JP2022112708A - Driver state determination device - Google Patents

Abstract

To provide a driver state determination device capable of establishing determination of an abnormal condition at an early stage by grasping sign of loss of a driver's driving ability level.SOLUTION: A driver state determination device 10 includes: a vibrating device 14 imparting vibrations to a steering wheel 2; a vibration detector 16 detecting vibrations of the steering wheel 2; and a controller 18. The controller 18 imparts vibration of prescribed excitation frequency f0 to the steering wheel 2 with the vibrating device 14, performs a frequency analysis of a vibration signal detected by the vibration detector 16, and determines that the driver is in an abnormal condition when an abnormality signal having prescribed abnormal frequency fD different from peculiar vibration frequency fn (n=1, 2, 3 ...) of the steering wheel 2 and excitation frequency f0 is detected in the vibration signal.SELECTED DRAWING: Figure 3

Description

TECHNICAL FIELD The present invention relates to a driver condition determination device for determining whether or not a driver is in an abnormal condition while driving a vehicle.

Conventionally, there has been proposed a device that issues a warning to the driver with a sound or a lamp when it is determined that the driver is in an abnormal state (see, for example, Patent Document 1). In the device described in Patent Document 1, when a state in which there is no operation input by the driver continues for a predetermined time (for example, 5 seconds) while the vehicle is traveling in an automatic driving assistance mode (for example, lane keeping assistance), the driver A warning is issued to After that, when the driver's operation input continues for a further period of time, a warning or automatic intervention (such as deceleration) in vehicle operation is sequentially performed.

Patent No. 6455456

The abnormal state of the driver based on the disease includes the first case in which the driver loses consciousness completely within a few seconds, and the driver's motor ability level or consciousness level gradually decreases over several tens of seconds to several tens of minutes. There is a second case where Conventionally, when an abnormal state of a driver is detected based on detection signals from various sensors (driver's image information, biological information, vehicle operation information, etc.), in the first case of sudden loss of consciousness, disease Abnormal state determination is made within a short period of time from the onset of the disease.

On the other hand, in the second case, in which the motor ability level gradually declines after the onset of a disease (for example, heart disease, brain disease, hypoglycemia, etc.), the determination of the abnormal state is made higher so as to avoid misjudgment. Accuracy requires analysis of the sensed signal over a long period of time. Therefore, it takes a long time to determine the abnormal state, and as a result, it is not possible to determine the abnormal state early.

Therefore, for a long time after the onset of the disease, the vehicle continues to run with the driver having a low athletic performance level. For example, even if the loss of visual ability gradually progresses due to the onset of disease, the driver can continue driving with imperfect steering operation.

In the device of Patent Document 1, even if an abnormal state of the driver is once detected while the athletic ability level is gradually declining as described above, if the driver performs an unstable steering operation, an abnormality determination is made. will be released. Therefore, with this device, it was not possible to confirm the abnormality determination of the driver until the athletic ability level disappeared. That is, with this device, it was not possible to quickly confirm the determination of the abnormal state of the driver.

In addition, in the device disclosed in Patent Document 1, a warning cancellation operation (pressing of a cancellation button) may be employed instead of the driver's operation input (for example, steering operation) after the warning. However, in this case, if the driver presses the release button without noticing the deterioration of his/her athletic ability level, the determination of the abnormal state cannot be confirmed. Therefore, in this case as well, it is not possible to quickly determine whether the driver is in an abnormal state.

SUMMARY OF THE INVENTION The present invention has been made to solve such problems, and is a driver condition determination device capable of quickly confirming the determination of an abnormal condition by detecting a sign of loss of the driver's athletic ability level. is intended to provide

In order to solve the above-described problems, the present invention provides a driver condition determination device for determining an abnormal condition of a driver driving a vehicle, comprising: a vibration device for applying vibration to a steering wheel of a steering system of the vehicle; a vibration detector for detecting vibration of the steering wheel; and a controller for controlling the vibration device and the vibration detector. frequency analysis of the detected vibration signal, and determining that the driver is in an abnormal state when an abnormal signal having a predetermined abnormal frequency different from the natural vibration frequency of the steering wheel and the excitation frequency is detected in the vibration signal; Characterized by

According to the present invention configured as described above, when the driver is in an abnormal state, the fact that the vibration signal, which is the response to the vibration imparted to the steering wheel, includes a specific abnormal frequency component is utilized. As a result, in the present invention, it is possible to determine early and with high accuracy that the driver is in an abnormal state without performing determination processing based on the driver's operation input or long-term biological information data as in the conventional art. can.

