JP4581356B2 - Driver's mind and body state determination device and driver's driving support device - Google Patents

Description

  The present invention relates to a driver's mind-body state determination device and a driver's driving support device, and in particular, determines a mind-body state by combining a plurality of mind-body information (indexes), adapted to an individual, and determining a determination threshold according to the driving environment. The present invention relates to a driver's mind-body state determination device that can accurately determine the driver's mind-body state, and a driver's driving support device that applies the driver's mind-body state determination device to appropriately perform driving support. .

  When driving a car, the driver is usually driving while maintaining a moderate level of tension. However, the driver's excessive tension, such as immediately after the start of driving or during high-speed driving, or the state of reduced tension when a monotonous driving environment continues Changes in mental and physical conditions affect driving behavior.

  When the driving ability is low and driving assistance is necessary for safe driving of the car, the response of brakes etc. is delayed, pedestrians are overlooked, misoperation, misjudgment, and panic, etc. It is necessary to provide appropriate support according to the situation. One cause of the decrease in driving ability is a change in mental and physical states such as an excessive tension state, a tension decrease state, and a fatigue state. If this mental and physical state is different, the driving ability declines differently, so driving assistance corresponding to each driving ability decline situation is required.

  For this reason, conventionally, when the vehicle is traveling on a predetermined type of road (highway) at a substantially constant speed based on the steering angle entropy Hp value, which is an index of the smoothness of the steering operation (steering angle), the driving operation is performed. 2. Description of the Related Art A vehicle driving operation monitoring device that detects the degree of an unstable state is known (Patent Document 1).

There is also known an apparatus that detects a driver's gaze behavior, determines a driver's state such as fatigue or reduced concentration based on the gaze behavior, and performs information display control or vehicle control based on the determination result. (Patent Document 2).
JP-A-11-227491 JP 2002-25000 A

  However, for example, despite the fact that the driving ability declines differently between a dozing state and a fatigued state, the conventional technique attempts to detect a driving ability lowered state such as a dozing state or a fatigued state by measuring one index. Therefore, it is difficult to provide appropriate driving assistance.

  Moreover, in the prior art, in an excessive tension state that is not detected, it is considered that the visual field becomes narrow and the probability of missing a pedestrian or the like increases.

  In addition, there is an individual difference in the mind and body information such as the driver's line-of-sight behavior, and it is considered that the level (average value) and fluctuation (standard deviation) differ depending on the driver. However, the conventional technique has a problem in that the mental and physical state cannot be accurately determined because determination corresponding to individual differences is not performed.

  In addition, mental and physical information such as smooth steering operation and driver's line-of-sight behavior varies depending on driving conditions such as differences between general roads and highways. In Patent Document 1, detection is performed under a limited condition that the vehicle is traveling on a predetermined type of road (highway) at a substantially constant speed, and in order to accurately determine the state of mind and body in various driving environments. It is necessary to measure psychosomatic information that can be measured in various driving environments and to set determination criteria according to the driving environment.

  In the present invention, a combination of a plurality of indicators is used to distinguish and determine mental and physical states such as a reduced tension state (blurred state before going to sleep), a fatigue state, and an excessive tension state as separate mental and physical states. It is an object of the present invention to provide a driver's mind and body state determination device that can perform and a driver's driving support device that can perform appropriate driving support according to the state of reduced driving ability in each mind and body state.

To achieve the above object, the driver's mind / body state determination apparatus of the present invention provides first mind / body information related to the amount of head swing of the driver that reflects the driver's sense of tension, and mental activity of the driver. The mind-body information detecting means for detecting the second mind-body information other than the first mind-body information reflecting the size of the driver, the driving environment information detecting means for detecting the driving environment information, and the mind-body state determination are adapted to the individual driver. A personal adaptation means for determining personal information for the user, a driving environment information detected by the driving environment information detection means, and a personal information determined by the personal adaptation means . first determination threshold value, the first first determination threshold value greater than the second determination threshold for psychosomatic information, the third determination threshold value relating to the second psychosomatic information, and the third determination threshold value relating to the second psychosomatic information A determination threshold value determining means for determining a large fourth determination threshold value Ri, first psychosomatic information detected by the psychosomatic information detecting means, be less than the second threshold value, and is detected by the psychosomatic information detecting means If the second psychosomatic information is greater than or equal to the third threshold, it is determined that the tension is reduced , and the detected first psychosomatic information is less than the first threshold, and the detection If the second psychosomatic information is less than the third threshold, it is determined to be in a relaxed state , and the detected first psychosomatic information is greater than or equal to the first threshold and less than the second threshold. When the detected second mind-body information is less than the third threshold value, it is determined that the tension is optimal , and the detected first mind-body information is not less than the second threshold value. And the detected second mind-body information is the fourth If it is less than a value, determines that the excessive tension, a first psychosomatic information said detected is, a in the second threshold value or more, and, second psychosomatic information said detected is, the When it is equal to or greater than the fourth threshold value , it includes a psychosomatic state determination unit that determines that the patient is in a fatigued state.

