JP3094834B2 - Low alertness device - Google Patents
Low alertness deviceInfo
- Publication number
- JP3094834B2 JP3094834B2 JP07073057A JP7305795A JP3094834B2 JP 3094834 B2 JP3094834 B2 JP 3094834B2 JP 07073057 A JP07073057 A JP 07073057A JP 7305795 A JP7305795 A JP 7305795A JP 3094834 B2 JP3094834 B2 JP 3094834B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- driver
- automatic
- automatic steering
- warning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000036626 alertness Effects 0.000 title claims description 23
- 230000037007 arousal Effects 0.000 claims abstract description 81
- 230000005856 abnormality Effects 0.000 claims abstract description 24
- 230000002159 abnormal effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003213 activating effect Effects 0.000 claims 1
- 206010043268 Tension Diseases 0.000 abstract 1
- 230000015541 sensory perception of touch Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 20
- 230000009467 reduction Effects 0.000 description 8
- 206010029216 Nervousness Diseases 0.000 description 7
- 239000010720 hydraulic oil Substances 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 206010041349 Somnolence Diseases 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 241000981595 Zoysia japonica Species 0.000 description 2
- 230000004397 blinking Effects 0.000 description 2
- 230000036772 blood pressure Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000002542 deteriorative effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
- B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/22—Psychological state; Stress level or workload
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Steering Controls (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、運転者の覚醒度低下を
警告する覚醒度低下警告装置に関し、覚醒度が正常にな
った際に車両の挙動を安定させるようにしたものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an alertness reduction warning device for alerting a driver of a reduction in arousal level, and to stabilize the behavior of a vehicle when the arousal level becomes normal.
【０００２】[0002]
【従来の技術】車両を長時間休みなく連続して運転する
と、運転者に疲労が蓄積して健康状態が悪化し、集中力
が低下してしまう。このため、従来より、例えば居眠り
運転を防止する等の目的で、運転者の覚醒度を検出して
様々な警報を発する装置が提案されている。これらの装
置は、運転者による操舵パターンの特徴や心拍数・皮膚
電位の変化に基づいて覚醒度の低下を検出するようにな
っている。2. Description of the Related Art If a vehicle is driven continuously without a break for a long time, fatigue builds up in the driver, deteriorating the state of health and reducing concentration. For this reason, conventionally, for the purpose of, for example, preventing drowsy driving, there have been proposed devices that detect a driver's arousal level and issue various warnings. These devices detect a decrease in arousal level based on characteristics of a steering pattern by a driver and changes in heart rate and skin potential.
【０００３】操舵パターンの特徴に基づいて覚醒度を検
出する装置では、覚醒度が低下した状態になると運転者
のハンドル操作が減少して雑になり、微小な操舵修正が
行われなくなる傾向があることを利用している。例え
ば、所定の検出角度に対するハンドル操舵角の逸脱頻度
を検出し、これを正常時に期待される頻度と比較するこ
とで正常な覚醒度で運転しているか否かを判断する（特
開昭52-25336号公報）。また、心拍数や皮膚電位の変化
に基づいて覚醒度を検出する装置では、睡眠時には覚醒
時に比べて心拍数や皮膚電位が低下することを利用し、
正常時における心拍数や皮膚電位の状態と比較して正常
な覚醒度で運転しているか否かを判断する（特開平1-25
0221号）。In a device that detects the degree of awakening based on the characteristics of the steering pattern, when the degree of awakening is reduced, the steering wheel operation of the driver is reduced, which tends to make it difficult to perform fine steering correction. Use that thing. For example, the deviation frequency of the steering wheel steering angle with respect to a predetermined detection angle is detected, and this is compared with the frequency expected in a normal state to determine whether or not the vehicle is operating at a normal arousal level (Japanese Patent Application Laid-Open No. 52-1982). No. 25336). Also, a device that detects the degree of arousal based on changes in heart rate and skin potential utilizes the fact that the heart rate and skin potential decrease during sleep compared to when awake,
It is determined whether or not the driver is driving at a normal arousal level by comparing the state of the heart rate and the skin potential in a normal state (Japanese Patent Laid-Open No. 1-25)
0221).
【０００４】[0004]
【発明が解決しようとする課題】従来の覚醒度を検出す
る装置では、覚醒度を検出して覚醒度が低い場合に警報
等によって運転者に居眠り状態を警告することができ
る。このため、覚醒度が低くなった場合であっても、覚
醒度を高めて正常な運転状態を維持できるうにしてい
る。しかし、覚醒度が低い状態で警報等を受けると、運
転者の覚醒度は高くなるものの、運転者は一瞬緊張して
していまい不安定な操舵を行う虞があった。緊張によっ
て一瞬不安定な操舵が行われると、車両の挙動が一時的
に不安定になってしまう。In the conventional device for detecting the degree of awakening, the degree of awakening can be detected, and when the degree of awakening is low, the driver can be warned of a dozing state by an alarm or the like. For this reason, even if the arousal level decreases, the awakening level is increased to maintain a normal driving state. However, when a warning or the like is received in a state where the arousal level is low, the arousal level of the driver is increased, but the driver may be nervous for a moment and may perform unstable steering. When the unstable steering is performed for a moment due to the tension, the behavior of the vehicle becomes temporarily unstable.
【０００５】本発明は上記状況に鑑みてなされたもの
で、覚醒度の低下を警告すると共に、車両の挙動を不安
定にさせることがない覚醒度低下警告装置を提供するこ
とを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide an alertness lowering warning device that warns of a decrease in alertness and does not make the behavior of a vehicle unstable.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
の第１の発明の構成は、運転者の操作によって車両の操
舵車輪を操舵させる操舵操作手段と、該操舵操作手段と
前記操舵車輪との間の操舵伝達系に設けられ該操舵操作
手段の操作に係わらず該操舵車輪を操舵させる自動操舵
アクチュエータを有する自動操舵手段と、走行中の運転
者の覚醒度の指標及び緊張度合いの指標を求めて覚醒度
の異常及び緊張度合いの正常を判定する覚醒度判定手段
と、前記車両の挙動に影響しない範囲内の警告用振動を
前記操舵操作手段に与える振動入力手段と、前記覚醒度
判定手段により覚醒度の異常が判定された際に前記自動
操舵手段の前記自動操舵アクチュエータを作動させると
共に前記振動入力手段によって警告用振動を所定時間前
記操舵操作手段に与え更に警告用振動を該操舵操作手段
に与えた後に前記覚醒度判定手段により緊張度合いが正
常であることが判定された際に該自動操舵手段の該自動
操舵アクチュエータの作動を解除して該操舵操作手段に
よる操舵を可能にする制御装置とを備えたことを特徴と
する。According to a first aspect of the present invention, there is provided a steering apparatus for steering a steering wheel of a vehicle by an operation of a driver, and the steering operating means and the steering wheel. The automatic transmission means having an automatic steering actuator provided in the steering transmission system for steering the steered wheels regardless of the operation of the steering operation means, an index of the awakening degree and an index of the degree of tension of the running driver. Arousal level determining means for determining the abnormality of the arousal level and the normality of the tension level, vibration input means for giving a warning vibration within a range not affecting the behavior of the vehicle to the steering operation means, and the arousal level determining means When it is determined that the arousal level is abnormal, the automatic steering actuator of the automatic steering means is actuated and a vibration for warning is given to the steering operation means for a predetermined time by the vibration input means. Further, when the waking degree determining means determines that the degree of tension is normal after giving the warning vibration to the steering operation means, the operation of the automatic steering actuator of the automatic steering means is released to perform the steering operation. A control device that enables steering by the operating means.
