JP6194668B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a driving support device and a driving support method.

  Conventionally, a technique for detecting a driving posture of a driver and adjusting a seat front-rear position, a seat height, an angle of a backrest portion, etc. so that the driving posture of the driver becomes an appropriate posture is known (for example, Patent Document 1).

Japanese Patent Laid-Open No. 9-48265

  However, even if the seat front / rear position, seat height, backrest angle, etc. are adjusted by the conventional technology, the driver can break the driving posture, so that the driving posture of the driver can be set to an appropriate posture. There were cases where it was not possible.

  An object of the present invention is to provide a driving support device capable of appropriately guiding a driving posture of a driver to an appropriate posture.

  The present invention detects the driver's driving posture based on the driver's body signal according to the driver's driving posture, and notifies the driver in a manner capable of comparing the driver's driving posture and the appropriate posture. The problem is solved by notifying the operation for correcting the driving posture of the driver to an appropriate posture.

  According to the present invention, the driver can be informed of the difference between the proper posture and the driver's driving posture by notifying the driver in a manner capable of comparing the driving posture and the appropriate posture of the driver. And it can guide | invade a driver | operator's driving posture to a proper posture appropriately by performing the alert | report for correcting a driver's driving posture into a proper posture.

It is a lineblock diagram showing the driving support device concerning this embodiment. It is a figure which shows the example of installation of the body pressure distribution sensor which concerns on this embodiment. It is a figure which shows the relationship between body size distribution and a driving posture. It is a figure for demonstrating the detection method of the driving posture of a driver | operator in the front-back direction. It is a figure for demonstrating the detection method of the driving posture of a driver | operator in the left-right direction. It is a figure for demonstrating the method of correct | amending the appropriate attitude | position range based on the tendency of the driving attitude | position which a driver | operator has. It is a figure for demonstrating the method of correct | amending an appropriate attitude | position range based on a vehicle characteristic. It is a figure for demonstrating the method of correct | amending an appropriate attitude | position range based on driving | running | working environment. It is a figure which shows the example of a screen which displays the relationship between the driving | running | working attitude | position of a driver | operator's front-back direction, and an appropriate attitude | position. It is a figure which shows the example of a screen which displays the relationship between a driving | running posture of a driver | operator in the left-right direction, and an appropriate posture. It is a figure which shows the example of a screen which displays an overload site | part. It is a figure which shows the example of a screen which displays the correction method of a driver | operator's driving posture. It is a figure which shows the example of a screen which displays the correction method of a driver | operator's driving posture. It is a figure which shows the example of a screen which displays that a driver | operator's driving posture was improved into the correction | amendment posture. It is a flowchart which shows the driving assistance process which concerns on this embodiment. It is a flowchart which shows the driving posture display process of step S110. It is a figure for demonstrating the other detection method of a driver | operator's driving posture.

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

  FIG. 1 is a configuration diagram illustrating a driving support apparatus according to the present embodiment. As illustrated in FIG. 1, the driving support device 100 according to the present embodiment includes a body pressure distribution sensor 110, a control device 120, a storage device 130, and a display 140.

  The body pressure distribution sensor 110 is provided in the seat of the driver's seat, and is configured by a plurality of piezoelectric elements provided on a seat surface that contacts the driver's buttocks and a seat back surface that contacts the driver's back. Yes. Each piezoelectric element constituting the body pressure distribution sensor 110 detects the driver's body pressure distribution by converting the pressure corresponding to the driver's driving posture into a voltage signal. The driver's body pressure distribution detected by the body pressure distribution sensor 110 is output to the control device 120.

  FIG. 2 is a diagram illustrating an installation example of the body pressure distribution sensor 110 according to the present embodiment. The body pressure distribution sensor 110 is formed in a sheet shape in which a plurality of piezoelectric elements are covered with a covering material, and is provided inside the seat surface of the seating portion 22 and the backrest portion 23 of the driver's seat 21. In the present embodiment, as shown in FIG. 2, eight voltage elements constituting the body pressure distribution sensor 110 are arranged on the seating portion 22 and the backrest portion 23. Thereby, the body pressure distribution sensor 110 can detect a voltage signal of each piezoelectric element corresponding to the driving posture of the driver as a body signal of the driver corresponding to the driving posture of the driver.

  The control device 120 includes a ROM (Read Only Memory) that stores a program for displaying the driving posture of the driver, a CPU (Central Processing Unit) that executes the program stored in the ROM, and an accessible storage device RAM (Random Access Memory) functioning as As an operation circuit, instead of or in addition to a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. Can be used.

  The control device 120 executes a program stored in the ROM by the CPU, thereby detecting a driving environment detection function for detecting the driving environment of the host vehicle, a driving attitude detection function for detecting the driving attitude of the driver, A correction function for correcting an appropriate posture range for determining the driving posture and a driving posture display function for displaying the driving posture and the appropriate posture of the driver are realized. Below, each function with which the control apparatus 120 is provided is demonstrated.

  The traveling environment detection function detects information related to the traveling environment of the host vehicle from an in-vehicle device (not shown) such as an in-vehicle camera or a navigation device that images the front of the host vehicle. Specifically, the driving environment detection function is used to detect the road load including the driving speed of the host vehicle, the width of the road on which the host vehicle travels, the driving visibility around the host vehicle, and the muscle load on the driver due to the driving operation. Is detected as the traveling environment of the host vehicle.

  For example, the traveling environment detection function acquires the type information of the road on which the host vehicle is traveling from the navigation device, and detects the traveling speed of the host vehicle as the traveling environment of the host vehicle based on the acquired type information of the road. To do. For example, in the present embodiment, the traveling environment detection function can detect the traveling speed of the host vehicle as “low speed” when the host vehicle is traveling on a “general road”. In addition, the traveling environment detection function detects the traveling speed of the host vehicle as “medium speed” when the host vehicle is traveling on the “highway”, and the host vehicle is traveling on the “highway”. In this case, the traveling speed of the host vehicle can be detected as “high speed”. The traveling environment detection function may be configured to acquire the traveling speed of the host vehicle from a vehicle speed sensor (not shown).