In the present invention, preferably, the abnormal frequency is a frequency that appears in the vibration signal in response to the application of the vibration of the excitation frequency at the onset of the specific disease, and the controller includes a memory that stores the abnormal frequency. When an abnormal signal is detected, it is determined that the driver has developed a specific disease.

According to the present invention configured in this manner, a specific disease (for example, cerebral infarction, etc.) can be immediately determined from the abnormal frequency generated in the vibration signal. Accordingly, in the present invention, it is possible to early determine that the driver has developed a specific disease.

In the present invention, the controller preferably performs frequency analysis on the vibration signal, and determines that the driver is in an abnormal state when the power spectral density of the vibration signal has a peak at an abnormal frequency different from the natural vibration frequency and the excitation frequency. judge. According to the present invention configured as described above, the presence of an abnormal signal (that is, an abnormal state) can be easily determined by frequency-analyzing the vibration signal and detecting the peak signal of the abnormal frequency component. .

In the present invention, preferably, a sensor for detecting the state of the driver is further provided, and when the controller estimates that the driver is in an abnormal state based on the detection signal of the sensor, the vibration device causes the steering wheel to generate a predetermined vibration. Apply vibration at the excitation frequency. According to the present invention configured in this way, when the possibility that the driver is in an abnormal state is relatively high, it is possible to determine the abnormal state by applying vibration based on the detection signal of the sensor. In another form, the controller can periodically determine the abnormal state of the driver without using the sensor. That is, the controller can periodically send a control signal to the vibrating device and make a determination based on the detection signal of the vibration detector.

In the present invention, preferably, the vibration device is an electric motor for electric power steering for assisting the steering operation of the steering wheel by the driver. According to the present invention configured as described above, the electric motor of the electric power steering apparatus can be used as a vibration device without providing a new vibration device.

In the present invention, preferably, the vibration signal is a signal representing a vibration component in the direction of rotation of the steering wheel. In the present invention, preferably, the vibration detector is a steering torque sensor that detects steering torque applied to the steering wheel, and the vibration signal is a signal representing the steering torque detected by the steering torque sensor. According to the present invention configured as described above, the steering torque sensor can be used as a vibration detector without newly providing a vibration detector.

According to the driver's state determination device of the present invention, it is possible to catch a sign of the loss of the driver's athletic ability level and quickly confirm the determination of the abnormal state.

1 is an explanatory diagram of a vehicle equipped with a driver's condition determination device according to an embodiment of the present invention; FIG. 1 is a block diagram of a driver's condition determination device according to an embodiment of the present invention; FIG. FIG. 4 is an explanatory diagram of abnormal frequencies according to the embodiment of the present invention; 4 is a graph of power spectral density of a vibration signal according to an embodiment of the invention; FIG. 4 is an explanatory diagram of abnormal frequencies according to the embodiment of the present invention; 4 is a flowchart of abnormal state determination processing according to the embodiment of the present invention.

Hereinafter, a driver's state determination device according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is an explanatory diagram of a vehicle equipped with a driver's state determination device, and FIG. 2 is a block diagram of the driver's state determination device.

As shown in FIG. 1, a driver's condition determination device 10 according to an embodiment of the present invention is mounted on a vehicle 1 having a steering device 1a. The steering device 1 a includes a steering wheel 2 , a steering shaft 3 fixedly connected thereto, and a connecting mechanism (not shown) connecting the steering shaft 3 and the steered wheels 4 .

As shown in FIG. 2, the driver condition determination device 10 includes one or more sensors 12 that detect the condition of the driver, a vibration device 14 that applies a predetermined vibration to the steering wheel 2, and a steering wheel 2 or steering wheel. A vibration detector 16 for detecting vibration of the shaft 3 , a controller 18 , and a vehicle operation control device 20 are provided.

The sensor 12 is a sensor that detects the state of the driver. The driver's condition includes the driver's physical condition and the vehicle operation condition by the driver. The sensor 12 that detects the physical condition is, for example, an in-vehicle camera that captures an image of the driver, a heart rate sensor, an electrocardiogram sensor, or the like. Further, the sensor 12 for detecting the vehicle operation state includes an exterior camera for imaging the exterior of the vehicle, a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, a steering torque sensor, an accelerator opening sensor, a brake pressure sensor, a GPS sensor, and an ADAS sensor. etc.