【０００７】また、上記目的を達成するための第２の発
明の構成は、運転者の操作によって車両の操舵車輪を操
舵させる操舵操作手段と、該操舵操作手段と前記操舵車
輪との間の操舵伝達系に設けられ該操舵操作手段の操作
に係わらず該操舵車輪を操舵させる自動操舵アクチュエ
ータを有する自動操舵手段と、走行中の運転者の覚醒度
の指標及び緊張度合いの指標を求めて覚醒度の異常及び
緊張度合いの正常を判定する覚醒度判定手段と、前記車
両の挙動に影響しない範囲内の警告用振動を前記操舵操
作手段に与える振動入力手段と、音によって運転者に種
々の警報を与える警報手段と、前記覚醒度判定手段によ
り覚醒度の異常が判定された際に前記自動操舵手段の前
記自動操舵アクチュエータを作動させると共に前記振動
入力手段によって警告用振動を所定時間前記操舵操作手
段に与えると同時に前記警報手段により覚醒度の異常を
前記運転者に知らせ、更に、警告用振動を該操舵操作手
段に与えた後に前記覚醒度判定手段により緊張度合いが
正常であることが判定された際に該自動操舵手段の該自
動操舵アクチュエータの作動を解除して該操舵操作手段
による操舵を可能にすると同時に該自動操舵アクチュエ
ータの作動を解除した旨を前記警報手段により前記運転
者に知らせる制御装置と、を備えたことを特徴とする。A second aspect of the present invention for achieving the above object is a steering operation means for steering a steered wheel of a vehicle by a driver's operation, and a steering operation between the steering operation means and the steered wheels. An automatic steering means provided in a transmission system and having an automatic steering actuator for steering the steered wheels irrespective of the operation of the steering operation means, and an index of a degree of arousal and an index of a degree of nervousness of a running driver are obtained. Awakening degree determining means for determining the abnormality of the abnormality and the degree of tension, vibration input means for giving a warning vibration to the steering operation means within a range not affecting the behavior of the vehicle, and various warnings to the driver by sound. An alarm means for giving, and when the abnormality of the arousal level is determined by the arousal level determination means, activates the automatic steering actuator of the automatic steering means and the vibration input means. A warning vibration is given to the steering operation means for a predetermined time, and at the same time, the alerting means informs the driver of the abnormality of the arousal level. Further, after giving a warning vibration to the steering operation means, the driver becomes nervous by the awakening degree determination means. When it is determined that the degree is normal, the operation of the automatic steering actuator of the automatic steering means is released to enable the steering operation by the steering operation means, and at the same time, the operation of the automatic steering actuator is released. And a control device for informing the driver by alarm means.
【０００８】そして、前記制御装置には、覚醒度の異常
によって前記自動操舵手段の前記自動操舵アクチュエー
タを作動させた際にハザードランプを点灯させる機能
と、所定時間を越えて覚醒度の異常が判定され続けた際
もしくは所定時間を越えて緊張度合いの正常が判定され
なかった際に前記車両を強制的に停止させる機能とを備
えていることを特徴とする。The control device has a function of turning on a hazard lamp when the automatic steering actuator of the automatic steering means is operated due to the abnormality of the arousal level, and a determination of the abnormality of the arousal level beyond a predetermined time. A function of forcibly stopping the vehicle when the operation is continued or when the degree of tension is not determined to be normal for more than a predetermined time.
【０００９】[0009]
【作用】第１の発明によると、覚醒度判定手段によって
運転者の覚醒度の異常が判定された場合、自動操舵手段
の自動操舵アクチュエータが作動されて自動操舵に切り
換えられ、振動入力手段によって操舵操舵手段に警告用
の振動が所定時間与えられる。この後、覚醒度判定手段
によって運転者の緊張度合いが正常であると判定された
際、自動操舵が解除されて操舵操舵手段による操舵を可
能にする。According to the first aspect of the invention, when the arousal level determining means determines that the driver's arousal level is abnormal, the automatic steering actuator of the automatic steering means is operated to switch to automatic steering, and the steering is performed by the vibration input means. A warning vibration is given to the steering means for a predetermined time. Thereafter, when the arousal level determination unit determines that the driver's degree of tension is normal, the automatic steering is released and the steering by the steering unit is enabled.
【００１０】第２の発明によると、覚醒度判定手段によ
って運転者の覚醒度の異常が判定された場合、自動操舵
手段の自動操舵アクチュエータが作動されて自動操舵に
切り換えられ、振動入力手段によって操舵操舵手段に警
告用の振動が所定時間与えられる。この時同時に警報手
段によって覚醒度の異常が運転者に知らされる。この
後、覚醒度判定手段によって運転者の緊張度合いが正常
であると判定された際、自動操舵が解除されて操舵手段
による操舵を可能にすると共に、自動操舵が解除された
ことが警報手段によって運転者に知らされる。According to the second aspect of the invention, when the arousal level determination means determines that the driver's arousal level is abnormal, the automatic steering actuator of the automatic steering means is operated to switch to automatic steering, and the vibration input means performs steering. A warning vibration is given to the steering means for a predetermined time. At the same time, the driver is informed of the abnormality of the arousal level by the alarm means. Thereafter, when it is determined by the awakening degree determining means that the degree of driver's tension is normal, the automatic steering is released to enable steering by the steering means, and the warning means that the automatic steering is released is issued by the warning means. Notified by driver.
【００１１】そして、覚醒度の異常によって自動操舵手
段の自動操舵アクチュエータを作動させた際にハザード
ランプを点灯させると共に、所定時間を越えて覚醒度の
異常が判定され続けた際もしくは所定時間を越えて緊張
度合いの正常が判定されなかった際には車両を強制的に
停止させるようにする。The hazard lamp is turned on when the automatic steering actuator of the automatic steering means is actuated due to the abnormality in the degree of awakening, and when the abnormality in the degree of awakening is continuously determined for more than a predetermined time or when the abnormality exceeds the predetermined time. When the normality of the degree of tension is not determined, the vehicle is forcibly stopped.