  The traveling environment detection function acquires the type information of the road on which the host vehicle is traveling from the navigation device, and determines the width of the road on which the host vehicle is traveling based on the acquired type information of the road. Detect as the driving environment. For example, in this embodiment, the traveling environment detection function detects that the width of the road is the narrowest when the host vehicle is traveling in a “parking lot”, and the host vehicle is “narrow road”. When driving, the width of the road can be detected as the next “narrow”. The driving environment detection function detects the width of the road as the "widest" when the host vehicle is traveling on a "main road", and the host vehicle is traveling on the "main road". In some cases, the width of the road can be detected as the next “wide”. The travel environment detection function may be configured to acquire the actual road width from the navigation device.

  Furthermore, the driving environment detection function obtains information on the driving visibility around the host vehicle by acquiring information on the day and night and weather information from the in-vehicle devices such as a navigation device, an illuminance sensor, and a raindrop sensor, for example. Detect as driving environment. For example, in the present embodiment, the driving environment detection function detects that the field of view around the host vehicle is “bad” at night and when it is raining, and displays the driving field of view around the vehicle at night and in sunny weather. Next, “bad” can be detected. In addition, the driving environment detection function detects the driving vision around the vehicle as “good” in the daytime and clear weather, and then detects the driving vision around the vehicle as “good” in the daytime and sunny weather. can do.

  In addition, the traveling environment detection function detects the muscle load applied to the driver by the driving operation as the traveling environment of the host vehicle. For example, in the present embodiment, the traveling environment detection function is configured to detect a driver's muscle load by a steering operation, a driver's muscle load by a pedal operation, and a muscle load on a driver's trunk by a driving operation. It can be detected as a running environment. The method for detecting the driver's muscle load is not particularly limited. For example, the load (muscle load) applied to the driver's muscle or tendon is calculated based on the driver's driving posture by inverse dynamics. The driving environment detection function can detect a muscle load corresponding to the driving posture of the driver based on the driving posture of the driver detected by the driving posture detection function described later, for example.

  The driving posture detection function of the control device 120 detects the driving posture of the driver based on the driver's body pressure distribution detected by the body pressure distribution sensor 110. Here, FIG. 3 is a diagram showing the relationship between the body pressure distribution and the driving posture. In this embodiment, as shown in FIG. 3, the driving posture detection function specifies the driving posture of the driver in the front-rear direction from among forward tilt, middle level, and rearward tilt, and the driving posture of the driver in the left-right direction. 3 is detected from among the nine types of driving postures shown in FIG. 3. Below, with reference to FIG. 4 and FIG. 5, the detection method of a driver | operator's driving posture is demonstrated. 4 is a diagram for explaining a method for detecting the driving posture of the driver in the front-rear direction, and FIG. 5 is a diagram for explaining a method for detecting the driving posture of the driver in the left-right direction. .

  Specifically, as shown in FIG. 4, the driving posture detection function first drives the driver in the front-rear direction based on the body pressure distribution of the driver's buttocks and the body pressure distribution of the driver's back. A determination value for determining the posture is calculated. The determination values shown in FIG. 4 are determination values for determining the driving posture of the driver in the front-rear direction. The higher the determination value, the more the driver's driving posture is determined to be a forward leaning posture. It is possible to determine that the driving posture of the driver is a backward leaning posture as the determination value is lower.

  For example, the position of the center of gravity of the driver's buttocks moves forward as the driver's driving posture becomes a backward tilting posture. Therefore, the driving posture detection function calculates the center of gravity position of the driver's buttocks based on the body pressure distribution of the driver's buttocks, and the more the driver's buttocks' center of gravity moves forward, the more the driver's buttocks move. The determination value corresponding to the driving posture in the front-rear direction is increased so that the driving posture is determined to be the backward leaning posture.

  Further, the position of the center of gravity of the back of the driver moves downward as the driving posture of the driver becomes a forward leaning posture. Therefore, the driving posture detection function calculates the position of the center of gravity of the back of the driver based on the body pressure distribution on the back of the driver, and the driver's driving posture increases as the position of the center of gravity of the back of the driver moves downward. The determination value corresponding to the driving posture in the front-rear direction is reduced so that is determined to be a forward leaning posture. Furthermore, the load on the back of the driver becomes smaller as the driving posture of the driver becomes a forward leaning posture. Therefore, the driving posture detection function decreases the determination value corresponding to the driving posture in the front-rear direction so that the driving posture of the driver is determined to be a forward leaning posture as the load on the back of the driver is smaller. The driving posture detection function may calculate a determination value corresponding to the driving posture in the front-rear direction using both the center of gravity position of the driver's back and the load on the driver's back, or the driver's back The determination value corresponding to the driving posture in the front-rear direction may be calculated using one of the center of gravity position and the load on the back of the driver.

  Then, as shown in FIG. 4, the driving posture detection function determines whether or not the determination value corresponding to the driving posture in the front-rear direction is within the appropriate posture range, and the determination value corresponding to the driving posture in the front-rear direction is appropriate. When it is in the posture range, the driving posture of the driver in the front-rear direction is detected as “middle”. The driving posture detection function detects the driver's longitudinal driving posture as “backward tilt” when the judgment value corresponding to the driving posture in the longitudinal direction is in the backward tilting posture range that is larger than the appropriate posture range. To do. Furthermore, the driving posture detection function detects the driver's longitudinal driving posture as “forward leaning” when the judgment value corresponding to the driving posture in the longitudinal direction is in the forward leaning posture range that is smaller than the appropriate posture range. To do.

