JP6500291B2 - Driving support system - Google Patents

Description

  The present invention relates to a driving support system that supports the operation of a cargo handling vehicle by an operator.

  As a cargo handling vehicle for carrying out cargo handling work, there is known a manned unmanned vehicle capable of switching between a manned operation mode operated by an operator's manual operation and an unmanned operation mode operated autonomously without a manual operation. (See, for example, Patent Document 1). When the operator can not drive the manned unmanned and combined vehicle which is the cargo handling vehicle, the cargo handling vehicle can be made to perform the cargo handling work by switching from the manned operation mode to the unmanned operation mode.

JP, 2010-222108, A

  By the way, if the opportunity for the operator to drive the cargo handling vehicle is reduced due to the spread of the cargo handling vehicle that operates autonomously without using the manual operation, there is a risk that the driving skill of the operator may be reduced. When it is necessary to do so, the work efficiency of the cargo handling work may be degraded. In addition, the driving skill differs for each operator according to the driving experience and the like of the cargo handling vehicle. Therefore, it is required to support the operation of the cargo handling vehicle by the operator in stages.

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a driving support system capable of stepwise supporting the operation of a cargo handling vehicle by an operator.

In order to solve the above-mentioned problems, a driving support system of the present invention according to claim 1 is a driving support system for supporting the driving of a cargo handling vehicle by an operator, which is provided in the cargo handling vehicle and operates the cargo handling vehicle Operation reception device capable of receiving an operation of the operator for the purpose, a biological information measuring device for measuring biological information of the operator driving the cargo handling vehicle, and a measurement result of the biological information by the biological information measuring device A state determination device that determines the tension state of the operator based on the plurality of operations, and stores, for each of a plurality of the operators, an order of poor operations that the operator is not good among the plurality of operations using the operation reception device A device, an operator identification device for identifying the operator who is driving the cargo handling vehicle, and the operation of the cargo handling vehicle A vehicle control device to control the vehicle control device, the vehicle control device controls the cargo handling vehicle based on the operation received by the operation reception device according to the state of the operator determined by the state determination device; It is comprised so that it may switch to a mode and the support control mode which controls the said cargo handling vehicle irrespective of the operation received by the said operation reception apparatus, Furthermore, the said vehicle control apparatus is said operator who is driving the said cargo handling vehicle The support target operation to be supported is determined from the plurality of operations based on the order of the poor operation for which the user is not good and the tension state of the operator determined by the state determination device, and the support target operation is concerned. It controls the operation of the cargo handling vehicle by the assistance control mode, the vehicle control device, as tension of the operator increases, the weak Misao Characterized in that the operation in the order from the operation at an upper level will in addition to the assistance subject operation in the ranking.

A driving support system according to claim 2 is the driving support system according to claim 1, wherein the operation receiving device controls the traveling direction of the cargo handling vehicle, and the traveling speed of the cargo handling vehicle. The vehicle includes an accelerator device to control and a hydraulic operation reception device to control hydraulic equipment for cargo handling, and the plurality of operations include a steering operation to operate the steering device, an accelerator operation to operate the accelerator device, and The vehicle control device includes an order of the poor operation that the operator who is driving the cargo handling vehicle is not good at, and the condition determined by the state determination device. based on the tension of the operator, determining the assistance subject operation from the steering operation, the accelerator operation, and the hydraulic operation , And controlling the operation of the cargo handling vehicle in the assistance control mode according to the assistance subject operation.

  A driving support system according to a third aspect of the present invention is the driving support system according to the first or second aspect, further comprising a remote control reception device capable of receiving an operation of a supporter who is not in the cargo handling vehicle, the vehicle The control device controls the operation of the cargo handling vehicle based on the operation received by the remote control reception device.

  A driving support system according to claim 4 is the driving support system according to claim 1 or 2, wherein an automatic driving program for operating the cargo handling vehicle without the operation of the operator is stored. A program storage device is provided, and the vehicle control device controls the operation of the cargo handling vehicle based on the automatic driving program stored in the program storage device.