【００１２】[0012]
【実施例】図１には本発明の一実施例に係る覚醒度低下
警告装置の制御部の概略構成を表すブロック、図２には
本発明の一実施例に係る覚醒度低下警告装置の操舵系の
概略構成を表す油圧回路、図３には本発明の一実施例に
係る覚醒度低下警告装置を備えた車両の運転席の斜視、
図４には制御装置における処理の流れを表すフローチャ
ートを示してある。FIG. 1 is a block diagram showing a schematic configuration of a control section of an alertness reduction warning device according to an embodiment of the present invention. FIG. 2 is a block diagram showing steering of the alertness reduction alarm device according to an embodiment of the present invention. FIG. 3 is a perspective view of a driver's seat of a vehicle equipped with an alertness reduction warning device according to one embodiment of the present invention.
FIG. 4 is a flowchart showing a flow of processing in the control device.
【００１３】図１及び図２に示すように、操舵操作手段
としてのステアリングホイール１には運転者の心拍パル
スを検出する左右一対の赤外線式心拍センサ２、３が設
けられ、赤外線式心拍センサ２、３には心拍処理手段
４、５が接続されている。心拍処理手段４、５では、赤
外線式心拍センサ２、３からの検出信号を受けて運転者
の心拍数を算出するようになっている。心拍処理手段
４、５には出力信号のうちより好ましい出力信号の方を
採用する信号選択手段６が接続している。ステアリング
ホイール１には電位式心拍センサ７が設けられ、電位式
心拍センサ７には心拍処理手段８が接続されている。心
拍処理手段８では電位式心拍センサ７からの信号を受け
て運転者の心拍数を算出するようになっている。信号選
択手段６及び心拍処理手段８には出力信号に基づいて心
拍数の平均値や変化状態を算出する心拍データ処理手段
９が接続され、心拍データ処理手段９の演算結果、即
ち、心拍数の平均値や変化状態（覚醒度の指標、緊張度
合いの指標）に基づいて運転者の覚醒度の異常や緊張度
合いの正常を判定する心拍覚醒度判定手段１０が心拍デ
ータ処理手段９に接続されている。As shown in FIGS. 1 and 2, a steering wheel 1 as a steering operation means is provided with a pair of left and right infrared heart rate sensors 2 and 3 for detecting a heartbeat pulse of a driver. , 3 are connected to heartbeat processing means 4, 5, respectively. The heart rate processing means 4 and 5 receive the detection signals from the infrared heart rate sensors 2 and 3 and calculate the driver's heart rate. The heartbeat processing means 4 and 5 are connected to a signal selection means 6 which employs a more preferable output signal among the output signals. A potential-type heart rate sensor 7 is provided on the steering wheel 1, and heart rate processing means 8 is connected to the potential-type heart rate sensor 7. The heart rate processing means 8 receives the signal from the potential type heart rate sensor 7 and calculates the driver's heart rate. The signal selection means 6 and the heart rate processing means 8 are connected to a heart rate data processing means 9 for calculating an average value and a change state of the heart rate based on the output signal. A heart rate arousal level determination means 10 for determining whether the driver has an abnormal level of arousal level or a normal tension level based on an average value or a change state (index of arousal level, index of a strain level) is connected to a heart rate data processing means 9. I have.
【００１４】一方、操舵軸の中立位置からのずれ（操舵
角）を検出する操舵角センサ１１には、操舵角センサ１
１からの検出信号を受けて周波数解析した操舵成分のパ
ラメータを算出する操舵角データ処理手段１２が接続さ
れている。操舵角データ処理手段１２にはこの操舵角デ
ータ処理手段１２からの演算結果（覚醒度の指標）に基
づいて運転者の覚醒度の異常を判定する操舵覚醒度判定
手段１３が接続されている。また、操舵角データ処理手
段１２には、車両の走行速度（車速）を検出する車速セ
ンサ１４が接続され、車速センサ１４からの検出信号が
操舵角データ処理手段１２に取り込まれるようになって
いる。On the other hand, a steering angle sensor 11 for detecting a deviation (steering angle) from the neutral position of the steering shaft includes a steering angle sensor 1.
A steering angle data processing means 12 for calculating a parameter of a steering component subjected to frequency analysis in response to a detection signal from the control unit 1 is connected. The steering angle data processing means 12 is connected to a steering arousal level determining means 13 for determining an abnormality in the arousal level of the driver based on the calculation result (index of arousal level) from the steering angle data processing means 12. Further, a vehicle speed sensor 14 for detecting a traveling speed (vehicle speed) of the vehicle is connected to the steering angle data processing means 12, and a detection signal from the vehicle speed sensor 14 is taken into the steering angle data processing means 12. .
【００１５】車両には、居眠り警報をフロントウインド
ウ１５に透過表示するための視覚警報手段１６と、居眠
り警報を車両の挙動に影響しない範囲内の警告用振動と
してステアリングホイール１に与える振動入力手段（後
述する）を動作させる触覚警報手段１７と、居眠り警報
や種々の警報を音や音声で運転者に与える警報手段とし
ての聴覚警報手段１８とが備えられている。心拍覚醒度
判定手段１０と操舵覚醒度判定手段１３には制御装置と
しての警告制御装置１９が接続され、心拍覚醒度判定手
段１０や操舵覚醒度判定手段１３によって選択された警
報レベルや運転者の覚醒度、緊張度合いに関するデータ
等が警告制御装置１９に出力される。警告制御装置１９
は心拍覚醒度判定手段１０及び操舵覚醒度判定手段１３
で選択された警報レベルに基づいて触覚警報手段１７、
視覚警報手段１６及び聴覚警報手段１８の作動を制御す
る。また、警告制御装置１９は警報レベルや運転者の覚
醒度、緊張度合いの状況に基づいてハザードランプ点灯
手段２０、自動操舵作動手段２１及び自動ブレーキ作動
手段２２を制御する。尚、センサを除く上記各手段はＥ
ＣＵ２３内に設けられている。The vehicle has a visual alarm means 16 for transparently displaying a drowsiness alarm on the front window 15 and a vibration input means (vibration input means for giving the drowsiness alarm to the steering wheel 1 as a warning vibration within a range not affecting the behavior of the vehicle. (To be described later), and an audible alarming means 18 as an alarming means for giving a drowsiness alarm or various alarms to the driver by sound or voice. A warning control device 19 as a control device is connected to the heart rate awakening degree determining means 10 and the steering arousal degree determining means 13, and the warning level selected by the heart rate awakening degree determining means 10 and the steering arousal degree determining means 13 and the driver's Data on the degree of arousal and the degree of tension are output to the warning control device 19. Warning control device 19
Is a heart rate arousal level determining means 10 and a steering arousal level determining means 13
Tactile alarm means 17 based on the alarm level selected in
The operation of the visual alarm means 16 and the auditory alarm means 18 is controlled. The warning control device 19 controls the hazard lamp lighting means 20, the automatic steering operation means 21 and the automatic brake operation means 22 based on the alarm level, the driver's arousal level, and the degree of tension. Each of the above means except the sensor is E
It is provided in the CU 23.