  Note that the appropriate posture range is statistically determined by experiments, etc., so that when the evaluation value of the driver's driving posture is within the proper posture range, the driver is in a driving posture (appropriate posture) that is unlikely to cause back pain or fatigue. It is the set range. In the present embodiment, such a proper posture range is stored in the storage device 130. The appropriate posture range stored in the storage device 130 is a range that is statistically set based on the driving posture data of a plurality of drivers, and is unique to the driver according to the driver's preference and habit. There are cases where the vehicle does not conform to the tendency of the driving posture, the traveling environment of the host vehicle, the vehicle characteristics of the host vehicle, and the like. Therefore, in the present embodiment, the appropriate posture range is corrected based on the tendency of the driving posture unique to the driver, the traveling environment of the host vehicle, and the vehicle characteristics of the host vehicle by a correction function described later.

  Further, the driving posture detection function detects the driving posture of the driver in the left-right direction in the same manner as the method of detecting the driving posture in the front-rear direction of the driver. Specifically, as shown in FIG. 5, the driving posture detection function first drives the driver in the left-right direction based on the body pressure distribution on the driver's buttocks and the body pressure distribution on the driver's back. A determination value for determining the posture is calculated. The determination value shown in FIG. 5 is a determination value for determining the driving posture of the driver in the left-right direction. The higher the determination value, the more the driver's driving posture can be determined to be a left-tilting posture. As the determination value is lower, it can be determined that the driving posture of the driver is a right-tilting posture.

  For example, as the driver's driving posture is tilted to the left, the center of gravity position of the driver's buttocks and the center of gravity of the back portion move to the left. Therefore, the driving posture detection function calculates the position of the center of gravity of the driver's buttocks based on the body pressure distribution of the driver's buttocks and the center of gravity of the driver's back based on the body pressure distribution of the driver's back. Calculate the position. Then, the driving posture detection function is such that the driving posture of the driver is determined to be a left-tilting posture as the gravity center position of the driver's buttocks and the gravity center position of the driver's back portion move to the left. Increase the judgment value corresponding to the driving posture in the left-right direction.

  Further, as the driving posture of the driver becomes a right tilting posture, the gravity center position of the driver's buttocks and the gravity center position of the back portion move to the right. Therefore, the driving posture detection function is such that the driving posture of the driver is determined to be a right-tilting posture as the gravity center position of the driver's buttocks and the gravity center position of the driver's back portion are moved in the right direction. Decrease the judgment value corresponding to the driving posture in the left-right direction.

  Then, the driving posture detection function determines whether or not the determination value corresponding to the left and right driving posture is within the appropriate posture range, and the determination value corresponding to the left and right driving posture is appropriate as shown in FIG. If it is within the posture range, the driving posture of the driver in the left-right direction is detected as “middle”. In addition, the driving posture detection function detects the driving posture of the driver in the left-right direction as `` left leaning '' when the determination value corresponding to the driving posture in the left-right direction is in the left-tilting posture range that is larger than the appropriate posture range, When the determination value corresponding to the driving posture in the left-right direction is in the right tilting posture range smaller than the appropriate posture range, the driver's left-right driving posture is detected as “right tilt”.

  Then, the driving posture detection function has nine driving postures shown in FIG. 3 based on the detection result of the driving posture in the front-rear direction of the driver and the detection result of the driving posture in the left-right direction of the driver. The driving posture of the driver is detected by determining which driving posture corresponds to the driving posture. In other words, the driver's driving posture is appropriate when the driver's longitudinal driving posture is "medium" and the driver's left and right driving posture is also "medium". When it is detected that the driver is in the posture, and the driving posture in the front-rear direction of the driver is “forward tilt” and the driving posture in the left-right direction of the driver is “middle”, the driving posture of the driver is It is detected that the posture is not the proper posture but the forward leaning posture indicated by “2” in FIG. The same applies to other driving postures.

  Next, the correction function of the control device 120 will be described. The correction function corrects the appropriate posture range used when the driving posture detection function detects the driving posture of the driver. Specifically, the correction function corrects the appropriate posture range by the following three methods. In the following, a configuration for correcting the appropriate posture range in the front-rear direction is illustrated, but correction of the proper posture range in the left-right direction can be performed in the same manner.

  First, the correction function corrects the appropriate posture range based on the tendency of the driver's driving posture. Here, FIG. 6 is a diagram for explaining a method of correcting the appropriate posture range based on the tendency of the driver's driving posture. In this embodiment, the determination value for the driving posture in the front-rear direction of the driver is repeatedly detected along the time series by the driving posture detection function, and the time-series data of the detected determination values is shown in FIG. As shown in FIG. 5, the determination value history information is stored in the storage device 130.

  The correction function, for example, infers the tendency of the driving posture of the driver in the front-rear direction based on the history information of the determination value for the driving posture in the front-rear direction, and based on the estimated tendency of the driving posture of the driver Correct the appropriate posture range corresponding to. For example, as shown in FIG. 6B, the correction function calculates an average value s2 of the determination values in the front-rear direction based on the history information of the determination values in the front-rear direction, and the calculated average value s2 The proper posture range can be corrected by shifting the proper posture range so as to be the median value.

  Second, the correction function corrects the appropriate posture range based on the vehicle characteristics of the host vehicle. In the present embodiment, the correction function acquires the driver's eye level (eye point), the driver's waist height (hip point), and the inclination angle of the backrest 23 as the vehicle characteristics of the host vehicle. The correct posture range is corrected based on these vehicle characteristics. Below, with reference to FIG. 7, the correction method of the appropriate attitude | position range based on the vehicle characteristic of the own vehicle is demonstrated. In addition, FIG. 7 is a figure for demonstrating the correction method of the suitable attitude | position range based on the vehicle characteristic of the own vehicle.