  The driving support system according to claim 5 is the driving support system according to any one of claims 1 to 4, wherein the biological information measurement device is configured to use a heart rate or a pulse of the operator as the biological information. It is characterized by measuring the number.

  According to the present invention, it is possible to provide a driving support system capable of stepwise supporting the operation of a cargo handling vehicle by an operator.

It is a schematic diagram of a driving support system concerning one embodiment of the present invention. It is a block diagram which shows schematic structure of the cargo handling vehicle which concerns on the embodiment. It is a flow chart which shows a flow of driving support concerning the embodiment.

First Embodiment
A first embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the driving support system S includes a cargo handling vehicle 1, a biological information measurement device 2, a camera 3, a management server 4, and a support terminal device 5. The driving support system S supports the driving of the loading and unloading vehicle 1 by the operator W by a supporter V who is not in the loading and unloading vehicle 1.

  The cargo handling vehicle 1 is configured to be able to switch between a manned operation mode operated by the manual operation of the operator W or supporter V who board the cargo handling vehicle 1 and an unmanned operation mode operated autonomously without the manual operation. Manned unmanned forklift. The loading and unloading vehicle 1 receives an input of ID information from the operator W boarding the loading and unloading vehicle 1, and transmits the ID information to the management server 4.

  The biological information measurement device 2 is a wearable device that measures the biological information of the operator W who is driving the cargo handling vehicle 1, and measures the pulse rate or heart rate per predetermined time as the biological information of the operator W. The biological information measurement device 2 transmits the biological information of the operator W measured by the biological information measurement device 2 to the management server 4.

  The camera 3 is a head mounted camera provided on the head of the operator W, and images the front (traveling direction) of the cargo handling vehicle 1. The camera 3 transmits the video taken by the camera 3 to the support terminal device 5.

  The management server 4 is configured to be able to wirelessly communicate with the cargo handling vehicle 1, the biological information measurement device 2, and the camera 3. The management server 4 functions as a state determination device that determines the state of the operator W based on the measurement result of the biological information by the biological information measurement device 2. In addition, the management server 4 stores, for each of the plurality of operators W, a difficult-procedure storage device that stores the order of the weak operations that the operator W is not good among the plurality of operations using the operation reception device 11 (see FIG. 2) described later. , And functions as an operator identification device for identifying the operator W who is driving the material handling vehicle 1. Furthermore, the management server 4 functions as a communication relay device that relays communication between the cargo handling vehicle 1 and the support terminal device 5 and communication between the camera 3 and the support terminal device 5.

  In the present embodiment, based on the pulse rate or heart rate of the operator W, the management server 4 determines whether or not the state of the operator W is a predetermined tension state (supporting target state), and the lightness, middle Determine the degree, and whether it is severe or severe. The management server 4 transmits the determination result of the state of the operator W to the cargo handling vehicle 1 and the support terminal device 5. In addition, the management server 4 performs a steering operation to operate a steering device 11A (see FIG. 2) described later and an accelerator operation to operate an accelerator device 11B (see FIG. 2) described later. And each order | rank of hydraulic operation which operates hydraulic-operation reception apparatus 11C (refer FIG. 2) mentioned later is memorize | stored. The management server 4 stores in advance the order of poor operation for each of a plurality of operators W who can drive the cargo handling vehicle 1. Furthermore, based on the ID information of the operator W input to the cargo handling vehicle 1, the management server 4 operates the cargo handling vehicle 1 from a plurality of operators W who can drive the cargo handling vehicle 1 (ie, biological information Target of measurement of biological information by the measurement device 2). The management server 4 transmits, to the cargo handling vehicle 1 and the support terminal device 5, the order of poor operation for which the operator W driving the cargo handling vehicle 1 is not good.