The mind-body information detecting means is configured to obtain the first mind-body information relating to the amount of head swing of the driver, which is a plurality of mind-body information different from each other, and the magnitude of the mental activity of the driver. Second mind / body information other than the reflected first mind / body information is detected.

  The first mind-body information includes acceleration in the vertical direction of the head, acceleration in the vertical direction of the head of the driver based on the acceleration in the vertical direction of the reference part in the frequency band determined according to the driver, The head vibration transmissibility represented by the ratio of the vertical acceleration of the driver's head to the vertical acceleration of the reference region in the frequency band determined accordingly, the fluctuation of the head image taken by the camera, or cervical myoelectricity Head acceleration obtained from fluctuations in the figure can be used.

  As the second mind-body information, mental activity represented by any one of information related to the driving operation amount of the driver, heart rate, skin electrical activity, saliva component concentration, number of blinks, number of eye movements, and amount of speech Information representing the size of can be used. Further, the information related to the driving operation amount of the driver includes a steering angular velocity in a frequency band different from the predetermined frequency band based on a steering angular velocity in a predetermined frequency band, and a frequency band different from the predetermined frequency band for the steering angular velocity in the predetermined frequency band. A steering angular velocity ratio represented by a ratio of steering angular velocities, a steering angle, an operation amount of an accelerator pedal, an operation amount of a brake pedal, or the like can be used.

  As the driving environment information detected by the driving environment information detecting means of the present invention, information on the vehicle state or the external environment can be used. Specifically, the driving environment information includes road information obtained from car navigation (road type information indicating road type, traffic information indicating road traffic, etc.), driving time, vehicle speed, vehicle acceleration, vehicle angle. It is possible to use at least one information of acceleration, an inter-vehicle distance from the front vehicle, the front image information of the own vehicle, the weather, and the time.

The psychosomatic state determination means includes a determination threshold for the first psychosomatic information determined based on the driving environment information detected by the driving environment information detection means and the personal information determined by the personal adaptation means, and the detected first psychosomatic information. And the determination threshold for the second mind-body information determined based on the driving environment information and the personal information is compared with the detected second mind-body information, and the driver's mind-body state is reduced in tension, relaxed It is determined whether an optimal tension state, an excessive tension state, or a fatigue state . Since the determination threshold value is determined based on the driving environment information and the personal information, the determination threshold value suitable for the driving environment and suitable for the individual can be determined to accurately determine the mental and physical state of the driver.
The determination threshold value determination means relates to a first determination threshold value related to the first mind-body information, a second determination threshold value greater than the first determination threshold value related to the first mind-body information, a third determination threshold value related to the second mind-body information, and the second mind-body information. A fourth determination threshold value that is greater than the third determination threshold value is determined, and the psychosomatic state determination unit is configured such that the detected first psychosomatic information is less than the second threshold value and the detected second psychosomatic information is: When it is equal to or greater than the third threshold, it is determined that the tension is reduced, and the detected first mind-body information is less than the first threshold, and the detected second mind-body information is the third threshold. If it is less than the threshold value, it is determined to be in a relaxed state, the detected first mind-body information is not less than the first threshold value and less than the second threshold value, and the detected second mind-body information is the third threshold value. If it is less than the If the first mind-body information is greater than or equal to the second threshold value and the detected second mind-body information is less than the fourth threshold value, it is determined that there is an excessive tension state, and the detected second mind-body information is detected. When one mind-and-body information is 2nd threshold value or more and the detected 2nd mind-body information is 4th threshold value or more, it determines with it being a fatigue state.

