point. In these series of automatic driving control, the driving control adjustment device 100 calculates values such as a distance from another vehicle, a lateral acceleration, a longitudinal acceleration, a yaw rate, and a traveling speed so that the focused occupant does not feel tension. And a function using these as variables are given to the automatic driving ECU as constraints on the vehicle state. The automatic driving ECU adjusts control parameters so as to satisfy these constraints, performs calculations, calculates a target operation amount of an actuator to be controlled by each ECU, and gives a command to each ECU. For example, when the inter-vehicle distance and the vehicle state of the acceleration in the front-rear direction are to be controlled, and the inter-vehicle distance that the focused occupant preferably feels is 5 m or more and the acceleration in the front-rear direction is less than 1G, In the relational expression between the brake braking force, the braking distance, and the acceleration in the front-rear direction, the brake braking force and the braking distance when the acceleration in the front-rear direction at the current traveling speed is 1 G as the control parameter are calculated. The automatic driving ECU sets the brake operation amount capable of generating the brake braking force as a target operation amount and gives the brake control ECU to the brake control ECU immediately before the current inter-vehicle distance becomes smaller than a value obtained by adding the calculated braking distance to 5 m. . By performing such control, the automatic driving is performed while the inter-vehicle distance that the occupant focused on preferably feels is 5 m or more and the acceleration in the front-rear direction is less than 1 G.

  When the factor estimating unit 41 estimates that the focused occupant feels stress that the acceleration during acceleration / deceleration is large, the adjustment amount calculation unit 42 decreases the acceleration during acceleration / deceleration. Thus, the allowable maximum value of the acceleration is set (so that the acceleration / deceleration becomes gentle), and the value is output to the engine control ECU and the brake control ECU as a control amount. The engine control ECU and the brake control ECU control the throttle opening and the brake operation amount such that the acceleration during acceleration / deceleration does not exceed the control amount of the maximum allowable value. If the factor estimating unit 41 estimates that the focused occupant is stressed by the magnitude of the acceleration in the lateral direction in the traveling direction, the adjustment amount calculating unit 42 sets the current lateral acceleration to a predetermined gain ( (Smaller than 1), or to an allowable maximum value, and output the adjusted control amount to the automatic driving ECU. The automatic driving ECU calculates an allowable running speed from the curvature of the front running path detected by the camera, and gives a command to the engine control ECU and the brake control ECU so that the running speed becomes equal to or lower than the running speed. When the factor estimation unit 41 estimates that the focused occupant feels stress that the acceleration in the vertical direction is large, the adjustment amount calculation unit 42 determines that the current acceleration in the vertical direction has a predetermined gain (less than 1). ), Or to the maximum allowable value, and outputs the adjusted control amount to the automatic driving ECU. The automatic driving ECU gives a command to the related ECU to reduce the damping rate of the suspension. In addition, using a technique of artificial intelligence, a focused occupant may be able to estimate a factor (behavior of the vehicle) causing the state and adjust a control amount of the factor.

  As described above, the operation control that appropriately adjusts the operation control of the moving body by selecting from the plurality of occupants whose status has been determined or designated and adjusting and changing the control amount so as to be suitable for the occupant. The adjusting device 100 can be provided, and comfortable driving control can be provided. Also, by selecting the occupant in the worst state from among the plurality of occupants whose states have been determined and adjusting the control amount so as to improve the state of the occupant, a comfortable driving control for a specific person is performed. be able to. Further, by adjusting the control amount so as to be suitable for an occupant whose state is easily changed, such as the oldest or the youngest, it is possible to perform comfortable driving control for a specific person. Moreover, by selecting a specific occupant or the like in advance when the occupant to be focused on is known in advance, and adjusting the control amount so as to be suitable for the occupant, comfortable driving control can be performed. Furthermore, by adjusting the control amount so as to be suitable for all of the occupants with a plurality of focuses, it is possible to perform comfortable driving control for the entire occupant.

