JP6972706B2 - Driving assistance devices, methods, and programs - Google Patents

Description

Embodiments of the present invention relate to driving assistance devices, methods, and programs.

When the vehicle is automatically driven, the driver's workload is reduced, so that the driver's alertness may decrease.

Japanese Unexamined Patent Publication No. 2016-141220

During automatic driving, it may be desirable to keep the driver awake. One of the objects of the present invention is to provide a driving support device, a method, and a program for efficiently suppressing a decrease in arousal level of a driver.

Exemplary driving support device according to the embodiment of the present invention includes an acquisition unit that acquires an execution schedule of turning round running of the vehicle during the automatic operation of the vehicle, if the execution schedule is acquired, the turning direction of the ride-membered vehicle The first body part, which is the opposite body part, is provided with an output unit, which gives a vibration stimulus of a first frequency that gives the illusion of muscle stretching by a vibration device arranged in a seat in the vehicle interior. The part gives a vibration stimulus of the first frequency to the first body part at a timing before the timing when the turning is executed, and also by the vibration device, the second body which is the body part on the same side as the turning direction. the site, applying vibration stimulation of the second frequency is not allowed illusion stretching muscles, only the vibration stimulation of the second frequency, Ru varying the intensity.

With this configuration, it is possible to remind the driver of an exercise image in which a driving operation is performed manually, and to make an exercise plan in the brain. Since it can work on the driver's brain to perform advanced activities, it is possible to maintain a wakefulness for a long time with a single stimulus output. Therefore, it is possible to efficiently suppress the decrease in the arousal level of the driver. It also stabilizes the response of neural activity in the brain to vibrational stimuli. Therefore, it is possible to stably realize the effect of maintaining the wakefulness for a long time with one stimulus output. In addition, it is possible to remind the driver of the motion image of the body movement when the vehicle is turned by manual driving. Further, the driving support device can notify the driver of the traveling direction of the vehicle by associating the traveling direction of the vehicle with the driver. As a result, the movement image can be further strengthened.

Further, in the driving support device, the intensity of the vibration stimulus at the first frequency is smaller than the maximum intensity of the vibration stimulus at the second frequency.

With this configuration, the driver can more strongly feel the vibration stimulus given to the body part on the same side as the turning direction of the vehicle, so that it becomes easier to associate the traveling direction of the vehicle.

Further, in the above-mentioned driving support device, the output unit displays an image showing the physical movement of the driving operation when the turning is realized by manual driving when the vibration stimulus of the first frequency is applied to the first body part. It is displayed on the display screen provided in.

With this configuration, the body movements are visualized, so that the motion image can be further strengthened.

Further, in the driving support device, the first frequency is a frequency in the range of 70 hertz to 110 hertz.

With this configuration, the driver can have the illusion that the muscles of the first body part are stretched.

Further, the driving support device sets a plurality of second body parts which are body parts on the same side as the turning direction, and the output unit sets the intensity of the vibration stimulus of the second frequency given to the plurality of second body parts. Shift the timing to change.
With this configuration, by associating the driver with the traveling direction of the vehicle, it is possible to further strengthen the motion image of the driving operation in manual driving.
Further, a method according to an embodiment of the present invention includes an acquisition step of acquiring the execution schedule of stem turning of the vehicle during execution of automatic operation of the vehicle, if the execution schedule is acquired, the turning direction of the ride-membered vehicle the first body part is a body part of the opposite side, provided by the vibration device disposed in the seat of the vehicle compartment vibration stimulation of the first frequency allowed to illusion stretching muscles, and output step, only including, In the output process, a vibration stimulus of the first frequency is given to the first body part at a timing before the timing when the turning is executed, and a second body part on the same side as the turning direction is applied by the vibration device. A vibration stimulus of a second frequency that does not give the illusion of muscle stretching is given to a body part, and the intensity is changed only by the vibration stimulus of the second frequency .