  Further, a driving support apparatus for a driver according to the present invention is a driving support means for executing a driving support process for a driver based on the driver's mind / body state determination apparatus and the mind / body state of the driver determined by the mind / body state determination means. Since the driving assistance is performed based on the mind and body state of the driver determined accurately, the optimum driving assistance can be executed.

  As described above, the present invention detects a plurality of mind-body information of the first mind-body information and the second mind-body information reflecting the magnitude of the tension of the driver greatly related to the driving ability, and from the combination thereof The mind and body information is judged. Since the mind-body state determination threshold is determined based on personal information such as the level (average value) and fluctuation (standard deviation) of the mind-body information data of the driver individual, for example, the mind-body state suitable for the driver individual can be determined.

  In addition, by determining the psychosomatic state determination threshold according to the driving environment, it is possible to determine the psychosomatic state according to the driving environment. By performing driving support control in accordance with a predetermined driving ability reduction pattern corresponding to the determined mental and physical state, it is possible to implement optimal driving assistance in accordance with the driving ability reduction situation.

  Since it is difficult to measure driving ability decline such as reaction delay and missed increase during actual driving, the driving ability decline pattern corresponding to each mental and physical condition is experimentally adjusted in advance.

  As described above, according to the mind and body state determination device for a driver of the present invention, the driver's mind and body state can be accurately determined according to the driving environment by adapting to the driver individual. In addition, according to the driver's driving assistance device, the driver's mental and physical state is adapted to the driver's individual and is determined accurately according to the driving environment, so that the optimum driving assistance according to the driving ability deterioration pattern at that time is performed. can do.

  On the other hand, when an appropriate tension is applied according to the driving environment, the troublesomeness caused by unnecessary assistance can be reduced by delaying the presentation of the alarm.

  As described above, according to the psychosomatic state determination device for a driver of the present invention, a plurality of psychosomatic information is combined, and the determination threshold is set according to the driving environment and adapted to the individual, so that the psychosomatic state is determined. The effect that the state of mind and body can be accurately determined is obtained.

  In addition, according to the driver assistance device of the present invention and the driver's mind and body state determination device described above, the effect that driving assistance can be performed appropriately is obtained.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the driver's mind-body state determination apparatus of the present embodiment includes a camera 10 that captures an image of the head of the driver and outputs an image signal of the head. The camera 10 is connected to an acceleration detector 12 that detects a vertical acceleration of the head of the driver's head swing amount based on an image signal of the driver's head and outputs a time-series signal representing the vertical acceleration. Has been. The acceleration detector 12 is a control circuit 16 composed of a microcomputer via a band-pass filter 14 that passes only a time-series signal representing vertical acceleration αd (t) in a frequency band set in advance according to the physique of the driver. It is connected to the. This frequency band can be a frequency band slightly higher than the resonance frequency.

  Further, an acceleration sensor 18 that detects the acceleration in the vertical direction of the reference portion and outputs a time-series signal representing the acceleration is attached to the bottom portion of the seat as the reference portion. The acceleration sensor 18 is connected to the control circuit 16 via a bandpass filter 20 that passes only a time-series signal representing acceleration αs (t) in the same frequency band as the bandpass filter 14.

A steering angular velocity sensor 22 that detects a steering angular velocity and outputs a time series signal of the steering angular velocity is attached to the steering shaft. The steering angular velocity sensor 22 passes only a time-series signal of the reference steering angular velocity θ ₀ (t) in the reference frequency band f _{0 and} the steering angular velocity θ (t) in a predetermined frequency band f. It is connected to the control circuit 16 through a band pass filter 26 that outputs a series signal.

The control circuit 16 accumulates the head vibration transmission rate X (t) and the low-frequency steering angular velocity ratio Y (t), which are mind and body information data calculated as follows, and data on the level and fluctuation of the driver's individual. Is connected as a personal information, and a database 28 is connected to update the stored personal information data to the latest data. The average value (X _mean , Y _mean ) of the head vibration transmissibility X (t) and the low frequency steering angular velocity ratio Y (t) is used as the individual driver level, and the fluctuation is the head vibration transmissibility X Standard deviations (X _SD , Y _SD ) of (t) and the low frequency steering angular velocity ratio Y (t) are used.