For example, the controller 18 uses an imaging signal (image data) of the driver captured by an in-vehicle camera to determine the line-of-sight direction of the driver, the posture (the position of the upper body or the head), the degree of eyelid opening of the driver, and the like. It can be estimated that the driver is in an abnormal state based on such detection results. For example, it can be estimated that the driver is in an abnormal state when the stability of the line-of-sight direction is less than or equal to a predetermined value, when the stability of posture is less than or equal to a predetermined value, or when the eyelids are closed for a predetermined time or longer. . Further, for example, the controller 18 can estimate that the driver is in an abnormal state based on the steering angle signal detected by the steering angle sensor, the image signal captured by the outside camera, and the like. For example, when the stability of the position of the vehicle 1 from the center line on the road, the stability of the steering angle, etc. are below a predetermined value, it can be estimated that the driver is in an abnormal state.

The vibration device 14 has an electric motor capable of outputting reciprocating rotation, and is attached to the steering shaft 3 . The vibration device 14 is configured to reciprocate the steering shaft 3 in the circumferential direction at a predetermined frequency and at a small angle upon receiving a control signal. As a result, vibration of a predetermined frequency is imparted to the steering wheel 2 via the steering shaft 3 . A vibration detector 16 is attached to the steering shaft 3 and detects the vibration state of the steering wheel 2 via the steering shaft 3 .

The vehicle 1 has an electric power steering device. The electric power steering device includes an electric motor connected to the steering shaft 3 for applying steering assist torque, a steering torque sensor connected to the steering shaft 3 for detecting steering torque by the driver, and the like. In this embodiment, among the components of the electric power steering system, the electric motor constitutes the vibration device 14 and the steering torque sensor constitutes the vibration detector 16 .

Therefore, the electric motor operates to apply assist torque to the steering shaft 3 as an electric power steering device. Further, the electric motor operates as a vibration device 14 to vibrate the steering shaft 3 and the steering wheel 2 by reciprocating the steering shaft 3 at a small angle in the circumferential direction.

Further, the steering torque sensor operates as an electric power steering device and vibration detector 16 to detect the steering torque applied to the steering shaft 3 through the steering wheel 2 by the driver. The steering torque sensor detects torsion of the steering shaft 3 in the circumferential direction. Therefore, the detection signal from the vibration detector 16 (that is, the steering torque sensor) contains vibration components of the steering wheel 2 or the steering shaft 3 in the circumferential direction. The controller 18 frequency-analyzes the time series detection signal (vibration signal) of the steering torque detected by the vibration detector 16 (steering torque sensor).

The controller 18 is a computer device including a processor 18a as a CPU, a memory 18b (RAM, ROM, etc.) for storing various programs and databases, an input/output device for electrical signals, and the like. Controller 18 controls sensor 12 , vibration device 14 , vibration detector 16 and vehicle operation control device 20 . When the controller 18 determines that the driver is in an abnormal state by using the sensor 12, the vibration device 14, and the vibration detector 16, it sends a control signal to the vehicle operation control device 20 to automatically drive the vehicle 1 safely. It is configured to park in place. The vehicle operation control device 20 is a steering control device, an engine control device, a brake control device, and the like.

The controller 18 receives detection signals from the various sensors 12, and determines whether or not the driver's athletic ability level or consciousness level has decreased from the normal state (whether the normal state has changed to an abnormal state) based on the detection signals. presume. When it is estimated that the driver is in an abnormal state, the controller 18 outputs an actuation signal to the vibration device 14 for a predetermined period (for example, 1 second) and receives a detection signal from the vibration detector 16 . Based on the detection signal, the controller 18 determines whether the driver is in an abnormal state (determines that the driver is in an abnormal state). Then, when it is determined that the driver is in an abnormal state, the controller 18 causes the vehicle operation control device 20 to automatically stop the vehicle 1 .

Next, referring to FIGS. 3 to 5, the abnormal state determination processing by the driver's state determination device 10 of the present embodiment will be described. FIG. 3 is an explanatory diagram of abnormal frequencies, FIG. 4 is a graph of power spectrum density of vibration signals, and FIG. 5 is an explanatory diagram of abnormal frequencies.