With this configuration, it is possible to remind the driver of an exercise image in which a driving operation is performed manually, and to make an exercise plan in the brain. Since it can work on the driver's brain to perform advanced activities, it is possible to maintain a wakefulness for a long time with a single stimulus output. Therefore, it is possible to efficiently suppress the decrease in the arousal level of the driver. It also stabilizes the response of neural activity in the brain to vibrational stimuli. Therefore, it is possible to stably realize the effect of maintaining the wakefulness for a long time with one stimulus output. In addition, it is possible to remind the driver of the motion image of the body movement when the vehicle is turned by manual driving. Further, the driving support device can notify the driver of the traveling direction of the vehicle by associating the traveling direction of the vehicle with the driver. As a result, the movement image can be further strengthened.

The program according to an embodiment of the present invention causes a computer, an acquisition function of acquiring the execution schedule of the stem turning of the vehicle during execution of automatic operation of the vehicle, if the execution schedule is acquired, multiply membered vehicle turning An output function that gives a vibration stimulus of the first frequency, which gives the illusion of muscle stretch, to the first body part, which is the body part on the opposite side of the direction, by a vibration device arranged in the seat in the vehicle interior. Realized , the output function gives a vibration stimulus of the first frequency to the first body part at a timing before the timing when the turning is executed, and is a body part on the same side as the turning direction by the vibration device. a second body part, applying vibration stimulation of the second frequency is not allowed illusion stretching muscles, only the vibration stimulation of the second frequency, Ru varying the intensity.

With this configuration, it is possible to remind the driver of an exercise image in which a driving operation is performed manually, and to make an exercise plan in the brain. Since it can work on the driver's brain to perform advanced activities, it is possible to maintain a wakefulness for a long time with a single stimulus output. Therefore, it is possible to efficiently suppress the decrease in the arousal level of the driver. It also stabilizes the response of neural activity in the brain to vibrational stimuli. Therefore, it is possible to stably realize the effect of maintaining the wakefulness for a long time with one stimulus output. In addition, it is possible to remind the driver of the motion image of the body movement when the vehicle is turned by manual driving. Further, the driving support device can notify the driver of the traveling direction of the vehicle by associating the traveling direction of the vehicle with the driver. As a result, the movement image can be further strengthened.

FIG. 1 is an exemplary perspective view showing a state in which a part of the passenger compartment of the vehicle of the first embodiment is seen through. FIG. 2 is a diagram showing an arrangement example of the vibration device according to the first embodiment. FIG. 3 is a diagram showing an arrangement example of the vibration device according to the first embodiment. FIG. 4 is a graph showing the relationship between the neural activity value of the supplementary motor area and the duration of the wakefulness obtained by the experiments of the inventors. FIG. 5 is an exemplary block diagram of the configuration of the driving support system of the first embodiment. FIG. 6 is a block diagram showing an example of the functional configuration of the ECU as the driving support device of the first embodiment. FIG. 7 is a diagram showing an example of stimulus information according to the first embodiment. FIG. 8 is a graph showing an example of the transition of the intensity of the vibration stimulus given to the driver by the driving support device of the first embodiment when the lane is changed to the right lane. FIG. 9 is a diagram for explaining an example of a moving image displayed by the driving support device of the first embodiment when the lane is changed to the right lane. FIG. 10 is a diagram for explaining an example of a moving image displayed by the driving support device of the first embodiment in the case of changing lanes to the right lane. FIG. 11 is a diagram for explaining an example of a moving image displayed by the driving support device of the first embodiment when turning right. FIG. 12 is a diagram for explaining an example of a moving image displayed by the driving support device of the first embodiment when turning right. FIG. 13 is a flowchart showing the operation of the ECU as the driving support device of the first embodiment. FIG. 14 is a block diagram showing a functional configuration of the ECU as the driving support device of the second embodiment. FIG. 15 is a flowchart showing the operation of the ECU as the driving support device of the second embodiment.

<First Embodiment>
The vehicle 1 of the first embodiment may be, for example, a vehicle having an internal combustion engine (not shown) as a drive source, that is, an internal combustion engine vehicle, or a vehicle having an electric motor (not shown) as a drive source, that is, an electric vehicle or the like. It may be a fuel cell vehicle or the like, a hybrid vehicle using both of them as a drive source, or a vehicle having another drive source. Further, the vehicle 1 can be equipped with various transmission devices, and can be equipped with various devices necessary for driving an internal combustion engine or an electric motor, such as a system or a component. In addition, the method, number, layout, and the like of the devices involved in driving the wheels 3 in the vehicle 1 can be set in various ways.