  The control circuit 16 is connected so that road type information, traffic volume information, and driving time information from the car navigation system 30 are input, a speaker 32 for issuing voice information and alarm, a peppermint scent and citrus. A driving support device composed of a scent generator 34 that can be generated by switching the scent of the system is connected.

  The memory of the control circuit 16 stores a psychosomatic state determination table shown in FIG. 5 and a psychosomatic state determination / driving support routine program that performs driving support by determining the psychosomatic state shown in FIG.

As shown in FIG. 5, the psychosomatic state of the psychosomatic state determination table includes the determination threshold values X ₁ and X ₂ (where X ₁ <X ₂ ) of the head vibration transmission rate X (t) and the low frequency steering angular velocity ratio. It is determined as follows according to the determination threshold values Y ₁ and Y ₂ (where Y ₁ <Y ₂ ) of Y (t). Since the low frequency steering angular velocity ratio Y (t) is information indicating the magnitude of the driver's mental activity, the greater the value, the smaller the activity (the smaller the value, the greater the activity), and the head vibration. Since the transmission rate X (t) is information indicating the magnitude of the driver's tension, the greater the value, the greater the tension (the smaller the value, the smaller the tension).

When Y (t) ≧ Y ₁ and X (t) <X ₂ , tension is reduced (region 1)
When Y (t) <Y ₁ and X (t) <X ₁ , the relaxed state (region 2)
Optimal tension state (region 3) when Y (t) <Y ₁ and X ₁ ≦ X (t) <X ₂
Excessive tension when Y (t) <Y ₂ and X (t) ≧ X ₂ (region 4)
Fatigue state (region 5) when Y (t) ≧ Y ₂ and X (t) ≧ X ₂
Further, when the driver's driving support device of the present embodiment is represented by a functional block, as shown in FIG. 2, the head vibration transmissibility relating to the driver's head swing amount reflecting the magnitude of the driver's tension, And psychosomatic information detecting means 40 (corresponding to the camera 10, the acceleration detector 12, the filters 14, 20, 24, 26, the acceleration sensor 18, and the steering angular velocity sensor 22) for detecting a low frequency steering angular velocity ratio, an average value (M _X , M _Y ) and standard deviation (SD _X , SD _Y ), mind and body information database 42 (corresponding to database 28), driving environment information detecting means 46 for detecting driving environment information (corresponding to car navigation 30) And a control circuit 16. In addition, when the control circuit 16 is represented by a functional block, a determination threshold value determination unit 44 that determines a determination threshold value based on the personal information including the average value and the standard deviation and the driving environment information, and compares the determination threshold value with the psychosomatic information data. It is expressed by a mental and physical state determination unit 48 that determines the mental and physical state of the driver, a driving support control unit 50 that performs driving support control based on the determination result, and a driving support unit 52 based on the output of the driving support control unit 50.

  Next, the psychosomatic state determination / driving support routine will be described with reference to FIG.

In step 100, the vertical acceleration αs (t) of the reference portion, the vertical acceleration αd (t) of the driver's head, the reference steering angular velocity θ ₀ (t), and the steering angular velocity θ (t) are captured. In 102, the head vibration transmissibility X (t) represented by the ratio of the vertical acceleration αd (t) of the driver's head to the vertical acceleration αs (t) of the reference portion is calculated according to the following equation. .

X (t) = αd (t) / αs (t) (1)
In step 102, a low frequency steering angular velocity ratio Y (t) represented by a ratio of the steering angular velocity θ (t) to the reference steering angular velocity θ ₀ (t) is calculated according to the following equation.

Y (t) = θ (t) / θ ₀ (t) (2)
Here, the reason why the low frequency steering angular velocity ratio Y (t) is used is to correct this variation because the steering angular velocity varies depending on the road shape and the like.

  FIG. 4 shows an example of the head vibration transmission rate X (t) and the low frequency steering angular velocity ratio Y (t).

In the next step 104, the average values (X _mean , Y _mean ) and standard deviations (X _SD , Y _SD ) of the driver individual that are calculated and stored in advance from the mind-body information database 28 are read out and calculated as described above. The average values (X _mean , Y _mean ) and standard deviations (X _SD , Y _SD ) are calculated using the head-body vibration transmission rate X (t) and the low-frequency steering angular velocity ratio Y (t), which are the psychosomatic information data. Update and store in database 28.