  In this embodiment, as shown in FIG. 7 (A), profiles of evaluation values of general driving postures according to the eye points, hip points, and inclination angles of the backrest 23 are statistically calculated in advance. Stored in the storage device 130. For example, as shown in FIG. 7A, in the profile of the evaluation value according to the eye point, the driving posture of the driver tends to be a forward leaning posture as the vehicle has a lower eye point. The determination value of the posture is generally small, and as the vehicle has a higher eye point, the driving posture of the driver tends to be a backward leaning posture. Therefore, the determination value of the driving posture in the front-rear direction is generally large. In the profile according to the hip point, the lower the hip point, the more likely the driver's driving posture tends to be tilted backward. The higher the vehicle, the more likely the driver's driving posture tends to be a forward leaning posture, and thus the determination value of the driving posture in the front-rear direction is generally large. Furthermore, in the profile according to the inclination angle of the backrest portion 23, when the inclination angle of the backrest portion 23 is small, the driving posture of the driver tends to be a forward leaning posture. Is generally small, and when the inclination angle of the backrest 23 is large, the driving posture of the driver tends to be a backward leaning posture, and thus the determination value of the driving posture in the front-rear direction is generally large.

  In the present embodiment, for example, as shown in FIG. 7A, the correction function is based on the median value of the size of each vehicle characteristic (hip point height, eye point height, backrest inclination angle). The profile of the evaluation value corresponding to each vehicle characteristic is superimposed on the appropriate posture range before correction so that the evaluation value corresponding to each vehicle characteristic becomes the median value s3 of the appropriate posture range before correction. The correction function acquires the eye point of the host vehicle, the hip point of the host vehicle, and the current inclination angle of the backrest portion 23 stored in the ROM or RAM of the control device 120, and corresponds to the eye point of the host vehicle. A general driving posture determination value, a general driving posture determination value corresponding to the hip point of the host vehicle, and a general driving posture determination value corresponding to the current inclination angle of the backrest portion 23. Calculate each. The correction function is an appropriate value before correction among the determination value corresponding to the eye point of the own vehicle, the determination value corresponding to the hip point of the own vehicle, and the determination value corresponding to the current inclination angle of the backrest portion 23. The determination value farthest from the median value s3 of the attitude range is obtained as the maximum shift value s4, and the appropriate attitude range is shifted so that the median value s3 of the appropriate attitude range becomes the maximum shift value s4, thereby correcting the appropriate attitude range. I do.

  For example, in the example shown in FIG. 7A, when the eye point of the host vehicle, the hip point of the host vehicle, and the inclination angle of the current backrest 23 are each p1, the correction function is the eye point of the host vehicle. Among the determination value corresponding to the hip point of the host vehicle, and the determination value corresponding to the current tilt angle of the backrest 23, the most far from the median value s3 of the appropriate posture range before correction. A determination value s4 corresponding to the current inclination angle of the backrest 23 is calculated as the maximum shift value. Then, as shown in FIG. 7B, the correction function shifts the appropriate posture range in a direction with a smaller determination value (direction of the forward tilt posture) so that the maximum shift value s4 becomes the median value of the appropriate posture range. Let

  Thirdly, the correction function corrects the appropriate posture range based on the traveling environment of the host vehicle. In this embodiment, the travel environment detection function enables the vehicle speed, the road width of the road on which the vehicle is traveling, the road conditions including the driving view around the vehicle, and the muscle load on the driver due to the driving operation. Is detected as the traveling environment of the host vehicle, and the correction function corrects the appropriate posture range based on these traveling environments. The correction function repeatedly executes correction of the appropriate posture range based on the driving environment of the host vehicle, so that the proper posture range is suitable for the current driving environment of the host vehicle even when the driving environment of the host vehicle changes. Can be.

  In the following, referring to FIG. 8, a method for correcting the appropriate posture range based on the traveling speed of the own vehicle and the road width of the road on which the own vehicle is traveling in the traveling environment of the own vehicle will be described. To do. FIG. 8 is a diagram for explaining a method of correcting the appropriate posture range based on the traveling speed of the host vehicle and the width of the road on which the host vehicle is traveling.

  In this embodiment, as shown in FIG. 8A, a profile of a determination value of a general driving posture corresponding to the traveling speed of the vehicle and the road width is statistically calculated in advance and stored in the storage device 130. It is remembered. In the profile of the determination value according to the traveling speed of the vehicle, the determination value when the vehicle is traveling on the “general road” is calculated as the determination value when the traveling speed of the vehicle is low, The judgment value when the vehicle is traveling on the "highway" is calculated as the judgment value when the traveling speed of the vehicle is medium speed, and the judgment when the vehicle is traveling on the "highway" The value is calculated as a determination value when the traveling speed of the vehicle is high. Similarly, in the profile of the evaluation value according to the width of the road on which the vehicle is traveling, the determination value when the vehicle is traveling in the “parking lot” is the determination value when the road width is the “narrow” The determination value when the vehicle is traveling on a “narrow road” is calculated as the determination value when the road width is next “narrow”. Also, the judgment value when the vehicle is traveling on the “highway” is calculated as the judgment value when the road is the widest, and the judgment is made when the vehicle is traveling on the “opposite lane” The value is calculated as a judgment value when the road width is “next wide”.

  For example, as shown in FIG. 8 (A), in the profile of the evaluation value according to the traveling speed of the vehicle, the driving posture of the driver increases as the traveling speed of the vehicle is lower and the traveling speed of the vehicle is lower. Due to the tendency to lean forward, the judgment value of the driving posture in the front-rear direction is generally small, and the driving posture of the driver is higher when the vehicle is traveling on a highway and the vehicle is traveling at a higher speed. Since there is a tendency to become a backward leaning posture, the determination value of the driving posture in the front-rear direction is generally large. Further, as shown in FIG. 8A, in the profile of the evaluation value according to the road width of the road on which the vehicle travels, the driver's driving posture is the front when the road width is narrow such as a parking lot or a narrow road. Due to the tendency to lean, the judgment value of the driving posture in the front-rear direction is generally small, and when the road width is wide such as oncoming lanes and main roads, the driver's driving posture tends to lean backward Therefore, the determination value of the driving posture in the front-rear direction is generally large.