<When the mounted object is a load (thing)>
The vehicle CR may be loaded with a load that is a thing other than the occupant. In FIG. 1, a plurality of types of loads 1 and 2 are mounted on a vehicle CR. Each of the loads 1 and 2 has an acceleration sensor 1 or 2 attached thereto. The acceleration sensor 1 or 2 measures the added acceleration, and together with its own identifier (for example, a MAC address such as a unique number of the load or a communication identifier). The information of the measured acceleration is wirelessly transmitted. The acceleration sensors 1 and 2 may be, for example, impact sensors or vibration sensors, and are appropriately selected depending on the types of the loads 1 and 2. Alternatively, the relationship between the identifier and the actual type of the load may be registered in advance, and the types of the loads 1 and 2 to be mounted may be recognized. Further, the payloads 1 and 2 may include a sign for identifying themselves as an RFID (Radio Frequency Identifier) or a two-dimensional code, and may recognize the type of the payloads 1 and 2 mounted on a reader or a camera. When a touch panel as the external input unit 50 is provided, it is preferable that the types of the loads 1 and 2 are displayed on the touch panel, thereby making it easier to select a load to be focused.

  As illustrated in FIG. 2, the state determination unit 20 includes a wireless signal reception unit 27 that receives signals from the acceleration sensors 11 of the loads 1 and 2, an acceleration data analysis unit 28, and a second state determination unit 29. Prepare. Communication between the payloads 1 and 2 and the wireless signal receiving unit 27 is short-range wireless communication of about several meters to about several tens of meters. The acceleration data analysis unit 28 analyzes the strength, length, and frequency of the acceleration data from the acceleration sensor 11.

  The second state determination unit 29 determines the state of each load based on the analysis result of the acceleration data performed by the acceleration data analysis unit 28. Specifically, the second state determination unit 29 determines the degree to which the information of the acceleration data acquired by the acceleration sensor 11 is allowed for each type of the load 1 and 2. For example, when the load 1 is bagged cement or a rigid machine component, the tolerance for acceleration is large, but when the load 2 is tofu or precision equipment, the tolerance for acceleration is small. When the vehicle CR is equipped with robust mechanical parts and precision equipment at the same time, it is assumed that the same acceleration is applied to both, but the precision equipment has a smaller tolerance for the loaded acceleration. . The second state determination unit 29 determines a state as an allowable degree for each of the loads 1 and 2.

  The selection unit 30 selects a load to be focused on when determining the control amount of the main control system from the plurality of types of loads 1 and 2 determined by the state determination unit 20, and outputs the data. The selection unit 30 generally selects the load having the smallest tolerance as the load to be focused on, as the load that is an object.

  The adjustment unit 40 adjusts the control amount of the operation control so as to change the state of the selected loads 1 and 2. Specifically, the adjusting unit 40 adjusts the control amount so that the state of the load of the type having the smallest allowable degree selected by the selecting unit 30 is not deteriorated at least any more. The factor estimating unit 41 determines what kind of movement of the vehicle CR affects the state of the load, based on the relationship between the state of the vehicle and the like and the state of the focused load, and determines the factor of the relation. analyse. For example, if the load 1 has a predetermined frequency of vibration that is cumulatively equal to or longer than a predetermined time, which affects the quality of the load, the adjustment unit 40 may control the load 1 for such vibration. Is adjusted so that is not added to the load 1 any more. The adjustment of the control amount of the operation control performed by the adjustment unit 40 refers to, for example, changing the magnitude of the acceleration / deceleration, changing the magnitude of the acceleration in the traveling direction, changing the yaw rate for the load. Or changing the magnitude of the vertical acceleration.

  As described above, by selecting from a plurality of types of loads and changing the control amount so as to be suitable for the load, appropriate operation control can be performed. In addition, by selecting a load of the type of the state having the smallest allowable degree from the plurality of types of loads determined in the state and adjusting the control amount so as not to deteriorate the state of the load at least, an appropriate Operation control can be performed.

<When the mounted object is an occupant and a load>
In the above description, the case where a plurality of occupants are mounted and the case where a plurality of types of loads are mounted are separately described, but the same applies to a case where both the occupants and the loads are mounted on the vehicle CR. As shown in FIGS. 1 and 2, the information acquisition unit 10 includes a heart rate sensor 11 and a camera 12 for an occupant and an acceleration sensor 11 for a load, a heart rate data storage unit 24, an image storage unit 21, The signal receiving unit 27 simultaneously acquires data on each of the mounted bodies (occupants and the load).