  The support terminal device 5 receives an advice from the supporter V for the operator W, a remote control reception device capable of receiving the operation of the supporter V for operating the cargo handling vehicle 1, and a camera 3 It functions as an image display device that displays an image to the supporter V. The support terminal device 5 receives the determination result of the state of the operator W transmitted from the management server 4 and the rank of the poor operation for which the operator W is not good, and the supporter V drives the cargo handling vehicle 1 according to the determination result. Encourage the support of

  In the present embodiment, when it is determined that the state of the operator W is in a tense state, the support terminal device 5 displays an image captured by the camera 3 and gives the supporter V advice about driving the cargo handling vehicle 1. Prompt and transmit the advice to the cargo handling vehicle 1. Further, the support terminal device 5 urges the supporter V to perform an operation for controlling the operation of the cargo handling vehicle 1 according to the state of the operator W, and transmits a control signal relating to the operation to the cargo handling vehicle 1. The support terminal device 5 can be configured to be able to receive advice related to the operation of the loading and unloading vehicle 1 by voice or text input, and the operation for operating the loading and unloading vehicle 1 can be performed using a general purpose or dedicated input device. It can be configured to be acceptable.

  As shown in FIG. 2, the driving support system S includes an operation receiving device 11, a wireless communication device 12, an advice output device 13, and a vehicle control device 14 as elements constituting the cargo handling vehicle 1.

  The operation reception device 11 is provided in the cargo handling vehicle 1 and configured to be able to receive an operation of the operator W for operating the cargo handling vehicle 1. The operation reception device 11 controls a steering device 11A that controls the traveling direction of the cargo handling vehicle 1, an accelerator device 11B that controls the traveling speed of the cargo handling vehicle 1, and hydraulic equipment (not shown) for cargo handling such as a lift cylinder. A hydraulic operation reception device 11C is provided.

  The wireless communication device 12 is configured to be able to wirelessly communicate with an external device. The wireless communication device 12 receives the determination result of the state of the operator W transmitted from the management server 4 and the order of poor operations for which the operator W is not good, and the advice and control signal transmitted from the support terminal device 5 .

  The advice output device 13 is configured to be able to output the advice received by the support terminal device 5 to the operator W. Specifically, the advice output device 13 outputs the advice received by the wireless communication device 12 by voice or video. Further, the advice output device 13 is configured to switch between a non-output mode in which the advice is not output and an output mode in which the advice is output according to the state of the operator W determined by the management server 4. Specifically, based on the determination result received by the wireless communication device 12, the advice output device 13 operates in the output mode when the state of the operator W is in tension, and when the state of the operator W is not in tension. Operate in non-output mode.

  The vehicle control device 14 controls the operation of the cargo handling vehicle 1 based on the operation received by the operation reception device 11 at the normal time in the manned operation mode of the cargo handling vehicle 1. Specifically, the vehicle control device 14 is configured to be able to control the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling. In addition, the vehicle control device 14 controls the cargo handling vehicle 1 based on the operation received by the operation reception device 11 according to the state of the operator W determined by the management server 4, and the operation reception device 11. It switches to the assistance control mode which controls the cargo handling vehicle 1 irrespective of the received operation. In the present embodiment, the vehicle control device 14 controls the cargo handling vehicle 1 based on the operation received by the support terminal device 5 in the support control mode. That is, the vehicle control device 14 controls the operation of the cargo handling vehicle 1 based on the control signal received by the wireless communication device 12.