  In the present embodiment, for example, as shown in FIG. 8 (A), the correction function has an evaluation value corresponding to the travel speed of the vehicle in an appropriate posture range before correction in the median value of the travel speed of the vehicle. The profile of the evaluation value according to the traveling speed of the vehicle is superimposed on the appropriate posture range before correction so as to be the median value s5. Further, for example, as shown in FIG. 8A, the correction function is such that, in the median value of the road width on which the vehicle travels, the evaluation value corresponding to the road width on which the vehicle travels is an appropriate posture range before correction. The profile of the evaluation value according to the width of the road on which the vehicle travels is superimposed on the appropriate posture range before correction so as to be the median value s5. The correction function acquires the current traveling speed of the host vehicle and the width of the road on which the host vehicle is currently traveling from the traveling environment detection function, and determines the driving posture corresponding to the current traveling speed of the host vehicle. And a determination value of the driving posture corresponding to the width of the road on which the host vehicle is currently traveling. The correction function is based on the median value s5 of the correct posture range before correction among the determination value corresponding to the current traveling speed of the host vehicle and the determination value corresponding to the width of the road on which the host vehicle is currently traveling. The most distant determination value is obtained as the maximum shift value s6, and the proper posture range is corrected by shifting the proper posture range so that the median value of the proper posture range becomes the maximum shift value s6.

  For example, in the example shown in FIG. 8A, when the current travel speed of the host vehicle is p3 and the width of the road on which the host vehicle is currently traveling is p2, the correction function is Among the determination value corresponding to the speed and the determination value corresponding to the width of the road on which the host vehicle is currently traveling, it corresponds to the current traveling speed p3 of the host vehicle that is farthest from the median value s5 of the appropriate posture range before correction. The determination value s6 to be calculated is calculated as the maximum shift value. Then, as shown in FIG. 8B, the correction function shifts the appropriate posture range in the direction with the larger determination value (the direction of the backward tilt posture) so that the maximum shift value s6 becomes the median value of the proper posture range. Let

  Similarly, the correction function can also correct the appropriate posture range based on the driving field of view around the host vehicle in the driving environment of the host vehicle, and the correct posture based on the muscle load applied to the driver by the driving operation. The range can also be corrected. In addition, when the appropriate posture range is corrected based on the muscle load applied to the driver, the determination value according to the driver's current muscle load by the steering operation and the driver's current muscle load by the pedal operation are used. And the determination value according to the current muscle load of the driver's trunk due to the driving operation is calculated, and the determination value that is farthest from the median value of the appropriate posture range before correction is obtained as the maximum shift value. Thus, the correct posture range can be corrected.

  As described above, the correction function can correct the appropriate posture range. The correction function is configured to correct the appropriate posture range based on only one of the above-described driving environments when the appropriate posture range is corrected based on the driving environment of the host vehicle. Alternatively, the proper posture range may be corrected based on two or more travel environments, or the proper posture range may be corrected based on all travel environments.

  The driving posture display function of the control device 120 displays the driving posture and the appropriate posture of the driver detected by the driving posture detection function on a screen provided in the display 140. Here, FIG. 9 is a diagram illustrating an example of a screen that displays the driving posture and the appropriate posture of the driver in the front-rear direction, and FIG. 10 is a screen that displays the driving posture and the appropriate posture of the driver in the left-right direction. It is a figure which shows an example. Specifically, when the driving posture detection function determines that the driving posture of the driver is “backward tilting”, the driving posture display function drives the vehicle in an appropriate posture as shown in FIG. The driver's driving posture and the appropriate posture are displayed on the display 140 so that the driver's driving posture can be compared to the backward leaning posture. Similarly, when the driving posture of the driver is determined to be “appropriate posture”, the driving posture display function is compared with the fact that the driving posture of the driver is in an appropriate position as shown in FIG. 9B. If possible, when the driver's driving posture and the appropriate posture are displayed on the display 140 and the driver's driving posture is determined to be “forward leaning”, as shown in FIG. The driver's driving posture and the appropriate posture are displayed on the display 140 so that it can be compared that the driving posture of the driver is a forward leaning posture with respect to the posture. Further, as shown in FIG. 10, the driving posture display function displays the driving posture and the appropriate posture of the driver in the left and right direction so that the driving posture in the left and right direction of the driver and the appropriate posture can be compared. To display. In the example illustrated in FIG. 10, the driving posture and the appropriate posture of the driver when the driving posture of the driver is determined to be “left tilted posture” are displayed.

  In the present embodiment, the driving posture display function calculates the muscle load applied to the driver, and causes the display 140 to display a body part where the driver's muscle load is equal to or greater than a predetermined value. Specifically, the load (muscle load) applied to the driver's muscles and tendons can be calculated from the driver's driving posture based on the inverse dynamics, and the driving posture display function is a driving posture detection function. The muscle load applied to the driver can be calculated based on the driving posture detected by. Then, the driving posture display function is based on the calculation result of the muscle load of each body part of the driver, for example, fatigue is accumulated in a body part where a muscle load of a predetermined value or more continues for a predetermined determination time. Thus, it is determined as an overload site where pain may occur, and is displayed on the display 140 as shown in FIG. In addition, FIG. 11 is a figure which shows the example of a screen which displays a driver | operator's overload site | part.