  6 to 8 show the correlation between the head vibration transmission rate X (t) data and the reaction time (relative value). FIG. 6 shows the correlation of five subjects when traveling at 80 km / h, FIG. 7 shows the correlation of three subjects when traveling at 80 km / h, and FIG. 8 shows the correlation between FIGS. The correlation when combining is shown. From FIG. 8, the head vibration transmission rate X (t) data (an index that increases in accordance with the tension state) is an intermediate value that is considered to indicate an appropriate tension state (in FIG. 8, around 1.3). It can be understood that there is a correlation that the reaction time is accelerated by the value of

  FIG. 9 is a diagram showing the correlation between the data of the low frequency steering angular velocity ratio Y (t) and the reaction time (relative value). As can be seen from the figure, the low frequency steering angular velocity ratio Y (t) data (indicating the magnitude of the driver's mental activity and increasing in a blurred state) and the driver's reaction time are positive Correlation is shown.

In the next step 108, road type information, traffic volume information, and driving time information are taken from the car navigation 30 as driving environment information, and the driving environment information taken in step 110 and the average value of the mind-body information from the mind-body information database, standard Determination thresholds X ₁ , X ₂ , Y ₁ , Y ₂ are determined based on the deviation.

The determination threshold values X ₁ , X ₂ , Y ₁ , Y ₂ are determined as shown in the following Table 1 based on the driving environment information. In addition, it can be judged from road type information of environmental information whether it is driving on urban roads, driving on automobile roads, driving on mountain roads, etc. Whether traffic volume is high or low Alternatively, it can be determined whether the vehicle is congested, and it can be determined from the driving time of the environmental information whether the vehicle has just started driving.

Referring to Table 1, the mind and body state determination threshold values are based on driving on urban roads (driving time of 10 min or longer) (for example, X ₁ = 1.1, X ₂ = 1.3, Y ₁ = 1.5, Y ₂ = 1.5) and is defined as follows.
(1) Urban roads (driving time 0 to 10 min), that is, immediately after the start of driving, when the head vibration transmission rate X (t) and the low frequency steering angular velocity ratio Y (t) are both high, an excessive tension state Since the possibility of (region 4 in FIG. 4) is high, the determination threshold Y ₂ is increased (for example, 2.0).
(2) Since a relatively high tension level is necessary on a motorway (high traffic volume), X ₁ and X ₂ are increased (for example, X ₁ = 1.2, X ₂ = 1.4).
(3) Since a relatively high tension level is required on a mountain road, X ₁ and X ₂ are increased (for example, X ₁ = 1.2, X ₂ = 1.4). Further, when the data of the head vibration transmissibility X (t) and low frequency steering angular velocity ratio Y (t) are both high, the determination there is a high possibility of excessive tension (region 4 in Figure 4) the threshold Y ₂ (For example, Y ₂ = 2.0) is increased.

  Note that the value is the same as that when driving on an urban road (driving time of 10 min or longer) on an automobile-only road (small traffic, traffic jam).

Next, correction of the determination threshold based on the data of the driver's personal information (average value and standard deviation) will be described. Average value M _X0, M _Y0 psychosomatic information when determining the decision thresholds above, when the standard deviation and SD _X0, SD _Y0, average M _X, M _Y, the standard deviation SD _X, the SD _Y driver Then, the psychosomatic state determination threshold values X ₁ , X ₂ , Y ₁ , Y ₂ are corrected as follows.

X ₁ ^* = M _X + SD _X / SD _X0 (X ₁ −M _X0 ) (3)
X ₂ ^* = M _X + SD _X / SD _X0 (X ₂ −M _X0 ) (4)
^{_{Y 1 * = M Y + SD}} Y / SD Y0 (Y 1 - M Y0) ··· (5)
^{_{Y 2 * = M Y + SD}} Y / SD Y0 (Y 2 - M Y0) ··· (6)
The expression (3) will be described. The psychosomatic state determination value X ₁ is expressed as follows by the average value M _X0 and the standard deviation.

X ₁ = M _X0 + aSD _X0 (7)
However, a is a constant.

Average value M _X, the determination threshold value X ₁ ^* is the driver of the standard deviation SD _X, the mean value M _X, similarly represented as follows by the standard deviation SD _X.