  Furthermore, the vehicle control device 14 uses the operation reception device 11 based on the order of poor operation for which the operator W driving the cargo handling vehicle 1 is not good and the state of the operator W determined by the management server 4 A support target operation to be supported is determined from a plurality of operations, and the operation of the material handling vehicle 1 related to the support target operation is controlled in the support control mode. That is, the vehicle control device 14 is configured to change the controllable range in the support control mode based on the order of the poor operation of the operator W and the state of the operator W. Specifically, for the plurality of operations A to C (steering operation, accelerator operation, and hydraulic operation) using the operation reception device 11, the order of the weak operations of the operator W who is driving the cargo handling vehicle 1 is When it is determined that the state of the operator W is a mild tension state when the operation B and the operation C are set, the operation A is determined as a support target operation, and the state of the operator W is determined to be a moderate tension state In this case, the operations A and B are determined as the assistance target operations, and when it is determined that the state of the operator W is a heavy tension state, the operations A to C are determined as the assistance target operations. Therefore, based on the determination result received by the wireless communication device 12, when the state of the operator W is not tense, the operation of the cargo handling vehicle 1 related to the operation A which the operator W is not good at first is controlled in the normal control mode When the state of the operator W is in a light, medium and heavy tension state, the operation of the cargo handling vehicle 1 according to the operation A is controlled in the support control mode. Further, based on the determination result received by the wireless communication device 12, the vehicle control device 14 performs an operation B that the operator W is not good at the second time when the state of the operator W is not in a tense state or in a slight tense state. The operation of the cargo handling vehicle 1 according to is controlled in the normal control mode, and the operation of the cargo handling vehicle 1 according to the operation B is controlled in the support control mode when the state of the operator W is medium and heavy tension. Further, based on the determination result received by the wireless communication device 12, the vehicle control device 14 determines that the operator W is not good at the third time when the state of the operator W is not tense and when it is mild and medium tense. The operation of the cargo handling vehicle 1 according to the operation C is controlled in the normal control mode, and the operation of the cargo handling vehicle 1 according to the operation C is controlled in the support control mode when the state of the operator W is a heavy tension state.

  With reference to FIG. 3, the flow at the time of supporting the driving of the cargo handling vehicle 1 will be described. At the start of the flowchart shown in FIG. 3, the advice output device 13 operates in the non-output mode, and the vehicle control device 14 normally controls the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling. It assumes that it controls by the mode. Furthermore, the management server 4 stores “No. 1: steering operation, No. 2: accelerator operation, No. 3: hydraulic operation” as a ranking of poor operations for which the operator W driving the cargo handling vehicle 1 is not good On the assumption that

  First, the management server 4 identifies the operator W driving the material handling vehicle 1 (step S1), and the biological information measuring device 2 detects the biological information (pulse rate or heartbeat rate) of the operator W driving the cargo handling vehicle 1 Number) is measured (step S2).

  Next, based on the measurement result of the biological information in step S2, the management server 4 determines whether the state of the operator W is in a tense state (a support target state) (step S3). Specifically, for example, when the normal pulse rate or heart rate (BPM) of the operator W is 65, the management server 4 determines that the pulse rate or heart rate of the operator W measured in step S2 is 80. If the value is also smaller, it is determined that the state of the operator W is not in the tension state, and if it is larger than 80, it is determined that the state of the operator W is in the tension state.

  If it is determined in step S3 that the state of the operator W is not tense, it is highly probable that the operator W is not good at driving the cargo handling vehicle 1, so the vehicle control device 14 does not support the driving of the cargo handling vehicle 1. The operation of the cargo handling vehicle 1 related to the steering operation, the accelerator operation, and the hydraulic operation is controlled in the normal control mode. That is, the advice output device 13 operates in the non-output mode, and the vehicle control device 14 controls the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling in the normal control mode.

  On the other hand, if it is determined in step S3 that the state of the operator W is tense, the advice output device 13 is switched from the non-output mode to the output mode, and the advice output device 13 can output advice from the supporter V (Step S4). Thus, when the state of the operator W is in a tense state, the supporter V provides the operator W with an advice related to the operation of the cargo handling vehicle 1 to support the operation of the cargo handling vehicle 1.

  Furthermore, if it is determined in step S3 that the state of the operator W is in a tense state, whether the state of the operator W is a slight tense state based on the measurement result of the biological information in step S2 It is determined whether or not it is (step S5). Specifically, for example, when the normal pulse rate or heart rate (BPM) of the operator W is 65, the management server 4 determines that the pulse rate or heart rate of the operator W measured in step S2 is 80. If it is too large and smaller than 90, it is determined that the state of the operator W is a mild tension state, and if it is larger than 90, it is determined that the state of the operator W is not a mild tension state.