  For example, in the example shown in FIG. 11A, since the upper body above the driver's waist is in a forward leaning posture, muscle load of a predetermined value or more continues on the driver's waist for a determination time or more. In this case, as shown in FIG. 11A, the driving posture display function displays the driver's waist as an overload site. Similarly, in the example shown in FIG. 11 (B), the driver is in a tilted posture, and the muscle load of a predetermined value or more continues on the driver's arm for a determination time or longer. In such a case, the driving posture display function displays the driver's arm as an overload site, as shown in FIG.

  In the present embodiment, the driving posture display function varies the display mode according to the magnitude of the muscle load at the overload site. For example, when the muscle load of the overload part is large, the driving posture display function blinks the overload part or displays it in a color indicating a warning such as red, so that the part that is not the overload part is displayed. The difference can be emphasized. The driving posture display function highlights the overload site step by step as the muscle load at the overload portion increases, and gradually reduces the overload portion highlight display as the muscle load at the overload portion decreases. To do. As a result, the driver's driving posture is improved, and when the driver's driving posture changes to an appropriate posture, the driver can feel that the muscle load at the overload site is reduced. Thus, correction of the driving posture of the driver can be promoted.

  Furthermore, in the present embodiment, the driving posture display function causes the display 140 to perform display for correcting the driving posture of the driver to the proper posture when the driving posture of the driver is not the proper posture. Specifically, as shown in FIG. 12, the driving posture display function displays the moving direction of the body part necessary for correcting the driving posture of the driver for each body part such as the trunk and the lower limbs. For example, the example shown in FIG. 12 illustrates a scene in which the driving posture of the driver is determined to be a backward leaning posture. In this scene, in order to correct the driving posture of the driver to an appropriate posture, The driver's buttocks may be moved backward, and the driver's head may be moved upward. Therefore, as shown in FIG. 12, the driving posture display function causes the display 140 to display a display for moving the driver's buttocks backward and a display for moving the driver's head upward. .

  In addition, when there are a plurality of body parts that need to be moved in order to correct the driving posture of the driver, the driving posture display function displays on the display 140 operations for moving the plurality of body parts at a time. You can also For example, in the example shown in FIG. 13A, the driving posture of the driver is a backward leaning posture as in the scene example shown in FIG. 12, and the driver is required to correct the backward leaning posture to an appropriate posture. It is necessary to move the heel part of the driver backward and the head of the driver upward. For example, in this case, by extending the back of the driver, the driver's buttocks can be moved backward and the driver's head can be moved upward at a time. Therefore, the driving posture display function is such that the driver stretches his / her back as shown in FIG. 13A in order to move the driver's buttocks backward and the driver's head upward at a time. It can be displayed on the display 140. Similarly, in the example shown in FIG. 13B, the driving posture of the driver is a forward posture, and in order to correct the forward leaning posture to an appropriate posture, the driver's head is placed backward, It is necessary to move the back part upward. For example, in this case, the driver can pull the shoulder to move the driver's head backward and move the driver's back upward at a time. Therefore, as shown in FIG. 13B, the driving posture display function displays an operation of pulling the shoulder of the driver to move the driver's head backward and the driver's back at once. 140 can be displayed.

  Then, when the driver's driving posture is improved to an appropriate posture, the driving posture display function displays the driver's driving posture and the appropriate posture as shown in FIG. A message indicating the improvement is displayed on the display 140.

  Next, the driving support process according to the present embodiment will be described with reference to FIG. FIG. 15 is a flowchart showing the driving support process according to the present embodiment. Note that the driving support process according to the present embodiment is executed by the control device 120 when, for example, the ignition is turned on.

  First, in step S101, the determination value of the driving posture of the driver is calculated by the driving posture detection function. Specifically, the driving posture detection function is based on the driver's body pressure distribution detected by the body pressure distribution sensor 110, the center of gravity position of the driver's buttocks and back, the center of gravity position of the driver's back, and driving. The load on the back of the person is calculated. The driving posture detection function, for example, determines that the driving posture of the driver is a forward leaning posture as the center of gravity of the driver's buttocks moves forward, and determines the determination value of the driving posture of the driver. Calculate high. The driving posture detection function determines that the driving posture of the driver is a forward leaning posture as the driver's back moves downward or the load on the driver's back decreases. The determination value of the driving posture is calculated to be low.

  In step S <b> 102, the correction function determines whether or not history information of determination values for determining the driving posture of the driver is stored in the storage device 130 as illustrated in FIG. 6. When the determination value history information is stored in the storage device 130, the process proceeds to step S103. On the other hand, when the determination value history information is not stored in the storage device 130, the process proceeds to step S104.

  In step S103, since the history information of the determination value is stored, as shown in FIG. 6, the correct posture range is corrected by the correction function based on the history information of the determination value. For example, as shown in FIG. 6, the correction function calculates an average value of the determination values based on the history information of the determination values, and the calculated average value becomes the median value of the appropriate posture range before correction. By shifting the proper posture range, the proper posture range can be corrected.

  On the other hand, if it is determined in step S102 that the determination value history information is not stored, the process proceeds to step S104. In step S104, the vehicle characteristic of the host vehicle is acquired by the correction function. In step S105, the appropriate posture range is corrected based on the vehicle characteristic of the host vehicle acquired in step S104. .

  For example, the correction function is based on a profile of a determination value of a general driving posture corresponding to each of the eye point, the hip point, and the inclination angle of the backrest 23 stored in the storage device 130. A determination value of a general driving posture corresponding to the eye point, the hip point of the own vehicle, and the current inclination angle of the backrest portion 23 is calculated, respectively, and as shown in FIG. Among these, the determination value s4 that is farthest from the median value s3 of the appropriate posture range before correction is calculated as the maximum shift value. Then, as shown in FIG. 7B, the correction function shifts the appropriate posture range in a direction with a smaller determination value (direction of the forward tilt posture) so that the maximum shift value s4 becomes the median value of the appropriate posture range. Let

  In step S106, the traveling environment of the host vehicle is detected by the traveling environment detection function. For example, in this embodiment, the traveling environment detection function is applied to the driver by a driving operation and a road condition including the traveling speed of the own vehicle, the width of the road on which the own vehicle travels, and the driving visibility around the own vehicle. The state of muscle load is detected as the traveling environment of the host vehicle.