X ₁ ^* = M _X + aSD _X (8)
Here, since a is common to X ₁ and X ₁ ^* , a = (X ₁ −M _X0 ) / SD _X0 is obtained from the equation (7), and this is substituted into the equation (8) (3 ) Formula is obtained.

  Similarly, the equations (4) to (6) are obtained from the following equations.

X ₂ = M _X0 + bSD _X0 , X ₂ ^* = M _X + bSD _X (b is a constant)
Y ₁ = M _Y0 + cSD _Y0 , Y ₁ ^* = M _Y + cSD _Y (c is a constant)
Y ₂ = M _Y0 + dSD _Y0 , Y ₂ ^* = M _Y + dSD _Y (d is a constant)
In the next step 112, the head vibration transmissibility X (t) and the low frequency steering angular velocity ratio Y (t) are determined according to the driving environment information and personal information using the mind and body state determination table of FIG. The psychological state of the driver is determined by comparing with the determined determination threshold values X ₁ , X ₂ , Y ₁ , Y ₂ .

  Then, in the next step 114, driving support control having the contents shown in Table 2 below is executed.

  When Table 2 is described, when it is determined that the tension is reduced, the reaction delay and the oversight of pedestrians and the like increase, so an alarm is issued at a timing earlier than usual from the speaker, and a normal road is provided to the car navigation system 30 or the like. Guidance information is presented, and the scent of peppermint is presented for refreshing from the scent generator 34. When it is determined that the patient is in a relaxed state, an alarm is issued at a normal timing and a prior notification is given. When the optimal tension state is determined, the reaction speed is fast (the ability is improved), so an alarm is issued at a later timing than usual and normal road guidance is performed. When it is determined that the tension is excessive, oversight increases, so an alarm is issued at a normal timing, surrounding danger information is presented, and a citrus scent is presented for relaxation. When it is determined that the state is fatigued, reaction delay and misoperation increase, so an alarm is issued at an earlier timing than usual, information is given to encourage a break, and a scent of peppermint is presented for refreshment.

  In the above description, the example using the head vibration transmissibility as the first mind-body information has been described. However, the acceleration in the vertical direction of the head and the acceleration in the vertical direction of the reference part in the frequency band determined according to the driver are described. You may make it use the head acceleration obtained from the acceleration of the up-down direction of the head of the driver | operator made into the reference | standard, the fluctuation | variation of the head image image | photographed with the camera, or the fluctuation | variation of a cervical electromyogram.

  In the above description, an example in which the low frequency steering angular velocity ratio is used as the second mind-body information has been described, but any one of heart rate, skin electrical activity, saliva component concentration, number of blinks, number of eye movements, and amount of speech, Information related to the driving operation amount of other drivers such as steering angular velocity, steering steering angle, accelerator pedal operation amount, or brake pedal operation amount in a frequency band different from the predetermined frequency band with reference to the steering angular velocity in the predetermined frequency band. You may make it use.

  Furthermore, the road type information indicating the road type, the traffic information indicating the traffic volume of the road, and the driving time information were used as the driving environment information, but the vehicle speed, the vehicle acceleration, the vehicle angular acceleration, the inter-vehicle distance from the preceding vehicle, You may make it use at least 1 information of the front image information of the own vehicle, the weather, and time, or combining these.

In the above description, an example in which the average value and the standard deviation of the psychosomatic information stored in the psychosomatic information database is used as the personal information for adapting the psychosomatic state determination to the driver individual has been described. In place of the mind-body information database 42, support level selection means 54 for selecting a support level as personal information may be provided to allow the driver to select a support level. In this case, the support level selection means corresponds to the personal adaptation means, and the driver selects the frequency of outputting a warning or support as personal information from the following three stages, for example.
(1) Notification mode: relatively high warning and support (2) Normal mode: normal setting (3) Silent mode: relatively low warning and support Determined when the normal mode is selected by the support level selection means 54 The threshold value determination means 44 sets the determination threshold values X ₁ , X ₂ , Y ₁ , Y ₂ of the values described in the above embodiment. When the notification mode is selected, the determination threshold value determination means 44 shifts the determination threshold values X ₁ and X ₂ to the small tension side, shifts the determination threshold values Y ₁ and Y ₂ to the high activity side, and the silent mode is set. When selected, the determination threshold value determination means 44 shifts the determination threshold values X ₁ and X ₂ to the high tension side and shifts the determination threshold values Y ₁ and Y ₂ to the low activity side.