  In the state determination unit 20, the first state determination unit 26 determines the state of the plurality of occupants 1 to 3, the second state determination unit 29 determines the state of the plurality of types of loads 1, 2, and each of them is selected. Output to the unit 30. As illustrated in FIG. 3, the selection unit 30 controls the selection output unit 31 so that the output target determination unit 32 outputs data or a state of a focused occupant or load. The output target determination unit 32 is based on the result of the first state determination unit 26 comprehensively determining information obtained from various biological signals and the result of the second state determination unit 29 determining the tolerance for the load. To determine which crew or load to focus on.

  For example, if a worst-case occupant and a load with a small tolerance before affecting the quality are mounted, the output target determination unit 32 may select the worst-case occupant as a target to be focused. . In addition, when there is the oldest occupant and an expensive cargo with a small tolerance, and the occupant does not have a health problem, the output target determination unit 32 selects the cargo as an object to be focused. Is also good. There are various ways of thinking when to select an occupant and when to select a load.

  As described above, the operation control adjustment device 100 is based on the information acquisition unit 10 (measurement device 10) that acquires information on the occupants and the load, which are a plurality of mounted objects of a moving object such as the vehicle CR, and the like. A state determination unit 20 that determines the state of a plurality of occupants and the load, a selection unit 30 that selects from the occupants and the load, and control of operation control to change the state of the selected occupant and the load. An adjustment unit 40 for adjusting the amount. According to this, it is possible to provide the operation control adjustment device 100 that appropriately adjusts the operation control of the moving object by selecting from a plurality of mounted objects and changing the control amount to an appropriate control amount.

<About operation control adjustment method>
The above is also an operation control adjustment method used in the operation control system DC that executes at least one of the driving support and the automatic operation of the moving body. Hereinafter, a control method (operation control adjustment method) in the operation control adjustment device 100 will be described with reference to FIGS. 5 to 11.

  FIG. 5 is a flowchart illustrating the overall processing of the operation control adjustment device 100. Note that S in the flowchart means a step. The operation control and adjustment device 100 starts when driving assistance or automatic operation is set. In S100, the operation control adjustment device 100 checks whether or not an input has been made by the user through the external input unit 50. If there is no input from the external input unit 50, the driving control adjustment device 100 performs comfortable control for the occupant in the worst state in S200. When there is an input from the external input unit 50, the external input analysis unit 33 analyzes the input from the external input unit 50 in S102. Comfort control is to control the behavior of the vehicle so that the condition of the occupant becomes more comfortable.

  In step S104, the external input analysis unit 33 checks whether or not the target to be focused input by the external input unit 50 is an occupant. If the target to be focused on is a load that is a thing, the operation control adjustment device 100 performs comfortable control on the thing in S400. When the target to be focused on is a human occupant, the driving control adjustment device 100 checks in S106 whether the seat of the vehicle CR is designated. When the seat is not specified, the driving control adjustment device 100 performs comfort control for the worst-state occupant as a default value in S200 because the occupant is not specified. When a seat is designated, the driving control adjustment device 100 performs comfortable control for the designated occupant in S300.

  With reference to FIG. 6, a description will be given of the process of comfort control for the occupant in the worst state in S200 when there is no input from the external input unit 50 in S100 and when no seat is specified in S106. In step S201, the image storage unit 21 and the heart rate data storage unit 24 of the state determination unit 20 read the image data and the heart rate data from the camera 12 and the heart rate sensor 11 that are the measuring devices 10. Then, the state determination unit 20 performs the analysis of the face image feature amount extraction unit 22 / feature amount analysis unit 23 and the heartbeat data analysis unit 25 in S202, and in S204, the first state determination unit 26 converts the face image and the heartbeat data. The state of each occupant is determined. Then, in S206, the selection unit 30 determines which occupant is the worst occupant.

  In S208, the output target determination unit 32 of the selection unit 30 checks whether or not the worst occupant has exceeded the allowable state. Here, the acceptable state refers to, for example, a case where, if the stress value 100 is a normal state, if the stress value is 200 or more, the state is not an acceptable state, but if the stress value is less than 200, the state is an acceptable state. . If the state is not higher than the allowable state, the measuring device 10 reads the image data and the heart rate data at the next time point in S201. When any of the occupants is in an acceptable state, the operation control adjustment device 100 does not adjust the control amount.