FIG. 3 shows power spectrum densities obtained by frequency analysis of vibration signals detected by the vibration detector 16 . FIG. 3 is simplified for ease of understanding. The vibration device 14 applies vibration of a predetermined frequency (for example, excitation frequency f0=20 Hz) to the steering wheel 2 for a predetermined period. The vibration detector 16 outputs to the controller 18 a detection signal detected at least during the predetermined period. The controller 18 performs frequency analysis (spectrum analysis) on the detection signal, which is a time-series signal received from the vibration detector 16, using an FFT analysis technique or the like, and obtains a power spectral density signal as shown in FIG. In FIG. 3, broken line A is the response signal (power spectrum density of the vibration signal) when the driver is in a normal state, and solid line B is the response signal when the driver is in an abnormal state.

As can be seen from FIG. 3, under normal conditions a significant signal peak is formed only at the excitation frequency f0. On the other hand, in an abnormal state, a significant signal peak is formed not only at the excitation frequency f0 but also at a specific resonance frequency fD (for example, around 10 Hz). This resonance frequency fD is a peculiar frequency detected when the driver is in an abnormal state. The controller 18 stores such abnormal frequency fD in the memory 18b. The controller 18 analyzes the power spectral density of the vibration signal, and if a signal peak appears at the abnormal frequency fD of the power spectral density, or if the signal strength of the abnormal frequency fD is greater than or equal to a predetermined value, the driver is in an abnormal state. Determine that there is.

FIG. 4 shows a more detailed graph of the power spectral density of the vibration signal. FIG. 5 shows the relationship between excitation frequency and anomalous frequency. The solid line in FIG. 4 is based on data obtained while driving for a driver with a visual field disorder who cannot see half of the visual field (right or left) in both eyes due to homonymous hemianopsia. As can be seen from FIG. 4, in addition to the excitation frequency f0, a signal peak is formed at the anomalous frequency fD. Furthermore, in FIG. 4, signal peaks are also formed at other frequencies f1, f2, f3, and so on. The dashed line in FIG. 4 is based on data acquired during driving by a driver who does not have a visual field disorder.

As shown in FIG. 5, the frequency fn (n=1, 2, 3, . is the signal peak appearing at , which is the resonance frequency specific to the steering device 1a. On the other hand, no signal peak appears at the abnormal frequency fD under normal conditions, but a signal peak appears at the abnormal frequency fD under abnormal conditions. In the example of FIG. 5, the vibration period is set to 1 second, but it is known that the period is not limited to this and may be longer or shorter than 1 second. For example, similar results were obtained for 0.5 seconds and 2 seconds.

Conventionally, it has been known that there are differences in the driving operations of a driver with a disease and a driver without a disease. In other words, a driver whose motor function level has decreased due to a disease cannot continue to operate the vehicle appropriately, so he or she always performs a corrective operation. As a result of further research based on such findings, the present inventors have experimentally confirmed that changes appear in the response characteristics to the driver's vibration input due to the decrease in motor function level as described above. Found it.

When a disturbance input (road surface, wind, etc.) is applied to the vehicle 1, this disturbance input is transmitted from the vehicle structure such as tires and suspension to the steering mechanism. That is, the disturbance input is transmitted as vibrations to the driver via the steering wheel 2 . At this time, the driver in the normal state can appropriately perform the steering operation regardless of such vibrations. On the other hand, in an abnormal state, this vibration induces a stronger muscle contraction reaction than in a normal state, so that the driver in the abnormal state cannot perform the operation as intended and repeats the corrective operation.

That is, when there is a vibration input, the feedforward operation is mainly performed in the driver model in the normal state. However, in the case of abnormal conditions, the rate of feedback operation increases significantly. In addition, in an abnormal state, it is considered that the ability to adjust the gripping force is lowered, the vibration transmission characteristics are changed due to muscle contraction, and the like. In relation to such a phenomenon, it is presumed that a new resonance frequency (abnormal frequency) appeared in the steering torque signal as shown in FIG. The driver condition determination device of the present embodiment utilizes such human characteristics to apply vibration (disturbance input) to the steering wheel 2 and analyze the response to determine whether the driver is in an abnormal condition. It is possible to determine whether

Next, with reference to FIG. 6, a processing flow of determination processing of an abnormal state by the driver's state determination device 10 of the present embodiment will be described. FIG. 6 is a flow chart of determination processing of an abnormal state.

The controller 18 repeatedly executes this processing flow. First, the controller 18 acquires a detection signal from the sensor 12 (step S11), and estimates whether the driver is in a normal state or an abnormal state based on this detection signal (step S12). If the driver is estimated to be in a normal state, this processing flow ends.