【００１６】次に、図３に示した操舵系に基づいて触覚
警報手段１７によって動作する振動入力手段及び自動操
舵作動手段２１によって動作する自動操舵機構を説明す
る。振動入力手段２４は、自動操舵機構２５を備えた油
圧式パワーステアリング機構２６を利用したものとなっ
ている。Next, a description will be given of the vibration input means operated by the tactile alarm means 17 and the automatic steering mechanism operated by the automatic steering operation means 21 based on the steering system shown in FIG. The vibration input means 24 uses a hydraulic power steering mechanism 26 having an automatic steering mechanism 25.
【００１７】まず、油圧式パワーステアリング機構２６
を説明する。油圧式パワーステアリング機構２６は、ス
テアリングホイール１に連動するラックアンドピニオン
機構２７にアシスト力を加える油圧シリンダ２８を備
え、油圧シリンダ２８にはパワーステアリング弁２９を
介して油圧ポンプ３０からの作動油が導かれるようにな
っている。自動操舵機構２５は、油圧シリンダ２８を利
用して自動操舵力がラックアンドピニオン機構２７に加
えられる。油圧ポンプ３０とパワーステアリング弁２９
との間の油路には油圧源切換弁３１が設けられ、油圧源
切換弁３１と油圧シリンダ２８との間の油路には、上流
側から、自動操舵角制御弁３２、モード切換弁３３が設
けられている。また、自動操舵角制御弁３２には自動操
舵力制御弁３４が設けられている。First, the hydraulic power steering mechanism 26
Will be described. The hydraulic power steering mechanism 26 includes a hydraulic cylinder 28 that applies an assisting force to a rack and pinion mechanism 27 that is linked to the steering wheel 1, and the hydraulic cylinder 28 receives hydraulic oil from a hydraulic pump 30 via a power steering valve 29. It is being led. The automatic steering mechanism 25 applies an automatic steering force to the rack and pinion mechanism 27 using a hydraulic cylinder 28. Hydraulic pump 30 and power steering valve 29
A hydraulic source switching valve 31 is provided in an oil path between the hydraulic source switching valve 31 and the hydraulic cylinder 28. An automatic steering angle control valve 32, a mode switching valve 33 Is provided. The automatic steering angle control valve 32 is provided with an automatic steering force control valve 34.
【００１８】油圧源切換弁３１は、パワーステアリング
弁２９に油圧ポンプ３０からの作動油を導くパワーステ
アリングモードと、自動操舵機構２５側の自動操舵力制
御弁３４に油圧ポンプ３０からの作動油を導く自動操舵
モードとに流路を切り換えるようになっている。自動操
舵角制御弁３２は、自動操舵する方向を左右いずれかに
設定する弁であり、油圧シリンダ２８の左油圧室に油圧
源切換弁３１からの油を導く左操舵モード（自動モー
ド）と、油圧シリンダ２８の右油圧室に油圧源切換弁３
１からの油を導く右操舵モード（自動モード）と、左右
の油圧室内の作動油圧を除去する自動操舵停止モードと
に流路を切り換えるようになっている。また、自動操舵
力制御弁３４は、油圧源切換弁３１から自動操舵角制御
弁３２に導かれる作動油の圧力を調整することで自動操
舵力を制御する圧力弁であり、ソレノイドへの供給電力
を調整することで自動操舵角制御弁３２へ出力される作
動油の油圧力が調整される。更に、モード切換弁３３
は、パワーステアリング弁２９からの作動油を油圧シリ
ンダ２８に導くパワーステアリングモードと、自動操舵
機構２５側の自動操舵力制御弁３４からの作動油を油圧
シリンダ２８に導く自動操舵モードとに流路を切り換え
るようになっている。The hydraulic source switching valve 31 is provided with a power steering mode for guiding hydraulic oil from the hydraulic pump 30 to the power steering valve 29 and a hydraulic oil from the hydraulic pump 30 for the automatic steering force control valve 34 on the automatic steering mechanism 25 side. The flow path is switched to an automatic steering mode for guiding. The automatic steering angle control valve 32 is a valve for setting the direction of automatic steering to the left or right, and a left steering mode (automatic mode) for guiding oil from the hydraulic pressure source switching valve 31 to the left hydraulic chamber of the hydraulic cylinder 28; Hydraulic source switching valve 3 in right hydraulic chamber of hydraulic cylinder 28
The flow path is switched between a right steering mode (automatic mode) for guiding the oil from the first and an automatic steering stop mode for removing the operating oil pressure in the left and right hydraulic chambers. The automatic steering force control valve 34 is a pressure valve that controls the automatic steering force by adjusting the pressure of the hydraulic oil that is guided from the hydraulic pressure source switching valve 31 to the automatic steering angle control valve 32, and controls the power supplied to the solenoid. Is adjusted, the hydraulic pressure of the hydraulic oil output to the automatic steering angle control valve 32 is adjusted. Further, the mode switching valve 33
Flow paths in a power steering mode in which hydraulic oil from the power steering valve 29 is guided to the hydraulic cylinder 28 and an automatic steering mode in which hydraulic oil from the automatic steering force control valve 34 of the automatic steering mechanism 25 is guided to the hydraulic cylinder 28. Is switched.
【００１９】振動入力手段２４を説明する。自動操舵角
制御弁３２には、高周波の微小信号を指令信号に加える
処理（ディザ処理）が施されるようになっており、ステ
アリングホイール１に与えられる警告用の振動の入力は
このディザ処理の信号が利用されている。このディザ処
理は、自動操舵角制御弁３２のスプールが停止しないよ
うに微小振動させることで、スプールの摩擦や固着等の
現象を回避して作動応答性を高めるための処理である。
通常、ディザ処理における信号レベル（振幅）は低いの
で、運転者がステアリングホイール１を通して振動を感
知することはできないが、ディザ処理の信号レベル（振
幅）を上げることで、車両の挙動に影響を与えない状態
でステアリングホイール１を通して運転者に振動を感知
させることができる。即ち、ＥＣＵ２３で触覚警報手段
１７に作動信号が出されると、振動入力手段２４におい
てこの時の警報レベルに応じてディザ処理の信号レベル
が設定され、自動操舵角制御弁３２が制御されてステア
リングホイール１を通して運転者に振動を感知させる。The vibration input means 24 will be described. The automatic steering angle control valve 32 is subjected to processing (dither processing) for adding a high-frequency small signal to the command signal, and the input of the warning vibration given to the steering wheel 1 is performed in the dither processing. Signals are being used. The dither process is a process for improving the operation responsiveness by slightly oscillating the spool of the automatic steering angle control valve 32 so as not to stop, thereby avoiding phenomena such as friction and sticking of the spool.
Usually, since the signal level (amplitude) in the dither processing is low, the driver cannot sense vibration through the steering wheel 1, but increasing the signal level (amplitude) in the dither processing affects the behavior of the vehicle. It is possible to make the driver sense vibration through the steering wheel 1 in the absence state. That is, when the ECU 23 outputs an operation signal to the tactile alarm unit 17, the vibration input unit 24 sets the signal level of the dither processing according to the alarm level at this time, the automatic steering angle control valve 32 is controlled, and the steering wheel is controlled. 1 allows the driver to sense the vibration.