  If any one of the occupants is in an acceptable state or higher, the driving control and adjusting apparatus 100 checks in S210 whether driving assistance or automatic driving is being performed. When the driving support or the automatic driving is not being performed, the control amount cannot be adjusted, and thus the process ends. When driving assistance or automatic driving is being performed, the factor estimating unit 41 of the adjusting unit 40 estimates a factor that has caused such a state from the acquired state or the like in S212. Then, the adjustment amount calculation unit 42 sets the factor estimated in S214 as a control target, and in S216, adjusts a value obtained by multiplying a control amount for the control target at that time by a predetermined gain as a control amount, Set. Then, in S218, the adjustment unit 40 outputs the control amount to the ECU related to the control target via the communication bus. After that, the process returns to S208, and S208 to S218 are repeated. The ECU performs control such that the control amount provided by the adjustment unit 40 is obtained. Then, the state of the occupant is determined again. If the occupant state is not yet an allowable state, the adjusting unit 40 outputs a value obtained by multiplying the current control amount by a predetermined gain again to the ECU as a next target control amount. The control amount is multiplied by a predetermined gain many times until the state of the occupant becomes an allowable state. In other words, by gradually changing the control amount, the state of the occupant can be set to the allowable state.

  FIG. 7 is a flowchart related to an example for explaining S202 to S206 in FIG. 6 in more detail. In step S250, the state determination unit 20 prepares conditions for starting adjustment, such as reading data from the measuring device 10. In step S252, the first state determination unit 26 analyzes the reaction force, which is the data obtained from the steering, for the driver to perform the steering operation, in terms of the peak value, the average, and the number of times. Then, in S254, the first state determination unit 26 estimates the state of the driver from the reaction force. For example, when the driver is applying a strong reaction force in a direction opposite to the direction of the automatic steering, the first state determination unit 26 estimates that the driver is nervous.

  In addition, in S268, the first state determination unit 26 analyzes the face image obtained from the camera 12 from the viewpoint of blinking. Then, in S270, the first state determination unit 26 estimates the state of the occupant including the driver from the state of the blink. For example, when one of the occupants blinks frequently, the first state determination unit 26 estimates that the occupant is nervous.

  In addition, in step S272, the first state determination unit 26 analyzes the face image obtained from the camera 12 from the viewpoint of facial expressions. Then, in S274, the first state determination unit 26 estimates the state of the occupant including the driver from the expression. For example, when one of the occupants has a stiff expression, the first state determination unit 26 estimates that the occupant is nervous.

  In addition, the first state determination unit 26 analyzes the heart rate data obtained from the heart rate sensor 11 in S276 in parallel. Then, in S278, the first state determination unit 26 estimates the state of the occupant including the driver from the heartbeat data. For example, when one of the occupants has a fast and strong heartbeat, the first state determination unit 26 estimates that the occupant is nervous.

  Then, in S256, the first state determination unit 26 weights the respective states estimated from the reaction force against the steering, the state of blinking, the expression, and the heart rate data to determine the state of the occupant including the comprehensive driver. . For example, if it is known that the correlation between the steering reaction force and the nervous situation is very strong, the state estimated based on the steering reaction force is the highest coefficient, and conversely, the expression and the tension are changed. If it is known that the correlation with the situation is not very strong, the state estimated based on the facial expression is weighted with a low coefficient to determine whether the occupant is in a nervous state. Judge comprehensively. In step S258, the first state determination unit 26 checks whether the stress value obtained by the comprehensive determination is equal to or greater than a predetermined stress threshold. The first state determination unit 26 repeats the above processing if all the occupants are less than the stress threshold.

  If any of the stress values of the occupant is equal to or greater than the stress threshold value, the selecting unit 30 selects in S260 to focus on the occupant exhibiting the highest stress value. Then, in S262, the adjustment unit 40 adjusts and sets the control amount as described above, based on the state of the focused occupant. The setting of the control amount may be performed by collating with the data on the cloud and setting a desired riding taste of the occupant to be focused. In step S264, the adjustment unit 40 outputs the control amount to the ECU related to the control target via the communication bus. In S266, the operation control adjustment device 100 ends the process when the termination condition is satisfied, such as when the automatic driving state is released, and repeats the above process when the termination condition is not satisfied.

  With reference to FIG. 8, a description will be given of the comfort control for the occupant in S300 when a seat where a person to be focused is designated by the external input unit 50 in S106 is specified. In step S301, the image storage unit 21 and the heart rate data storage unit 24 of the state determination unit 20 read the image data and the heart rate data of the occupant sitting on the designated seat from the camera 12 and the heart rate sensor 11 that are the measuring devices 10. Then, the state determination unit 20 performs the analysis of the face image feature amount extraction unit 22 / feature amount analysis unit 23 and the heartbeat data analysis unit 25 in S302, and in S304, the first state determination unit 26 converts the face image and the heartbeat data. The state of the occupant is determined.