On the other hand, when it is estimated that the driver is in an abnormal state (S12: Yes), the controller 18 outputs a control signal to cause the vibration device 14 to excite the steering wheel 2 for a predetermined period (for example, 1 second). Vibrate at frequency f0 (steps S13-S14). At this time, the controller 18 acquires a vibration signal from the vibration detector 16 .

After a predetermined period of time has passed (S14: Yes), the controller 18 performs frequency analysis on the vibration signal to calculate the power spectral density, and obtains one or more resonance frequencies appearing in the power spectral density (step S15). That is, the peak frequency appearing in the power spectral density is detected. If all of the obtained resonance frequencies match the excitation frequency f0 and one or more natural frequencies fn (n=1, 2, 3, . . . ) of the steering system 1a, this processing flow ends.

On the other hand, if a part of the obtained resonance frequencies is different from the excitation frequency f0 or the natural frequency fn of the steering device 1a, or if it matches the abnormal frequency fD stored in advance in the memory 18b (S16: Yes), The controller 18 determines that the driver is in an abnormal state (step S17), and executes the automatic driving intervention processing flow (step S18). In the automatic driving intervention processing flow, the controller 18 sends a control signal to the vehicle driving control device 20 to stop the vehicle 1 in a safe place by automatic driving.

The natural frequency fn can be experimentally obtained in advance by applying vibration of a predetermined excitation frequency f0 to the control wheel 2 or the steering device 1a, and stored in the memory 18b. The abnormal frequency fD can also be obtained in advance by executing experiments simulating various diseases and stored in the memory 18b. In this case, the memory 18b can store the abnormal frequency fD corresponding to each disease.

Further, in the present embodiment, when the driver's abnormal condition is estimated by the estimation process (S12: Yes), vibration is applied to the steering wheel 2 (S13). However, the present embodiment can be configured to apply vibration periodically and determine an abnormal state based on the resonance frequency (S15-S17) separately from the estimation process.

Next, the operation of the driver's condition determination device 10 of this embodiment of the invention will be described.
A driver state determination device 10 for determining an abnormal state of a driver driving a vehicle 1 according to the present embodiment includes a vibration device 14 for applying vibration to a steering wheel 2 of a steering device 1a of the vehicle 1, and a vibration device 14 for applying vibration to the steering wheel 2. and a controller 18 for controlling the vibration device 14 and the vibration detector 16. The controller 18 applies vibration of a predetermined excitation frequency f0 to the steering wheel 2 by the vibration device 14, The vibration signal detected by the vibration detector 16 is frequency-analyzed, and the vibration signal includes the natural vibration frequency fn (n=1, 2, 3 . . . ) of the steering wheel 2 and the predetermined abnormal frequency fD different from the excitation frequency f0. is detected, it is determined that the driver is in an abnormal state.

It is thought that when a certain disease (eg, heart disease, brain disease, hypoglycemia, etc.) develops, the decline in bodily functions gradually progresses from higher-order functions to lower-order functions. For example, functional deterioration of voluntary movements progresses from several tens of minutes to tens of seconds before impotence, and involuntary movements progress from several seconds before. When the function of voluntary movement begins to deteriorate, for example, the driver's lane keeping ability and speed maintaining ability are lower than normal. However, even in this situation, the driver is still able to operate the vehicle albeit imperfectly. On the other hand, when the function of involuntary movements begins to deteriorate, it becomes difficult for the driver to maintain posture and move the head, making it difficult for the driver to drive.

In certain diseases, the driver loses motor function within seconds as involuntary motor function begins to decline. Therefore, it is effective to detect a sign of deterioration or loss of driving ability level at the stage when voluntary movement function is degraded. This embodiment utilizes the fact that when the driver is in an abnormal state, the vibration signal, which is the response to the vibration imparted to the steering wheel 2, contains a unique abnormal frequency component. As a result, in the present embodiment, it is possible to determine early and with high accuracy that the driver is in an abnormal state without performing determination processing based on the driver's operation input or long-term biological information data as in the conventional art. can be done.

Further, preferably in the present embodiment, the abnormal frequency fD is a frequency that appears in the vibration signal in response to the application of vibration of the excitation frequency f0 at the onset of a specific disease, and the controller 18 stores the abnormal frequency fD in a memory. 18b and having an abnormal frequency fD, it is determined that the driver has developed a specific disease.