【００２０】ＥＣＵ２３による操舵制御は、車両の走行
状態、車両の走行環境及び運転者の操舵状態や覚醒度の
状態等に基づいて、自動操舵が必要か否かが判断され
る。自動操舵が必要であれば、油圧源切換弁３１及びモ
ード切換弁３３を自動操舵モードに切り換え、設定され
た自動操舵力に応じて自動操舵力制御弁３４を制御する
ようになっている。そして、ラックアンドピニオン機構
２７の位置を検出する変位センサ３５からの情報に基づ
いてフィードバックを行いながら所要の操舵角が得られ
るように自動操舵角制御弁３２を制御するようになって
いる。また、自動操舵が必要でなければ、油圧源切換弁
３１及びモード切換弁３３への供給電力を断ってパワー
ステアリングモードに復帰させると共に、自動操舵力制
御弁３４への供給電力をも断って自動操舵停止モードに
戻す。ディザ処理は、自動操舵モードでないと行われな
いので、パワーステアリングモードに設定されている場
合には一時的に自動操舵モードに切り換えて、振動入力
手段２４によりステアリングホイール１に振動を発生さ
せる。In the steering control by the ECU 23, it is determined whether or not the automatic steering is necessary based on the traveling state of the vehicle, the traveling environment of the vehicle, the steering state of the driver, the state of arousal level, and the like. If automatic steering is required, the hydraulic source switching valve 31 and the mode switching valve 33 are switched to the automatic steering mode, and the automatic steering force control valve 34 is controlled according to the set automatic steering force. The automatic steering angle control valve 32 is controlled so as to obtain a required steering angle while performing feedback based on information from the displacement sensor 35 that detects the position of the rack and pinion mechanism 27. If the automatic steering is not required, the power supply to the hydraulic power source switching valve 31 and the mode switching valve 33 is cut off to return to the power steering mode. Return to steering stop mode. Since the dither processing is not performed unless the automatic steering mode is set, when the power steering mode is set, the mode is temporarily switched to the automatic steering mode, and the vibration input unit 24 causes the steering wheel 1 to generate vibration.
【００２１】次に、上述した自動操舵機構２５を備えた
油圧式パワーステアリング機構２６による覚醒度低下警
告装置の処理の流れを図４に基づいて説明する。通常、
操舵制御はパワーステアリングモードに設定されて実施
されている。運転中は、赤外線式心拍センサ２、３及び
電位式心拍センサ７によって心拍数が検出され、心拍数
の平均値や変化状態（覚醒度の指標、緊張度合いの指
標）に基づき心拍覚醒度判定手段１０によって運転者の
覚醒度の異常や緊張度合いの正常が判定される。また、
走行中は操舵角センサ１１によって操舵状態が検出され
て操舵成分のパラメータが算出され、算出結果から操舵
覚醒度判定手段１３によって運転者の覚醒度の異常が判
定される。Next, the flow of processing of the alertness reduction warning device by the hydraulic power steering mechanism 26 having the above-described automatic steering mechanism 25 will be described with reference to FIG. Normal,
The steering control is performed in a power steering mode. During driving, the heart rate is detected by the infrared type heart rate sensors 2 and 3 and the potential type heart rate sensor 7, and the heart rate arousal level determination means is based on the average value of the heart rate and the state of change (index of arousal level, index of the degree of tension). Based on 10, it is determined whether the driver has an abnormal arousal level or a normal tension level. Also,
During traveling, the steering state is detected by the steering angle sensor 11 and the parameters of the steering component are calculated. From the calculation result, the abnormality of the driver's arousal level is determined by the steering arousal level determination means 13.
【００２２】図４に示すように、ステップＳ１でタイマ
Ｔ１，Ｔ２をリセットし、ステップＳ２で心拍覚醒度判
定手段１０及び操舵覚醒度判定手段１３による覚醒度の
異常が判断される。覚醒度が正常な場合は場合はそのま
ま操舵制御を続行し、覚醒度が異常であると判断された
場合、ステップＳ３で自動操舵モード２１の作動により
操舵制御を自動操舵モードに切り換えると共に、ハザー
ドランプ点灯手段１６の作動によりハザードランプを点
灯させる。As shown in FIG. 4, timers T1 and T2 are reset in step S1, and in step S2, an abnormality in the arousal level is determined by the heart rate arousal level determining means 10 and the steering arousal level determining means 13. If the awakening degree is normal, the steering control is continued as it is, and if it is determined that the awakening degree is abnormal, the steering control is switched to the automatic steering mode by the operation of the automatic steering mode 21 in step S3, and the hazard lamp is set. The hazard lamp is turned on by the operation of the lighting means 16.
【００２３】次に、ステップＳ４に進み、聴覚警報手段
１８の作動により運転者に起きる旨の音声警報を発する
と共に触覚警報手段１７の作動により振動入力手段２４
でステアリングホイール１に振動を３秒間発生させ運転
者に振動を感知させる。音声警報及び振動警報を行った
後、ステップＳ５で覚醒度が正常か（起きたか否か）否
か、即ち、音声警報及び振動警報に運転者が気付いたか
否かが判定される。ステップＳ５で覚醒度が正常ではな
い（起きてない）と判断された場合、ステップＳ６でタ
イマＴ１に１を加算すると共にステップＳ７でタイマＴ
１が３になるまでステップＳ４に戻る処理を繰り返す。
ステップＳ７でタイマＴ１が３であると判断された場
合、即ち、所定時間を越えて運転者が音声警報及び振動
警報に気付かずに覚醒度の異常が判定され続けた場合、
ステップＳ８で自動ブレーキ作動手段２２の作動により
自動ブレーキを動作させて車両を強制的に停止させる。Next, the operation proceeds to step S4, in which the audible alarm is issued to the driver by the operation of the audible alarm means 18 and the vibration input means 24 is activated by the operation of the tactile alarm means 17.
Causes the steering wheel 1 to generate vibration for 3 seconds, and causes the driver to sense the vibration. After issuing the voice alarm and the vibration alarm, it is determined in step S5 whether the arousal level is normal (whether or not the alarm has occurred), that is, whether the driver has noticed the voice alarm and the vibration alarm. If it is determined in step S5 that the arousal level is not normal (not awake), 1 is added to the timer T1 in step S6, and the timer T is added in step S7.
The process of returning to step S4 is repeated until 1 becomes 3.
If it is determined in step S7 that the timer T1 is 3, that is, if the driver has not been aware of the voice alarm and the vibration alarm for more than a predetermined time and the abnormality of the awakening level is continuously determined,
In step S8, the automatic brake is operated by the operation of the automatic brake operation means 22 to forcibly stop the vehicle.