  In S306, the output target determination unit 32 of the selection unit 30 checks whether or not the occupant of the seat has exceeded an allowable state. If the state is not higher than the allowable state, the measuring device 10 reads the image data and the heart rate data at the next time point in S301. When the occupant is in an acceptable state, the operation control adjustment device 100 does not adjust the control amount.

  If any one of the occupants is in an unacceptable state, the driving control adjustment device 100 checks in S308 whether driving assistance or automatic driving is being performed. When the driving support or the automatic driving is not being performed, the control amount cannot be adjusted, and thus the process ends. When driving assistance or automatic driving is being performed, the factor estimating unit 41 of the adjusting unit 40 estimates a factor that has caused such a state from the acquired state or the like in S310. Steps S312 to S316 in the subsequent processing are the same as steps S214 to S218 described above, and a description thereof will be omitted.

  FIG. 9 is a flowchart related to an example for explaining S302 to S304 in FIG. 8 in more detail. In step S350, the state determination unit 20 prepares conditions for starting adjustment such as reading data from the measuring device 10. When the operation control adjustment device 100 detects that there is an input from the external input unit 50, the selection unit 30 selects an occupant to be focused on the seat designated by the external input unit 50 in S351.

  In step S352, the first state determination unit 26 analyzes the reaction force, which is the data obtained from the steering, for performing the steering operation by the driver from the points of the peak value, the average, and the number of times. Then, in S354, the first state determination unit 26 estimates the driver's state from the reaction force. For example, when the driver is applying a strong reaction force in a direction opposite to the direction of the automatic steering, the first state determination unit 26 estimates that the driver is nervous. Steps S356 to S378 in the subsequent processing are the same as steps S256 to S278 (excluding S260), and a description thereof will be omitted.

  With reference to FIG. 10, comfort control for a load (thing) in S400 when the target to be focused on in S104 is a load that is a thing will be described. In step S401, the wireless signal receiving unit 27 wirelessly reads information on the identifier of the load and the acceleration measured by the acceleration sensor 11 attached to the load. The acceleration data analysis unit 28 analyzes the strength, length, and frequency of the acceleration data from the acceleration sensor 11, and the second state determination unit 29 performs the analysis of the acceleration data performed by the acceleration data analysis unit 28 in S402. Then, it is determined whether or not an acceleration equal to or greater than the acceleration allowed for each load is applied.

  How much acceleration is allowed for the load may be set by comparing the identifier of the load with data on the cloud, or by image recognition based on an image of the load captured by the camera 12. The setting may be made by determining the type of the load. If less than the allowable state, reading of the acceleration information is repeated.

  If there is a load to which the acceleration equal to or higher than the allowable state is added, it is checked in S404 whether driving assistance or automatic driving is being performed. If it is not during driving assistance or automatic driving, the process is terminated. In the case of driving assistance or automatic driving, the factor estimating unit 41 of the adjusting unit 40 determines in S406 that the loaded object to which the acceleration equal to or more than the allowable state has been added from the state or the like to the loaded state. Is estimated. For example, whether the magnitude of the acceleration in the traveling direction has exceeded the allowable state, whether the magnitude of the vertical acceleration has exceeded the allowable state, or the magnitude of the lateral acceleration in the traveling direction is acceptable. Estimate whether the state has been exceeded.

  Then, the adjustment amount calculation unit 42 sets the factor estimated in S408 as a control target, and in S410, adjusts a value obtained by multiplying the control amount for the control target at that time by a predetermined gain as a control amount, Set. For example, when it is estimated that the acceleration in the vehicle longitudinal direction is an unacceptable acceleration for a load that has detected an acceleration equal to or higher than the allowable state, the adjustment amount calculation unit 42 sets an allowable maximum value of the acceleration, Is output to the engine control ECU and the brake control ECU as a control amount. Then, in S412, the adjustment unit 40 outputs the control amount to the ECU related to the control target via the communication bus. The engine control ECU and the brake control ECU control the throttle opening, the brake operation amount, and the like so that the acceleration during acceleration / deceleration does not exceed the control amount of the allowable maximum value. After that, the process returns to S402, and S401 to S402 are repeated.