FIG. 1 is an exemplary perspective view showing a state in which a part of the passenger compartment of the vehicle of the first embodiment is seen through. The vehicle 1 is, for example, a four-wheeled vehicle, and has two left and right front wheels 3F and two left and right rear wheels 3R. All of these four wheels 3 may be configured to be steerable. Note that FIG. 1 illustrates the left front wheel 3F and the left rear wheel 3R.

The vehicle body 2 constitutes a passenger compartment 2a on which an occupant (not shown) rides. In the vehicle interior 2a, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a shift operation unit 7, and the like are provided so as to face the seat 2b on which the driver as a occupant sits.

The steering unit 4 is, for example, a steering wheel protruding from the dashboard 8, the acceleration operation unit 5 is, for example, an accelerator pedal located under the driver's feet, and the braking operation unit 6 is, for example, the driver's. It is a brake pedal located under the feet, and the shift operation unit 7 is, for example, a shift lever protruding from the center console. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, and the speed change operation unit 7 are not limited to these.

Further, a monitor device 10 having a display screen 9 is provided in the vehicle interior 2a. The monitoring device 10 is provided, for example, in the central portion of the dashboard 8 in the vehicle width direction. The display screen 9 is, for example, an LCD (Liquid Crystal Display) or an OLELD (Organic Electroluminescent Display). The driver can visually recognize the image displayed on the display screen 9.

The monitor device 10 may have an operation input unit (not shown) such as a touch panel, a switch, a dial, a joystick, or a push button. Further, the monitoring device 10 can also be used as a navigation system or an audio system.

The seat 2b is provided with a plurality of vibration devices 20 that give a mechanical vibration stimulus to the driver's body. 2 and 3 are diagrams showing an arrangement example of a plurality of vibration devices 20 according to the first embodiment. FIG. 2 is a side view of the seat 2b with the driver seated. FIG. 3 is a perspective view of the seat 2b. As illustrated in these figures, the plurality of vibrating devices 20 here include six vibrating devices 20La, 20Lb, 20Lc, 20Ra, 20Rb, 20Rc.

The vibration device 20La is embedded in the backrest portion 2c of the seat 2b at a position where vibration stimulation can be applied to the side surface of the trunk on the left side of the occupant. The vibration device 20Ra is embedded in the backrest portion 2c of the seat 2b at a position where vibration stimulation can be applied to the side surface of the trunk on the right side of the occupant. The side surface of the trunk here is, for example, the position of the tendon of the latissimus dorsi muscle.

The vibration device 20Lb is embedded in the backrest portion 2c of the seat 2b at a position where a vibration stimulus can be applied to the side surface of the buttocks on the left side of the occupant. The vibration device 20Rb is embedded in the backrest portion 2c of the seat 2b at a position where a vibration stimulus can be applied to the side surface of the buttocks on the right side of the occupant. The side surface of the buttocks here is, for example, the position of the tendon of the gluteus medius muscle.

The vibration device 20Lc is embedded in the seat portion 2d of the seat 2b at a position where a vibration stimulus can be applied to the lateral surface of the femur on the left side of the occupant. The vibration device 20Rc is embedded in the seat portion 2d of the seat 2b at a position where a vibration stimulus can be applied to the lateral surface of the thigh on the right side of the occupant.

The six vibrating devices 20 do not necessarily have to be embedded in the seat 2b. Some or all of the six vibrating devices 20 may be provided in a seat cover covering the seat 2b or a cushion interposed between the seat 2b and the driver. Further, the number of vibration devices 20 provided in the seat 2b is not limited to six. Further, the arrangement position of each vibration device 20 is not limited to the above example.

Each of these vibration devices 20 is controlled by an ECU (Electronic Control Unit) 21 as the operation support device of the first embodiment.

When a vibration stimulus with a frequency in the range of 70 to 110 Hz is applied to the tendon of the subject's muscle, a motor illusion as if the muscle is stretched can be induced in the subject's brain. It is said that this is because the muscle spindle, which is a receptor that emits a signal when the muscle is stretched, is forcibly excited by a vibration stimulus having a frequency in the above range and emits a signal.