【００２４】ステップＳ５で覚醒度が正常であると判断
された場合、ステップＳ９で聴覚警報手段１８の作動に
より運転者に自動操舵中である旨の警報を発してステッ
プＳ１０に進み、ステップＳ１０では心拍覚醒度判定手
段１０による緊張度合いの正常が判断される。ステップ
Ｓ１０で緊張度合いが正常ではない、即ち、振動警報に
は気付いたもののびっくりした状態で心拍数が異常に高
くドキドキしていると判断された場合、ステップＳ１１
でタイマＴ２に１を加算すると共にステップＳ１２でタ
イマＴ２が３になるまでステップＳ９に戻る処理を繰り
返す。ステップＳ１２でタイマＴ２が３であると判断さ
れた場合、即ち、運転者の緊張が収まらず緊張度合いの
正常が所定時間を越えても判定されなかった場合、ステ
ップＳ８で自動ブレーキ作動手段２２の作動により自動
ブレーキを動作させて車両を強制的に停止させる。If it is determined in step S5 that the arousal level is normal, an alarm is issued to the driver by automatic operation of the auditory warning means 18 in step S9, and the process proceeds to step S10. In step S10, The normality of the degree of tension is determined by the heartbeat arousal level determination means 10. If it is determined in step S10 that the degree of tension is not normal, that is, it is determined that the heart rate is abnormally high and pounding in a surprised state, although the vibration alarm is noticed, step S11
Then, 1 is added to the timer T2, and the process of returning to step S9 is repeated until the timer T2 becomes 3 in step S12. If it is determined in step S12 that the timer T2 is 3, that is, if the driver's tension does not subside and the degree of tension is not determined to be normal over a predetermined time, the automatic brake actuation means 22 is determined in step S8. The automatic brake is operated by the operation to forcibly stop the vehicle.
【００２５】ステップＳ１０で緊張度合いが正常である
と判断された場合、即ち、振動警報に気付いて落ち着い
た状態であると判断された場合、ステップＳ１３で聴覚
警報手段１８の作動により運転者に自動操舵モードが解
除される旨の警報を発すると共に操舵制御をパワーステ
アリングモードに戻し、通常の操舵制御を実施する。If it is determined in step S10 that the degree of tension is normal, that is, if it is determined that the user is in a calm state by noticing the vibration alarm, the driver is automatically activated by the operation of the auditory alarm means 18 in step S13. An alarm is issued to the effect that the steering mode is canceled, and the steering control is returned to the power steering mode to perform normal steering control.
【００２６】このように、上述した覚醒度低下警告装置
では、心拍覚醒度判定手段１０及び操舵覚醒度判定手段
１３によって運転者の覚醒度の異常が判定された場合、
自動操舵作動手段２１の自動操舵アクチュエータとして
の油圧シリンダ２８が自動操舵状態に作動される自動操
舵に切り換えられ、振動入力手段２４によってステアリ
ングホイール１に警告用の振動が３秒間与えられると共
に、音声警報によって居眠り状態であることが運転者に
知らされる。そして、振動入力手段２４による振動に気
付いて運転者が落ち着いた状態になった後に、自動操舵
が解除されて運転者による操舵を可能にしている。この
ため、ステアリングホイール１の振動によって運転者が
一瞬緊張しても、運転者が落ち着くまでは自動操舵が続
けられて不安定な操舵が行われることがない。As described above, in the above-mentioned alertness lowering warning device, when the heartbeat alertness determining means 10 and the steering alertness determining means 13 determine that the driver's alertness is abnormal,
The hydraulic cylinder 28 as an automatic steering actuator of the automatic steering operation means 21 is switched to automatic steering in which the hydraulic cylinder 28 is operated in an automatic steering state. Vibration for warning is given to the steering wheel 1 by the vibration input means 24 for 3 seconds, and a voice alarm is issued. This informs the driver that he is dozing. Then, after the driver enters a calm state by noticing the vibration by the vibration input means 24, the automatic steering is released and the driver can perform the steering. For this reason, even if the driver gets nervous for a moment due to the vibration of the steering wheel 1, the automatic steering is continued until the driver calms down, and unstable steering is not performed.
【００２７】尚、上記実施例では、覚醒度を検出する手
段として心拍覚醒度判定手段１０及び操舵覚醒度判定手
段１３を用いた例を挙げて説明したが、皮膚温度や血
圧、脈拍等を検出したり瞬きの状態を直接検知して覚醒
度を検出する等他の手段を用いることも可能であり、緊
張度合いの判定についても心拍覚醒度判定手段１０を用
いるものに限定されず、皮膚温度や血圧、脈拍等を検出
する手段を用ることも可能である。また、振動入力手段
２４として、自動操舵機構２５を備えた油圧式パワース
テアリング機構２６を利用し、ディザ処理のレベルを上
げることでステアリングホイール１に警告用に振動を発
生させるようにしたが、ディザ処理を行わない操舵系で
あればレベルの高いディザに相当する高周波振動を新た
にステアリングホイール１に与えるようにすればよい。
また、自動操舵機構２５についても上述したものに限定
されず、電動アクチュエータ等を用いた自動操舵機構を
適用することも可能である。また上記実施例では、音声
警報や自動ブレーキの制御を行うようにしたものについ
て説明したが、音声警報や自動ブレーキの制御は必ずし
も実行しなくてもよい。In the above embodiment, an example is described in which the heart rate arousal level determining means 10 and the steering arousal level determining means 13 are used as means for detecting the level of arousal, but the skin temperature, blood pressure, pulse, etc. are detected. It is also possible to use other means, such as detecting the degree of arousal by directly detecting the state of blinking or blinking, and the determination of the degree of tension is not limited to the one using the heartbeat arousal degree determination means 10, but the skin temperature and It is also possible to use means for detecting blood pressure, pulse and the like. Also, a hydraulic power steering mechanism 26 having an automatic steering mechanism 25 is used as the vibration input means 24, and the level of dither processing is increased to generate vibration for the steering wheel 1 for warning. In the case of a steering system that does not perform processing, high-frequency vibration corresponding to high-level dither may be newly applied to the steering wheel 1.
Further, the automatic steering mechanism 25 is not limited to the one described above, and an automatic steering mechanism using an electric actuator or the like can be applied. Further, in the above-described embodiment, the description has been given of the case where the voice alarm and the control of the automatic brake are performed. However, the control of the voice alarm and the control of the automatic brake need not always be executed.