  FIG. 11 shows an example in which a specific load is specified by the external input unit 50. In step S450, the selection unit 30 detects that there is an input from the external input unit 50. The selection unit 30 selects the load specified by the external input unit 50 in S452. In step S454, the adjustment unit 40 obtains an optimum value for the selected load by comparing it with, for example, data on the cloud, and sets the value as a control amount. In S456, the factor estimating unit 41 acquires real-time acceleration data from the vehicle sensor group, and calculates the acceleration in the traveling direction based on the acceleration / deceleration data, the lateral acceleration based on the steering data, the vertical acceleration based on the uneven road running, and the like. Judgment is made for disturbance.

  The second state determination unit 29 takes into account such a disturbance factor, and in S458, based on the analysis result of the acceleration data performed by the acceleration data analysis unit 28, the acceleration equal to or higher than the acceleration allowed for each load. It is determined whether or not it has been added. If there is a load to which the acceleration equal to or higher than the allowable state is added, the adjustment unit 40 outputs the control amount to the ECU related to the control target via the communication bus in S460. If it is less than the allowable state, the process returns to S454, and S454 to S458 are repeated.

  As described above, the driving control adjustment method is a method used in a driving control system that performs at least one of driving support and automatic driving of a mobile body such as a vehicle CR, and includes a plurality of occupants of the mobile body. Acquires information on the mounted object such as a load, determines the state of the plurality of mounted objects based on the obtained information, and selects and selects from among the determined or specified multiple mounted objects. This is a method of adjusting the control amount of the operation control so as to change the state of the mounted body. As described above, by selecting from a plurality of mounted objects and changing the control amount to an appropriate control amount, it is possible to provide an operation control adjustment method for appropriately adjusting the operation control of the moving object.

  It should be noted that the present invention is not limited to the illustrated embodiment, and can be implemented with a configuration that does not deviate from the contents described in the claims. That is, the present invention has been particularly shown and described with particular reference to particular embodiments thereof, but without departing from the spirit and purpose of the invention, Those skilled in the art can make various modifications in other detailed configurations.

100 operation control adjustment device 10 measuring device (information acquisition unit)
11 sensor 12 camera (imaging device)
Reference Signs List 20 state determination unit 21 image storage unit 22 face image feature amount extraction unit 23 feature amount analysis unit 24 heart rate data storage unit 25 heart rate data analysis unit 26 first state determination unit 27 wireless signal reception unit 28 acceleration data analysis unit 29 second state Judgment unit 30 Selection unit 31 Selection output unit 32 Output target determination unit 33 External input analysis unit 40 Adjustment unit 50 External input unit CR Vehicle (mobile)
DC operation control system

In order to solve the above-mentioned problem, an operation control adjustment device used in an operation control system that performs at least one of driving support and automatic operation of a moving body , and includes a plurality of types of loads loaded on the moving body An information acquisition unit that acquires information on the acceleration of the load , a state determination unit that determines a degree to which the information on the acceleration acquired by the information acquisition unit is allowed for each type of load, and a state determination unit. A selection unit that selects the type of the load having the smallest allowable degree from the plurality of types of the load determined by the above, and the state of the type of the load having the minimum allowable degree selected by the selection unit is at least poor. An operation control adjustment device including: an adjustment unit that adjusts a control amount of operation control so as not to perform the operation control.
According to this, the load of the type of the state having the smallest allowable degree is selected from the plurality of types of loads whose states have been determined, and the control amount is adjusted so that the state of the load is not deteriorated at least. Accordingly, it is possible to provide an operation control adjustment device that appropriately adjusts the operation control of the moving body.

An object of the present invention is to provide a driving control system used in a driving control system that performs at least one of driving support and automatic driving of a moving body, wherein a biological signal of at least one occupant of the moving body is provided. And an information acquisition unit for acquiring information of one or more types of loads and an acceleration of the load loaded on the moving object, and determining the state of the biological signal acquired by the information acquisition unit and determining the information of the acceleration. A state determination unit that determines the degree of acceptability for the type of load, and a state determination unit that determines the worst state occupant or one or more types of load among the one or more occupants determined by the state determination unit. A selection unit that selects the load of the type with the least permissive degree, and operation so that the occupant in the worst state selected by the selection unit or the load of the type with the least permissive degree is not deteriorated at least. Operation control adjustment device is provided with an adjustment unit for adjusting the control amount of the control, the.
According to this, an occupant in the worst state or a load of the type of the state having the smallest allowable degree is selected from the occupant and the load which have determined the state, and control of the operation control is performed so that these states are at least not deteriorated. By adjusting the amount, an operation control adjustment device that appropriately adjusts the operation control of the moving object can be provided.