The motor illusion is that the brain illusions that the subject is exercising even if he / she is not actually exercising. During the motor illusion, the activity of the supplementary motor area increases. Supplement It is thought that increasing the activity of the motor area causes an increase in the input to the reticular formation of the brainstem, which is related to the alertness of the brain, and as a result, the brain can be made awake.

FIG. 4 is a graph showing the relationship between the neural activity value of the supplementary motor area and the duration of the wakefulness obtained by the experiments of the inventors of the present invention. In this experiment, the inventors of the present invention had the subject declare a subjective drowsiness level, and at the time of declaring sleepiness, a vibration stimulus having a frequency of 100 Hz was applied to the tendon of the gluteus medius muscle of the subject. The inventors of the present invention measured the nerve activity value (current density) of the supplementary motor area after applying the vibration stimulus, and also measured the time during which the declaration of sleeplessness continued, that is, the duration of the awake state. As shown in this figure, it was confirmed that the duration of the wakefulness increased as the neural activity value of the supplementary motor area increased.

During manual driving, the driver makes an exercise plan in the brain for the physical movement and posture maintenance of the driving operation before actually starting the driving operation. At that time, the supplementary motor area is activated. While drowsiness is less likely to occur in urban areas where there are many driving operations, drowsiness is more likely to occur in situations where driving operations are monotonous, such as on highways. It is mentioned that the activation of the supplementary motor area is reduced. During automatic driving, the driver does not need to make a driving operation and therefore does not need to make an exercise plan. As a result, the driver may not be able to stay awake.

The ECU 21 as the driving support device of the first embodiment outputs a stimulus according to the behavior of the vehicle 1 in order to make it difficult for the driver to get sleepy during automatic driving. Specifically, the ECU 21 induces a vibration stimulus with a frequency in the above-mentioned range, that is, a motion illusion, when the vehicle 1 is made to perform a specific motion (hereinafter referred to as a target motion) such as turning left or right during automatic driving. A vibration stimulus with a frequency to be applied is applied to the body part corresponding to the target movement. The body part corresponding to the target movement is a body part that is mobilized during the driving operation when the target movement is realized by manual operation.

The ECU 21 makes the driver illusion that the body part corresponding to the target movement has been mobilized, thereby reminding the driver of the movement image of the body when the target movement is realized by manual driving. The driver executes the exercise plan by recalling the corresponding exercise image before the target motion is executed. Not only is the supplementary motor area activated by vibration stimulation at a specific frequency, but the activation of the supplementary motor area is further strengthened by formulating an exercise plan, and the effect of maintaining a wakefulness is strengthened.

It is possible to awaken the driver by a simple external stimulus such as simply giving a strong vibration stimulus to the driver's body. However, in such a method, the driver merely temporarily awakens in response to an external stimulus, and the wakefulness does not last long. On the other hand, the driving support device of the first embodiment performs advanced activities on the driver's brain (particularly the supplementary motor area), such as reminding the driver of an exercise image or making an exercise plan. Can be done. In other words, the driver's brain can be "thought". Therefore, it is possible to prolong the maintenance time of the awake state as compared with the case where the driver is awakened by a simple external stimulus.

Further, in the driving support device of the first embodiment, after the exercise plan is made in response to the vibration stimulus, the corresponding target motion is performed. As a result, the association between the vibration stimulus and the target motion is strengthened in the driver's brain, and the response of the neural activity in the brain to the vibration stimulus is stabilized. That is, it is possible to stably realize the effect of maintaining the wakefulness for a long time.

The correspondence between the target movement and the body part to which the vibration stimulus is given will be described in detail in the following description.

FIG. 5 is an exemplary block diagram of the configuration of the driving support system of the first embodiment. In addition to the monitoring device 10 and the six vibration devices 20, the driving support system 100 includes an ECU 21, a steering system 22, a brake system 23, a speed change system 24, a drive source control system 25, and an in-vehicle network 26. The ECU 21, the steering system 22, the brake system 23, the speed change system 24, and the drive source control system 25 are electrically connected to the in-vehicle network 26. The in-vehicle network 26 is configured as, for example, a CAN (Controller Area Network).