  In step S107, the correct posture range corrected in step S103 or step S105 is recorrected based on the traveling environment of the host vehicle acquired in step S106 by the correction function. Specifically, as shown in FIG. 8A, the correction function calculates a general driving posture determination value corresponding to the current driving environment of the host vehicle for each driving environment, and calculates the calculated determination value. Among them, the determination value farthest from the median value of the appropriate posture range corrected in step S103 or step S105 is calculated as the maximum shift value, and the maximum shift value is the center of the proper posture range as shown in FIG. The proper posture range is corrected by shifting the proper posture range so as to be a value.

  In step S108, the driving posture detection function detects the driving posture of the driver based on the determination value of the driving posture of the driver detected in step S101 and the appropriate posture range corrected in step S107. Done. Specifically, as shown in FIG. 4, the driving posture detection function is based on the determination value of the driving posture of the driver in the front-rear direction and the corrected appropriate posture range in the front-rear direction. As shown in FIG. 5, the driver's left and right driving posture is determined based on the determination value of the driver's left and right driving posture and the corrected right and left appropriate posture range. Is detected. The driver posture detection function is based on the detection result of the driver's front-rear driving posture and the detection result of the driver's left-right driving posture. The driver's driving posture is detected by determining which driving posture corresponds to the driving posture.

  In step S109, the determination value detected in step S101 is stored by the driving posture detection function. Accordingly, the determination value detected this time is stored in the storage device 130 as determination value history information, and is used to estimate the tendency of the driving posture unique to the driver in the next processing.

  Subsequently, in step S110, a driving posture display process for displaying the driving posture and the appropriate posture of the driver detected in step S108 on the display 140 by the driving posture display function is performed. Below, with reference to FIG. 16, the driving | running | working attitude | position display process of step S110 is demonstrated. FIG. 16 is a flowchart showing the driving posture display process of step S110.

  In step S201, first, the driving posture and the appropriate posture of the driver detected in step S108 are displayed by the driving posture display function. For example, when the driving posture detection function determines that the driving posture of the driver is “backward tilting”, the driving posture display function, as shown in FIG. When the driver's driving posture is determined to be `` appropriate posture '', the driver's driving posture and the appropriate posture are displayed so that the driver can grasp that the posture is a backward leaning posture. As shown in FIG. 9 (B), the driver's driving posture and the appropriate posture are displayed so that the driver can understand that the driving posture of the driver is an appropriate posture. When it is determined that the driving posture is “forward leaning”, as shown in FIG. 9C, the driver can grasp that the driving posture of the driver is the forward leaning posture with respect to the appropriate posture. The driver's driving posture and the appropriate posture are displayed so as to be comparable. Similarly, as shown in FIG. 10, the driving posture display function indicates that the driving posture and the proper posture of the driver in the left and right direction are comparable so that the driving posture and the proper posture of the driver in the left and right direction can be compared. Also display.

  In step S202, the driving posture display function determines whether or not the deviation time when the driving posture of the driver is not the proper posture exceeds a predetermined determination time. If the divergence time exceeds the determination time, it is determined that there is a possibility that the driver may experience fatigue or low back pain, and the process proceeds to step S203. On the other hand, if the deviation time does not exceed the determination time, the process proceeds to step S206.

  In step S203, the driver's muscle load is calculated by the driving posture display function. For example, the driving posture display function can calculate the muscle load of each body part of the driver from the driving posture of the driver based on the inverse dynamics. In step S204, based on the calculation result of the muscle load in step S203, the overload portion where the muscle load is excessively generated is displayed on the display 140 by the driving posture display function as shown in FIG. Processing is performed. Further, in the present embodiment, the driving posture display function changes the display mode of the overload site so that the difference between the overload site and the other site is emphasized as the muscle load of the overload site is larger. .

  Next, in step S205, display for correcting the driving posture of the driver is performed by the driving posture display function. Specifically, as shown in FIG. 12, the driving posture display function displays the movement direction of the body part necessary for correcting the proper posture of the driver for each body part such as the trunk and the lower limbs. Further, the driving posture display function may display an operation for moving the driver's body part at a time on the display 140 as shown in FIG. 13 in order to correct the driving posture of the driver to an appropriate posture. it can.

  On the other hand, if it is determined in step S202 that the deviation time does not exceed the determination time, the process proceeds to step S206. In step S206, it is determined whether or not the driver's driving posture has been improved to an appropriate posture by the driving posture display function. When the driving posture of the driver is improved to the proper posture, the process proceeds to step S207, and the display that the driving posture of the driver is improved to the proper posture as shown in FIG. 140. On the other hand, when the driving posture of the driver is not improved to the proper posture, the driving posture display process shown in FIG. 16 is terminated.

  Thus, the driving posture display process of step S110 is performed. When the driving posture display process in step S110 ends, the process returns to FIG. 15 and proceeds to step S111.

  In step S111, it is determined whether or not the ignition is off by the driving posture detection function. If the ignition is on, the process returns to step S101, and the driving support process shown in FIG. 15 is repeatedly executed. On the other hand, if the ignition is off, the driving support process shown in FIG. 15 is terminated.

  As described above, in the present embodiment, the determination value of the driver's driving posture is calculated from the driver's body pressure distribution, and the driver's driving posture is detected. In the present embodiment, as shown in FIGS. 9 and 10, the detected driver's driving posture and the appropriate posture are displayed in a comparable manner, so that the driver's driving posture and the appropriate posture can be displayed to the driver. Can be grasped, and thereby the driving posture of the driver can be appropriately guided to the appropriate posture.