In order to solve the above-mentioned problem, an operation control adjustment method used in an operation control system that performs at least one of driving support and automatic operation of a moving body is provided, and a plurality of types of loads loaded on the moving body are provided. And the information on the acceleration of the load is obtained, the degree of the obtained information on the acceleration is permitted for each type of load, and the allowable degree is determined from the plurality of types of the loads determined in the state. The operation control adjustment method is provided for selecting a load of a type with a small state of the load and adjusting a control amount of the operation control so as to at least not deteriorate the state of the load of the type of the state with the smallest allowable degree. .
According to this, the load of the type of the state having the smallest allowable degree is selected from the plurality of types of loads whose states have been determined, and the control amount is adjusted so that the state of the load is not deteriorated at least. In addition, it is possible to provide an operation control adjustment method for appropriately adjusting the operation control of the moving body.

Claims (9)

A driving control adjustment device used in a driving control system that performs at least one driving control of driving support and automatic driving of a moving body,
An information acquisition unit that acquires information on a plurality of mounted bodies of the moving body,
Based on the information acquired by the information acquisition unit, a state determination unit that determines the state of the plurality of mounted objects,
A selection unit that selects from the plurality of mounted bodies,
An adjustment unit that adjusts a control amount of operation control so as to change a state of the mounted body selected by the selection unit,
An operation control adjustment device comprising:   The operation control adjustment device according to claim 1, wherein the mounted body is an occupant of the moving body. The information acquisition unit acquires the biological signals of the plurality of occupants,
The state determination unit determines the state of the biological signal of the plurality of occupants acquired by the information acquisition unit,
The selecting unit selects the worst occupant from the plurality of occupants determined by the state determination unit,
The adjustment unit adjusts the control amount so as to improve the state of the worst occupant selected by the selection unit.
The operation control adjustment device according to claim 2, wherein: The information acquisition unit includes an imaging device that captures at least a face image of the plurality of occupants,
The state determination unit outputs an estimated age based on the face image captured by the imaging device,
The selection unit, based on the estimated age output by the state determination unit, to select a passenger with the smallest or the largest estimated age,
The adjusting unit adjusts the control amount so that the state of the occupant of the smallest or large estimated age selected by the selecting unit is not deteriorated at least.
The operation control adjustment device according to claim 2, wherein: Further comprising an external input unit for receiving input from the user,
The selecting unit selects an occupant of one of the moving objects specified by the external input unit,
The adjustment unit adjusts the control amount so as not to worsen the state of the occupant selected by the selection unit at least.
The operation control adjustment device according to claim 2, wherein: The information acquisition unit acquires the biological signals of the plurality of occupants,
The state determination unit determines the state of the biological signal of the plurality of occupants acquired by the information acquisition unit,
The selecting unit selects all the occupants of the moving body,
The adjustment unit adjusts the control amount so that at least the average of the states of all the occupants of the moving object selected by the selection unit is not deteriorated.
The operation control adjustment device according to claim 2, wherein:   The operation control adjustment device according to claim 1, wherein the mounted body is a plurality of types of loads mounted on the moving body. The information acquisition unit acquires information on the plurality of types of loads and acceleration of the loads,
The state determination unit determines the degree to which the acceleration information acquired by the information acquisition unit is allowed for each type of load,
The selecting unit selects a load of the type of the state having the smallest allowable degree from the plurality of types of the loads determined by the state determination unit,
The adjusting unit adjusts the control amount so as not to deteriorate at least the state of the load of the type of the state having the smallest allowable degree selected by the selecting unit.
The operation control adjustment device according to claim 7, wherein: A driving control adjustment method used in a driving control system that performs at least one driving control of driving support and automatic driving of a moving body,
Obtaining information of a plurality of mounted objects of the moving body,
Based on the acquired information, determine the state of the plurality of mounted objects,
Select from the plurality of mounted bodies whose status has been determined,
Adjusting the control amount of the operation control so as to change the state of the selected mounted body,
Operation control adjustment method.