It is the schematic which shows the driving assistance apparatus of the driver to which the mind and body state determination apparatus of the driver of embodiment of this invention is applied. It is the block diagram which showed the driving assistance device of the driver of FIG. 1 by the functional block. FIG. 2 is a flowchart of a routine for performing driving support by determining a mental and physical state of a driver executed by the control circuit of FIG. 1. It is a diagram which shows the change of head vibration transmissibility X (t) and low frequency steering angular velocity ratio Y (t). It is a diagram which shows the mind-body state determination table for determining a mind-body state. It is a diagram which shows the correlation of the data of head vibration transmissibility X (t), reaction time, and five test subjects. It is a diagram which shows the correlation of the data of head vibration transmissibility X (t), reaction time, and three test subjects. It is a diagram which shows the correlation of the data of head vibration transmission factor X (t), reaction time, and eight test subjects. It is a diagram which shows the correlation with the data of low frequency steering angular velocity ratio Y (t), and reaction time. It is a block diagram which shows the modification of this invention.

Explanation of symbols

10 Camera 16 Control circuit 18 Acceleration sensor

Claims (6)

First mind-body information relating to the amount of head swing of the driver reflecting the driver's sense of tension, and second mind-body information other than the first mind-body information reflecting the magnitude of the driver's mental activity. Psychosomatic information detecting means for detecting
Driving environment information detecting means for detecting driving environment information;
Personal adaptation means for determining personal information for adapting the psychosomatic state determination to the individual driver,
Based on the driving environment information detected by the driving environment information detecting means and the personal information determined by the personal adapting means, a first determination threshold relating to the first mind-body information and a first relating to the first mind-body information. A determination threshold value determining means for determining a second determination threshold value greater than a determination threshold value, a third determination threshold value related to the second mind-body information , and a fourth determination threshold value greater than the third determination threshold value related to the second mind-body information ;
The first mind-body information detected by the mind-body information detection means is less than the second threshold value, and the second mind-body information detected by the mind-body information detection means is not less than the third threshold value. In this case, it is determined that the tension is reduced , and the detected first mind-body information is less than the first threshold value, and the detected second mind-body information is less than the third threshold value. If there is, it is determined to be in a relaxed state , the detected first mind-body information is not less than the first threshold and less than the second threshold, and the detected second mind-body information is the When it is less than the third threshold, it is determined that the state is the optimal tension state , the detected first mind-body information is not less than the second threshold, and the detected second mind-body information is is less than the fourth threshold value, determines that the excessive tension, before First psychosomatic information detected is, a in the second threshold value or more, and, second psychosomatic information said detected is when the is fourth threshold value or more, psychosomatic state determines that fatigue A determination means;
A device for determining a mind and body condition of a driver. The personal adaptation means determines personal information for adapting to a driver individual using an average value and a standard deviation of each of the first mind-body information and the second mind-body information detected by the mind-body information detection means. Item 3. A state-of-mind determination device for a driver according to Item 1 . The first mind-body information includes the acceleration in the vertical direction of the head and the acceleration in the vertical direction of the head of the driver based on the acceleration in the vertical direction of the reference portion in the frequency band determined according to the driver. Te of claim 1 or 2 wherein wherein the driver is either vertical head vibration transmission rate is expressed by the ratio of the acceleration of the head of the driver for vertical acceleration of the reference site in a frequency band defined Psychosomatic state determination device. The second mind-body information is information on a driver's driving operation amount, heart rate, skin electrical activity, saliva component concentration, number of blinks, number of eye movements, and amount of utterance. The driver's mind-body state determination apparatus according to any one of claims 1 to 3 , which is information representing a magnitude. 5. The driver's mind-body state determination apparatus according to claim 4, wherein the information related to the driving operation amount of the driver is a steering angular velocity ratio represented by a ratio of a steering angular velocity in a frequency band different from the predetermined frequency band to a steering angular velocity in the predetermined frequency band. . The psychosomatic state determination apparatus for a driver according to any one of claims 1 to 5 ,
Driving support means for executing driving support processing for the driver based on the mind and body state of the driver determined by the mind and body state determination means;
Driver assistance device including

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