  If it is determined in step S5 that the state of the operator W is a mild tension state, the vehicle control device 14 determines the operation A that the operator W identified in step S1 is not good at first as a support target operation Then, the control of the operation of the material handling vehicle 1 according to the operation A is switched from the normal control mode to the support control mode (step S6). Specifically, when it is determined that the state of the operator W is a mild tension state, the vehicle control device 14 controls the operation of the cargo handling vehicle 1 related to the steering operation in the support control mode, and the accelerator operation and the hydraulic operation The operation of the cargo handling vehicle 1 according to is controlled in the normal control mode. That is, the vehicle control device 14 controls the traveling direction of the cargo handling vehicle 1 in the support control mode, and controls the traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling in the normal control mode. Thus, when the state of the operator W is in a light tension state, the supporter V performs the operation for controlling the traveling direction of the cargo handling vehicle 1 instead of the operator W to support the driving of the cargo handling vehicle 1 .

  On the other hand, when it is determined in step S5 that the state of the operator W is not a mild tension state, the management server 4 determines that the status of the operator W is severe based on the measurement result of the biological information in step S2. It is determined whether it is a moderate tension state (step S7). Specifically, for example, when the normal pulse rate or heart rate (BPM) of the operator W is 65, the management server 4 determines that the pulse rate or heart rate of the operator W measured in step S2 is 90. If the value is also less than 100, it is determined that the state of the operator W is in a moderate tension state, and if it is greater than 100, it is determined that the state of the operator W is a severe tension state.

  If it is determined in step S7 that the state of the operator W is a moderate tension state, the vehicle control device 14 performs operations A and B in which the operator W identified in step S1 is not good at first and second Is determined as the support target operation, and the control of the operation of the material handling vehicle 1 according to the operations A and B is switched from the normal control mode to the support control mode (step S8). Specifically, when it is determined that the state of the operator W is a medium tension state, the vehicle control device 14 controls the operation of the cargo handling vehicle 1 related to the steering operation and the accelerator operation in the support control mode. The operation of the material handling vehicle 1 related to the operation is controlled in the normal control mode. That is, the vehicle control device 14 controls the traveling direction and traveling speed of the cargo handling vehicle 1 in the support control mode, and controls the hydraulic equipment for cargo handling in the normal control mode. Thus, when the state of the operator W is in a moderate tension state, the supporter V performs an operation for controlling the traveling direction and traveling speed of the cargo handling vehicle 1 on behalf of the operator W, whereby the cargo handling vehicle 1 is Support driving.

  On the other hand, when it is determined in step S7 that the state of the operator W is a severe tense state, the vehicle control device 14 performs operations A to which the operator W identified in step S1 is not good at first to third C is determined as the support target operation, and the control of the operation of the material handling vehicle 1 according to the operations A to C is switched from the normal control mode to the support control mode (step S9). Specifically, when it is determined that the state of the operator W is in a severe tension state, the vehicle control device 14 controls the operation of the loading vehicle 1 related to the steering operation, the accelerator operation, and the hydraulic operation in the support control mode. . That is, the vehicle control device 14 controls the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling in the support control mode. Thus, when the state of the operator W is in a severe tension state, the supporter V performs an operation for controlling the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment on behalf of the operator W, Support the driving of the vehicle 1

The following effects can be obtained in the above embodiment.
(1) When the vehicle control device 14 switches from the normal control mode to the support control mode according to the state of the operator W determined based on the biometric information of the operator W, the supporter V handles the cargo instead of the operator W An operation for operating the vehicle 1 can be performed to support the driving of the cargo handling vehicle 1. Further, the support target to be supported based on the order of poor operation for which the vehicle control device 14 is not good at the operator W who is driving the cargo handling vehicle 1 and the state of the operator W determined from the biometric information of the operator W By determining the operation and controlling the support target operation in the support control mode, it is possible to support the driving of the cargo handling vehicle 1 stepwise according to the driving skill of the operator W.

  (2) The vehicle control device 14 is configured to be able to control the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling in the normal control mode and the support control mode. Therefore, when the vehicle control device 14 controls the traveling direction of the cargo handling vehicle 1 in the support control mode, the operation of the steering device 11A by the operator W can be unnecessary, and the traveling speed of the cargo handling vehicle 1 can be supported. When controlling in the control mode, the operation of the accelerator device 11B by the operator W can be omitted, and when controlling the hydraulic equipment for cargo handling in the support control mode, the hydraulic operation reception device 11C of the operator W can An operation can be made unnecessary.