【００２８】[0028]
【発明の効果】第１の発明の覚醒度低下警告装置は、覚
醒度判定手段によって運転者の覚醒度の異常が判定され
た場合、自動操舵手段の自動操舵アクチュエータが作動
されて自動操舵に切り換えられ、振動入力手段によって
操舵操舵手段に警告用の振動が所定時間与えられ、この
後、覚醒度判定手段によって緊張度合いが正常であると
判定された際に自動操舵が解除されて操舵操舵手段によ
る操舵を可能にするようにしたので、操舵操舵手段の警
告用の振動によって運転者が一瞬緊張しても運転者が落
ち着くまでは自動操舵が続けられて不安定な操舵が行わ
れることがない。この結果、車両の挙動が不安定になる
ことがなく、違和感なく走行を続けることが可能にな
り、安全性が向上する。According to the first aspect of the present invention, when the alertness determination means determines that the driver's alertness is abnormal, the automatic steering actuator of the automatic steering means is operated to switch to automatic steering. A warning vibration is given to the steering / steering means by the vibration input means for a predetermined time, and thereafter, when the arousal degree determination means determines that the degree of tension is normal, the automatic steering is released and the steering / steering means is used. Since the steering is made possible, even if the driver is nervous for a moment due to the warning vibration of the steering means, the automatic steering is continued until the driver calms down, and unstable steering is not performed. As a result, the behavior of the vehicle does not become unstable, it is possible to continue running without a sense of incongruity, and safety is improved.
【００２９】第２の発明の覚醒度低下警告装置は、覚醒
度判定手段によって運転者の覚醒度の異常が判定された
場合、自動操舵手段の自動操舵アクチュエータが作動さ
れて自動操舵に切り換えられ、振動入力手段によって操
舵操舵手段に警告用の振動が所定時間与えられると同時
に警報手段によって覚醒度の異常が運転者に知らされ
て、この後、覚醒度判定手段によって緊張度合いが正常
であると判定された際に自動操舵が解除されて操舵操舵
手段による操舵を可能にすると共に、自動操舵が解除さ
れたことを警報手段によって運転者に知らせるようにし
たので、操舵操舵手段の警告用の振動によって運転者が
一瞬緊張しても振動の意味を認識することができると共
に運転者が落ち着くまでは自動操舵が続けられて不安定
な操舵が行われることがなく、運転者は自動操舵の解除
を認識することができ状況を的確に判断することが可能
になる。この結果、車両の挙動が不安定になることがな
く、違和感なく走行を続けることが可能になり、安全性
が向上する。The alertness lowering warning device of the second invention is arranged such that when the alertness determining means determines that the driver's alertness is abnormal, the automatic steering actuator of the automatic steering means is operated to switch to automatic steering. A warning vibration is given to the steering means by the vibration input means for a predetermined time, and at the same time, the driver is informed of the abnormality of the arousal level by the warning means, and thereafter the arousal level determination means determines that the degree of tension is normal. When the automatic steering is released, the steering by the steering steering means is enabled, and the driver is notified by a warning means that the automatic steering has been released. Even if the driver gets nervous for a moment, the meaning of vibration can be recognized, and automatic steering is continued until the driver calms down, resulting in unstable steering. There is no, the driver makes it possible to accurately determine is can the situation be aware of the cancellation of the automatic steering. As a result, the behavior of the vehicle does not become unstable, it is possible to continue running without a sense of incongruity, and safety is improved.
【００３０】また、覚醒度の異常によって自動操舵手段
の自動操舵アクチュエータを作動させた際にハザードラ
ンプを点灯させる機能と、所定時間を越えて覚醒度の異
常が判定され続けた際もしくは所定時間を越えて緊張度
合いの正常が判定されなかった際に前記車両を強制的に
停止させる機能とを備えたので、他の車両等にも覚醒度
の異常を知らせることができると共に、覚醒度の異常が
続いた時や運転者の緊張が続いている時に車両の走行が
継続されることがない。A function of turning on a hazard lamp when the automatic steering actuator of the automatic steering means is activated due to an abnormality in the degree of awakening, and a function for determining whether or not the abnormality in the degree of awakening is continued for a predetermined time or a predetermined time. A function of forcibly stopping the vehicle when the normality of the degree of tension is not determined because the normality of the arousal level is exceeded. The vehicle does not continue running when it continues or when the driver is nervous.
【図１】本発明の一実施例に係る覚醒度低下警告装置の
制御部ブロック図。FIG. 1 is a block diagram of a control unit of an alertness reduction warning device according to an embodiment of the present invention.
【図２】本発明の一実施例に係る覚醒度低下警告装置の
操舵系の油圧回路図。FIG. 2 is a hydraulic circuit diagram of a steering system of the alertness lowering warning device according to one embodiment of the present invention.
【図３】本発明の一実施例に係る覚醒度低下警告装置を
備えた車両の運転席の斜視図。FIG. 3 is a perspective view of a driver's seat of a vehicle including the alertness reduction warning device according to one embodiment of the present invention.
【図４】制御装置における処理の流れを表すフローチャ
ート。FIG. 4 is a flowchart showing a flow of processing in the control device.
１ ステアリングホイール ２，３ 赤外線式心拍センサ ４，５ 心拍処理手段 ７ 電位式心拍センサ ８ 心拍処理手段 １０ 心拍覚醒度判定手段 １１ 操舵角センサ １２ 操舵角データ処理手段 １３ 操舵角覚醒度判定手段 １７ 触覚警報手段 １８ 聴覚警報手段 １９ 警告制御装置 ２０ ハザードランプ点灯手段 ２１ 自動操舵作動手段 ２２ 自動ブレーキ作動手段 ２３ ＥＣＵ ２４ 振動入力手段 ２５ 自動操舵機構 ２６ 油圧式パワーステアリング機構 ２７ ラックアンドピニオン機構 ２８ 油圧シリンダ ３０ 油圧ポンプ ３１ 油圧切換弁 ３２ 自動操舵角制御弁 ３３ モード切換弁 ３４ 自動操舵力制御弁 REFERENCE SIGNS LIST 1 steering wheel 2, 3 infrared heart rate sensor 4, 5 heart rate processing means 7 potential type heart rate sensor 8 heart rate processing means 10 heart rate arousal degree determination means 11 steering angle sensor 12 steering angle data processing means 13 steering angle arousal degree determination means 17 tactile sensation Alarm means 18 Hearing alarm means 19 Warning control device 20 Hazard lamp lighting means 21 Automatic steering actuation means 22 Automatic brake actuation means 23 ECU 24 Vibration input means 25 Automatic steering mechanism 26 Hydraulic power steering mechanism 27 Rack and pinion mechanism 28 Hydraulic cylinder 30 Hydraulic pump 31 Hydraulic switching valve 32 Automatic steering angle control valve 33 Mode switching valve 34 Automatic steering force control valve
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ // Ｂ６２Ｄ 101:00 117:00 137:00 (72)発明者 井上 紀夫 東京都港区芝五丁目33番８号 三菱自動 車工業株式会社内 (72)発明者 御室 哲志 東京都港区芝五丁目33番８号 三菱自動 車工業株式会社内 (56)参考文献 特開 平６−171391（ＪＰ，Ａ) 特開 平４−55194（ＪＰ，Ａ) 特開 平６−297980（ＪＰ，Ａ) 特開 平６−156112（ＪＰ，Ａ) 特開 平７−76235（ＪＰ，Ａ) 特開 平６−297980（ＪＰ，Ａ) 特開 平７−1987（ＪＰ，Ａ) 特開 平６−274798（ＪＰ，Ａ) 特開 平７−156682（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B60K 28/06 B60R 21/00 G08G 1/16 B62D 6/00 ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification code FI // B62D 101: 00 117: 00 137: 00 (72) Inventor Norio Inoue 5-33-8 Shiba 5-chome, Minato-ku, Tokyo Mitsubishi (72) Inventor Tetsushi Omuro 5-33-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation (56) References JP-A-6-171391 (JP, A) JP-A-4 -55194 (JP, A) JP-A-6-297980 (JP, A) JP-A-6-156112 (JP, A) JP-A-7-76235 (JP, A) JP-A-6-297980 (JP, A) JP-A-7-1987 (JP, A) JP-A-6-274798 (JP, A) JP-A-7-156682 (JP, A) (58) Fields investigated (Int. Cl. 7 , DB name) B60K 28/06 B60R 21/00 G08G 1/16 B62D 6/00