As in the past, when it is estimated that the driver is in an abnormal state because there is no operation input for a certain period of time or the driver's eyelids are closed for a certain period of time or longer, the driver needs to make an emergency stop. It was not possible to determine whether the driver had developed a disease or whether the driver was in a state (drowsiness, etc.) in which driving could be continued by encouraging wakefulness. However, in this embodiment, a specific disease (eg, cerebral infarction, etc.) can be immediately determined from the abnormal frequency fD occurring in the vibration signal. Accordingly, in the present embodiment, it can be determined early that the driver has developed a specific disease.

Further, preferably in this embodiment, the controller 18 frequency-analyzes the vibration signal, and when the power spectral density of the vibration signal has a peak at an abnormal frequency fD different from the natural vibration frequency fn and the excitation frequency f0, the driver It is judged to be in an abnormal state. In this embodiment configured as described above, the presence of an abnormal signal (that is, an abnormal state) can be easily determined by frequency-analyzing the vibration signal and detecting the peak signal of the abnormal frequency component.

Further, in this embodiment, preferably, a sensor 12 for detecting the state of the driver is further provided. Based on the detection signal of the sensor 12, when the controller 18 estimates that the driver is in an abnormal state, the vibration device 14 gives the steering wheel 2 a vibration with a predetermined excitation frequency f0. In the present embodiment configured in this way, when the possibility of the driver being in an abnormal state is relatively high based on the detection signal of the sensor 12, it is possible to determine the abnormal state by applying vibration. Also, in another embodiment, the controller 28 can periodically determine the abnormal condition of the driver without using the sensor 12 . That is, the controller 18 can periodically (for example, every 10 minutes) send a control signal to the vibrating device 14 and make a determination based on the detection signal of the vibration detector 16 .

Further, in this embodiment, preferably, the vibration device 14 is an electric motor for electric power steering for assisting the steering operation of the steering wheel 2 by the driver. In this embodiment configured as described above, the electric motor of the electric power steering device can be used as a vibration device without newly providing a vibration device.

Further, in this embodiment, preferably, the vibration signal is a signal representing a vibration component in the direction of rotation of the steering wheel 2 . In this embodiment, preferably, the vibration detector 16 is a steering torque sensor that detects the steering torque applied to the steering wheel 2, and the vibration signal is a signal representing the steering torque detected by the steering torque sensor. be. In this embodiment configured as described above, the steering torque sensor can be used as a vibration detector without newly providing a vibration detector.

REFERENCE SIGNS LIST 1 vehicle 1a steering device 2 steering wheel 3 steering shaft 10 driver state determination device f0 excitation frequency fn natural frequency fD abnormal frequency

Claims (7)

A driver state determination device for determining an abnormal state of a driver who drives a vehicle,
a vibrating device that vibrates a steering wheel of the steering device of the vehicle;
a vibration detector that detects vibration of the steering wheel;
a controller that controls the vibration device and the vibration detector;
The controller is
applying vibration of a predetermined excitation frequency to the steering wheel by the vibration device;
The vibration signal detected by the vibration detector is subjected to frequency analysis, and when an abnormal signal having a predetermined abnormal frequency different from the natural vibration frequency of the steering wheel and the excitation frequency is detected in the vibration signal, the driver A driver state determination device that determines that an abnormal state exists. The abnormal frequency is a frequency that appears in the vibration signal in response to application of vibration at the excitation frequency at the onset of a particular disease,
2. The driver state according to claim 1, wherein said controller includes a memory for storing said abnormal frequency, and determines that said driver has developed said specific disease when said abnormal signal having said abnormal frequency is detected. judgment device. The controller frequency-analyzes the vibration signal, and detects an abnormal signal in which the power spectral density of the vibration signal has a peak at an abnormal frequency different from the natural vibration frequency and the excitation frequency. The driver's state determination device according to claim 1 or 2, which determines that further comprising a sensor that detects the state of the driver,
The controller according to any one of claims 1 to 3, wherein the vibration device applies vibration of a predetermined excitation frequency to the steering wheel when it is estimated that the driver is in an abnormal state based on the detection signal of the sensor. The driver state determination device according to any one of the above. 5. The driver's state determination device according to claim 1, wherein said vibration device is an electric motor for electric power steering for assisting steering operation of said steering wheel by said driver. The driver's condition determination device according to any one of claims 1 to 5, wherein said vibration signal is a signal representing a vibration component in a rotational direction of said steering wheel. 7. The vibration detector is a steering torque sensor that detects steering torque applied to the steering wheel, and the vibration signal is a signal representing the steering torque detected by the steering torque sensor. The driver's state determination device according to any one of .

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