  (3) The biological information measurement device 2 measures the heart rate or the pulse rate of the operator W as the biological information of the operator W. Therefore, a pulsimeter or a heart rate monitor that can be easily mounted can be adopted as the biological information measurement device 2.

  (4) The driving support system S includes the camera 3 which is provided to the operator W and can capture the front of the cargo handling vehicle 1, and the support terminal device 5 displays the video captured by the camera 3 to the supporter V Do. For this reason, the supporter V can support the driving of the cargo handling vehicle 1 with reference to the front of the cargo handling vehicle 1 from a position close to the viewpoint of the operator W.

  (5) The adviser V gives advice to the operator W when the advice output device 13 switches from the non-output mode to the output mode according to the state of the operator W determined based on the biometric information of the operator W. The driving of the cargo handling vehicle 1 can be supported.

  (6) The advice reception device (the support terminal device 5) doubles as the remote control reception device. Therefore, the driving support system S can be simplified as compared with the case where the advice receiving device and the remote control receiving device are configured by different hardware.

Second Embodiment
Next, a second embodiment of the present invention will be described. In the description of the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the differences from the first embodiment will be described in detail.

  The management server 4 functions as a program storage device storing an automatic operation program for operating the material handling vehicle 1 regardless of the operation accepted by the operation acceptance device 11. The management server 4 transmits an automatic driving program to the loading and unloading vehicle 1 when it is determined that the state of the operator W is in a tense state. Further, the support terminal device 5 does not receive the operation of the supporter V for operating the cargo handling vehicle 1.

  The wireless communication device 12 receives the determination result of the state of the operator W transmitted from the management server 4 and the automatic driving program. The vehicle control device 14 controls the cargo handling vehicle 1 based on the automatic driving program stored in the management server 4 in the support control mode. That is, the vehicle control device 14 controls the operation of the cargo handling vehicle 1 based on the automatic driving program received by the wireless communication device 12.

  With the above configuration, in the present embodiment, when the state of the operator W is a light, medium and heavy tension state, the traveling direction of the loading vehicle 1 and the traveling of the loading vehicle 1 based on the automatic driving program. By controlling the speed and one or more of the hydraulic devices, the driving of the material handling vehicle 1 is supported.

The following effects can be obtained in the above embodiment.
(7) The vehicle control device 14 switches from the normal control mode to the support control mode according to the state of the operator W determined based on the biometric information of the operator W, whereby the cargo handling vehicle 1 is The operation is controlled, and the driving of the cargo handling vehicle 1 can be supported. Further, the support target to be supported based on the order of poor operation for which the vehicle control device 14 is not good at the operator W who is driving the cargo handling vehicle 1 and the state of the operator W determined from the biometric information of the operator W The effect of the above (1) can be obtained by determining the operation and controlling the support target operation in the support control mode.

  The present invention is not limited to the above embodiment, and the above configuration may be changed as appropriate. For example, the above embodiment may be implemented with the following modifications, or the following modifications may be implemented in combination.

  The method of determining the state of the operator W may be changed as appropriate. For example, the management server 4 may determine the state of the operator W based on the change rate or change rate of the pulse rate or heart rate per predetermined time.

  The driving support method according to the state of the operator W may be changed as appropriate. For example, when it is determined that the state of the operator W is a slight tension state by omitting step S6, the vehicle control device 14 determines the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling. Control may be performed in the normal control mode. That is, for example, the operation of the supporter V or the autonomous driving program may be configured to support the driving of the cargo handling vehicle 1 only when it is determined that the state of the operator W is moderate and heavy tension. .

  -As long as the camera 3 is a camera which can image | photograph the front of the cargo handling vehicle 1, you may change an arrangement | positioning place etc. suitably. For example, the camera 3 may be an omnidirectional camera provided on the head guard of the cargo handling vehicle 1.