Claims (3)
操舵させる操舵操作手段と、該操舵操作手段と前記操舵
車輪との間の操舵伝達系に設けられ該操舵操作手段の操
作に係わらず該操舵車輪を操舵させる自動操舵アクチュ
エータを有する自動操舵手段と、走行中の運転者の覚醒
度の指標及び緊張度合いの指標を求めて覚醒度の異常及
び緊張度合いの正常を判定する覚醒度判定手段と、前記
車両の挙動に影響しない範囲内の警告用振動を前記操舵
操作手段に与える振動入力手段と、前記覚醒度判定手段
により覚醒度の異常が判定された際に前記自動操舵手段
の前記自動操舵アクチュエータを作動させると共に前記
振動入力手段によって警告用振動を所定時間前記操舵操
作手段に与え更に警告用振動を該操舵操作手段に与えた
後に前記覚醒度判定手段により緊張度合いが正常である
ことが判定された際に該自動操舵手段の該自動操舵アク
チュエータの作動を解除して該操舵操作手段による操舵
を可能にする制御装置とを備えたことを特徴とする覚醒
度低下警告装置。1. A steering operation means for steering a steered wheel of a vehicle by an operation of a driver, and a steering transmission system provided in a steering transmission system between the steering operation means and the steered wheels irrespective of the operation of the steering operation means. Automatic steering means having an automatic steering actuator for steering a steered wheel; arousal level determination means for determining an index of the arousal level and an index of the tension level of a running driver to determine the abnormality of the arousal level and the normality of the tension level; A vibration input unit for giving a warning vibration within a range that does not affect the behavior of the vehicle to the steering operation unit; and the automatic steering of the automatic steering unit when the arousal level determination unit determines that the arousal level is abnormal. Activating an actuator and applying a warning vibration to the steering operation means by the vibration input means for a predetermined time and further providing a warning vibration to the steering operation means, and then determining the arousal level A control device for releasing the operation of the automatic steering actuator of the automatic steering means when the degree of tension is determined to be normal by the means to enable steering by the steering operation means. Alertness lowering warning device.
操舵させる操舵操作手段と、 該操舵操作手段と前記操舵車輪との間の操舵伝達系に設
けられ該操舵操作手段の操作に係わらず該操舵車輪を操
舵させる自動操舵アクチュエータを有する自動操舵手段
と、 走行中の運転者の覚醒度の指標及び緊張度合いの指標を
求めて覚醒度の異常及び緊張度合いの正常を判定する覚
醒度判定手段と、 前記車両の挙動に影響しない範囲内の警告用振動を前記
操舵操作手段に与える振動入力手段と、 音によって運転者に種々の警報を与える警報手段と、 前記覚醒度判定手段により覚醒度の異常が判定された際
に前記自動操舵手段の前記自動操舵アクチュエータを作
動させると共に前記振動入力手段によって警告用振動を
所定時間前記操舵操作手段に与えると同時に前記警報手
段により覚醒度の異常を前記運転者に知らせ、更に、警
告用振動を該操舵操作手段に与えた後に前記覚醒度判定
手段により緊張度合いが正常であることが判定された際
に該自動操舵手段の該自動操舵アクチュエータの作動を
解除して該操舵操作手段による操舵を可能にすると同時
に該自動操舵アクチュエータの作動を解除した旨を前記
警報手段により前記運転者に知らせる制御装置と、 を備えたことを特徴とする覚醒度低下警告装置。2. A steering operation means for steering a steered wheel of a vehicle by a driver's operation, and provided in a steering transmission system between the steering operation means and the steered wheels, irrespective of the operation of the steering operation means. Automatic steering means having an automatic steering actuator for steering a steered wheel; arousal level determining means for determining an index of the arousal level and an index of the tension level of a running driver to determine abnormality of the arousal level and normality of the tension level; Vibration input means for giving a warning vibration within a range that does not affect the behavior of the vehicle to the steering operation means; warning means for giving various warnings to the driver by means of sound; When it is determined that the automatic steering actuator of the automatic steering means is operated and a warning vibration is given to the steering operation means by the vibration input means for a predetermined time. When the alert means informs the driver of an abnormality in the degree of arousal, the warning degree determination means determines that the degree of tension is normal after giving the warning vibration to the steering operation means. A control device that releases the operation of the automatic steering actuator of the automatic steering means to enable the steering by the steering operation means and notifies the driver of the release of the operation of the automatic steering actuator by the alarm means at the same time, An alertness lowering warning device provided with:
て前記自動操舵手段の前記自動操舵アクチュエータを作
動させた際にハザードランプを点灯させる機能と、所定
時間を越えて覚醒度の異常が判定され続けた際もしくは
所定時間を越えて緊張度合いの正常が判定されなかった
際に前記車両を強制的に停止させる機能とを備えている
ことを特徴とする請求項２に記載の覚醒度低下警告装
置。3. The control device has a function of turning on a hazard lamp when the automatic steering actuator of the automatic steering means is operated due to an abnormality in the arousal level, and determines whether the abnormality in the arousal level exceeds a predetermined time. 3. The alertness lowering alert according to claim 2, further comprising a function of forcibly stopping the vehicle when the operation is continued or when the degree of tension is not determined to be normal after a predetermined time. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP07073057A JP3094834B2 (en) | 1995-03-30 | 1995-03-30 | Low alertness device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP07073057A JP3094834B2 (en) | 1995-03-30 | 1995-03-30 | Low alertness device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08268287A JPH08268287A (en) | 1996-10-15 |
| JP3094834B2 true JP3094834B2 (en) | 2000-10-03 |
Family
ID=13507358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP07073057A Expired - Fee Related JP3094834B2 (en) | 1995-03-30 | 1995-03-30 | Low alertness device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3094834B2 (en) |
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| CN108140320A (en) * | 2015-10-30 | 2018-06-08 | 三菱电机株式会社 | Notify control device and notification control method |
| CN108140320B (en) * | 2015-10-30 | 2021-11-05 | 三菱电机株式会社 | Notification control device and notification control method |
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