  Further, in the present embodiment, the muscle load of the driver's body part is calculated, and the driver's body part in which the muscle load of a predetermined value or more continues for a predetermined determination time or more is specified as the overload part and specified. By displaying the overload portion on the display 140, it is possible to make the driver know which portion is muscularly loaded, thereby making it easier for the driver to improve the driving posture. . Further, in the present embodiment, when the driver's driving posture is improved by changing the display mode of the overload site according to the magnitude of the muscle load of the overload site, the effect is given to the driver. It is possible to make the driver feel through the vision.

  Furthermore, in this embodiment, as shown in FIG. 12, when the driving posture of the driver is not an appropriate posture, the movement direction of the body part necessary for correcting the driving posture of the driver to the appropriate posture is Display for each part. Thereby, in this embodiment, it becomes easy to grasp which body part and how the driver can take an appropriate posture, and the driver can be urged to improve the driving posture. In addition, as shown in FIG. 13, by displaying an operation for moving the body part of the driver at a time, the driver can more easily grasp the method of correcting the driving posture to an appropriate posture. Therefore, the driving posture of the driver can be appropriately guided by the appropriate posture.

  The embodiment described above is described for facilitating understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  For example, in the above-described embodiment, the configuration in which the driver's driving posture and the appropriate posture are displayed on the display 140 is illustrated, but the present invention is not limited to this configuration. For example, the driver's driving posture and the appropriate posture are It is good also as a structure output with an audio | voice with a speaker. In this case, for example, when the driving posture of the driver is an appropriate posture, a sound indicating that the driving posture of the driver is an appropriate posture is output, and when the driving posture of the driver is a backward leaning posture. The voice indicating that the driving posture of the driver is a backward leaning posture can be output. In addition, when the driver's driving posture is not the proper posture, the information on which the body's body part and how the driver's driving posture can be improved by using the speaker is guided by voice using a speaker. Also good. Furthermore, it is good also as a structure which outputs an overload site | part and the point etc. which should be conscious when improving a driver | operator's driving posture by an audio | voice.

  In the above-described embodiment, the configuration in which the driving posture and the appropriate posture of the driver are displayed is exemplified. However, in addition to this configuration, the configuration of the driver seat 21 that the driver drives may be displayed. For example, when the inclination angle of the backrest portion 23 of the driver's seat 21 is large, the proper posture and the shape of the driver's seat 21 may not match. In such a case, by displaying the shape of the driver's seat 21, The driver can be made to grasp the proper posture more appropriately in comparison with the shape of the driver seat 21.

  Furthermore, in the above-described embodiment, the configuration in which the driving posture of the driver is detected and displayed on the display 140 based on the driver's body pressure distribution detected by the body pressure sensor 110 is illustrated. Thus, the driving posture of the driver may be displayed on the display 140 in consideration of the physique of the driver. For example, as shown in FIGS. 17A and 17B, when the driving posture of the driver is displayed by obtaining the inclinations θ1 to θ4 and θ2 ′ of the body part based on the body pressure distribution of the driver. The inclinations θ1 to θ4 and θ2 ′ may be calculated in consideration of parameters according to the physique of the driver.

  In addition, in the above-described embodiment, the configuration in which the driving posture of the driver is detected based on the driver's body pressure distribution detected by the body pressure sensor 110 is illustrated. However, the configuration is not limited to this configuration. The driving posture of the driver may be detected based on the image signal of the driving posture of the driver imaged in (1).

  The body pressure distribution sensor 110 of the above-described embodiment corresponds to the detection unit of the present invention, and the control device 120 corresponds to the detection unit and the notification unit of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Driving assistance apparatus 110 ... Body pressure distribution sensor 120 ... Control apparatus 130 ... Memory | storage device 140 ... Display

Claims (6)

Body signal detection means for detecting the driver's body signal according to the driving posture of the driver;
Detecting means for detecting the driving posture of the driver based on the driver's body signal;
Informing means for informing the driver in a manner capable of comparing the driving posture and the appropriate posture of the driver,
The informing means further informs the movement of the body part necessary for correcting the driving posture of the driver to the appropriate posture, calculates muscle load for each body part of the driver, and the muscle load is predetermined. A driving assistance device characterized by identifying a portion that is equal to or greater than a value as an overload portion and notifying the overload portion in a manner that allows identification of the overload portion . The driving support device according to claim 1,
The said notification means alert | reports the direction which moves a body part for every said body part, in order to correct | amend the driving | running | working posture of the said driver to an appropriate posture. The driving support device according to claim 1 or 2,
The informing means informs of an operation capable of moving the plurality of body parts at a time when it is necessary to move the plurality of body parts in order to correct the driving posture of the driver to an appropriate posture. A driving support device characterized by that. The driving support device according to any one of claims 1 to 3 ,
The said notification means changes the alerting | reporting aspect of the said overload site | part according to the magnitude | size of the muscle load of the said overload site | part, The driving assistance apparatus characterized by the above-mentioned. The driving support device according to any one of claims 1 to 4 ,
The said notification means alert | reports the said driving | running | working attitude | position and appropriate attitude | position of the said driver, and the shape of a driver | operator's driver's seat so that comparison is possible, The driving assistance device characterized by the above-mentioned. Based on the driver's body signal according to the driver's driving posture, the driver's driving posture is detected, and the driver's driving posture and the appropriate posture are notified to the driver in a manner capable of being compared. The operation for correcting the driving posture of the driver to an appropriate posture is notified , the muscle load is calculated for each body part of the driver, and the part where the muscle load is a predetermined value or more is specified as the overload part. The driving support method is characterized in that the overload site is reported so as to be distinguishable from other sites .

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