  · When the vehicle control device 14 controls the traveling direction and traveling speed of the cargo handling vehicle 1 and the hydraulic equipment for cargo handling in the support control mode, no advice for the operator W is necessary, and the advice output device 13 switches from the output mode to the non-output mode You may switch to

  The automatic operation program may not be stored in the management server 4. That is, for example, the driving support system S may include, as a component of the cargo handling vehicle 1, a program storage device in which an automatic driving program is stored.

  As the biological information of the operator W, the amount of sweating or the complexion of the operator W may be measured. That is, the biological information of the operator W measured by the biological information measuring device 2 may be a sweating amount, a complexion, a combination thereof, or a combination of one or more of them and a heart rate or a pulse rate. The management server 4 may also determine the fatigue state or the health state of the operator W based on the measurement result of the biological information. That is, the state determination device may be configured to determine the fatigue state, the health state, the combination thereof, or the combination of one or more of these and the tension state of the operator W.

1 cargo handling vehicle 2 biometric information measuring device 3 camera 4 management server (state determination device, difficult procedure storage device, operator identification device, program storage device)
5 Terminal device for support (remote control reception device)
11 operation accepting device 11A steering device 11B accelerator device 11C hydraulic operation accepting device 12 wireless communication device 13 advice output device 14 vehicle control device S driving support system V supporter W operator

Claims (5)

A driving support system for supporting the operation of a cargo handling vehicle by an operator, comprising:
An operation reception device provided in the cargo handling vehicle and capable of receiving an operation of the operator for operating the cargo handling vehicle;
A biological information measuring device for measuring biological information of the operator driving the cargo handling vehicle;
A state determination device that determines the tension state of the operator based on the measurement result of the biological information by the biological information measurement device;
A difficult-procedure storage device for storing, for each of a plurality of the operators, an order of a plurality of operations using the operation reception apparatus which are not good for the operator;
An operator identification device identifying the operator driving the cargo handling vehicle;
A vehicle control device for controlling the operation of the cargo handling vehicle;
In the normal control mode, the vehicle control device controls the cargo handling vehicle based on the operation received by the operation reception device according to the tension state of the operator determined by the state determination device, and the operation reception device. It is configured to switch to a support control mode for controlling the cargo handling vehicle regardless of the received operation,
Furthermore, the vehicle control device is configured to perform the plurality of operations based on the order of the poor operation which the operator who is driving the cargo handling vehicle is not good at and the tension state of the operator determined by the state determination device. Determining the support target operation to be supported from the operation, and controlling the operation of the cargo handling vehicle according to the support target operation in the support control mode ;
The driving support system , wherein the vehicle control device adds the operation to the operation to be supported in order from the operation located at the top in the order of the poor operation as the tension state of the operator increases . The operation reception device includes a steering device that controls the traveling direction of the cargo handling vehicle, an accelerator device that controls the traveling speed of the cargo handling vehicle, and a hydraulic operation reception device that controls hydraulic equipment for cargo handling.
The plurality of operations include a steering operation for operating the steering device, an accelerator operation for operating the accelerator device, and a hydraulic operation for operating the hydraulic operation reception device.
The vehicle control device is configured to perform the steering operation based on the order of the poor operation that the operator who is driving the cargo handling vehicle is not good at and the tension state of the operator determined by the state determination device. The driving support system according to claim 1, wherein the support target operation is determined from an accelerator operation and the hydraulic operation, and the operation of the cargo handling vehicle according to the support target operation is controlled in the support control mode. The remote control reception device capable of receiving an operation of a supporter who is not in the cargo handling vehicle,
The driving support system according to claim 1 or 2, wherein the vehicle control device controls an operation of the cargo handling vehicle based on an operation received by the remote control reception device. A program storage device storing an automatic operation program for operating the cargo handling vehicle without the operation of the operator;
The driving support system according to claim 1 or 2, wherein the vehicle control device controls the operation of the cargo handling vehicle based on the automatic driving program stored in the program storage device. The driving support system according to any one of claims 1 to 4, wherein the biological information measuring device measures a heart rate or a pulse rate of the operator as the biological information.

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