The steering system 22 detects the torque given to the steering unit 4 by the driver, and sends the detected value of the torque to the ECU 21. Further, the steering system 22 is electrically controlled by the ECU 21 or the like to steer the wheels 3. The steering system 22 is, for example, an electric power steering system, an SBW (Steer By Wire) system, or the like. The steering system 22 may steer one wheel 3 or a plurality of wheels 3.

The brake system 23 detects the position of the movable portion of the braking operation unit 6 and sends the detected value to the ECU 21. Further, the brake system 23 is electrically controlled by an ECU 21 or the like, and applies a braking force to the wheels 3 and thus to the vehicle 1 via an actuator (not shown). The brake system 23 includes, for example, an ABS (Anti-lock Brake System) that suppresses brake lock, a skid prevention device (ESC: Electronic Stability Control) that suppresses skidding of the vehicle 1 during cornering, and an increase in braking force (brake). An electric brake system (which executes assist), BBW (Brake By Wire), etc.

The speed change system 24 detects the position of the movable part of the speed change operation unit 7. The speed change system 24 can detect the position of a lever, an arm, a button, or the like as a movable part of the speed change operation unit 7. The speed change system 24 sends the detected value to the ECU 21. Further, the shifting system 24 is electrically controlled by the ECU 21 or the like to switch the shifting ratio of a shifting mechanism (not shown).

The drive source control system 25 detects the position of the movable portion of the acceleration operation unit 5 and sends the detected value to the ECU 21. Further, the drive source control system 25 is electrically controlled by the ECU 21 or the like to increase or decrease the output of the drive source.

The ECU 21 has, for example, a CPU (Central Processing Unit) 21a, a ROM (Read Only Memory) 21b, a RAM (Random Access Memory) 21c, an SSD (Solid State Drive) 21d, and the like. The CPU 21a is an arithmetic unit capable of executing a program. The ROM 21b, the RAM 21c, and the SSD 21d are storage devices capable of storing programs and data. That is, the ECU 21 has a hardware configuration similar to that of a computer.

The CPU 21a can execute various arithmetic processes and controls such as image processing related to the image displayed on the display screen 9 and control of the vehicle 1 based on a predetermined program. For example, during manual operation, the CPU 21a receives various detected values from the steering system 22, the brake system 23, the speed change system 24, the drive source control system 25, etc. via the in-vehicle network 26, and is based on the received detected values. It controls the steering system 22, the brake system 23, the speed change system 24, the drive source control system 25, and the like.

The CPU 21a further realizes the function as the driving support device of the first embodiment by executing the driving support program 200 installed and stored in the ROM 21b. That is, the ECU 21 is an example of the driving support device of the first embodiment.

The RAM 21c temporarily stores various data used in the calculation in the CPU 21a. The SSD 21d is a rewritable non-volatile storage device, and can store data even when the power of the ECU 21 is turned off. The CPU 21a, ROM 21b, RAM 21c and the like can be integrated in the same package. Further, the ECU 21 may be configured to use another logic operation processor such as a DSP (Digital Signal Processor) or a logic circuit instead of the CPU 21a. Further, an HDD (Hard Disk Drive) may be provided in place of the SSD 21d, or the SSD 21d or the HDD may be provided separately from the ECU 21.

The driving support program 200 may be installed in the SSD 21d instead of the ROM 21b. The driving support program 200 is a computer-installable or executable file that can be read by a computer such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), or a flash memory. It may be recorded and provided on a possible recording medium.

Further, the driving support program 200 may be configured to be stored on a computer connected to a network such as the Internet and provided by downloading via the network. Further, the driving support program 200 may be provided or distributed via a network such as the Internet.

FIG. 6 is a block diagram showing an example of the functional configuration of the ECU 21 of the first embodiment. The ECU 21 functions as the automatic operation control unit 300 when the CPU 21a executes a predetermined program.

When automatic driving is instructed by the driver's operation, the automatic driving control unit 300 controls the steering system 22, the braking system 23, the speed change system 24, and the drive source control system 25 to control the vehicle 1 to the driver. The vehicle is driven without requiring the operation of various operation units (steering unit 4, acceleration operation unit 5, braking operation unit 6, and shift operation unit 7).

For example, the automatic driving control unit 300 drives the vehicle 1 according to a set route set by a navigation system or the like. When traveling on the set route, the automatic driving control unit 300 acquires the surrounding environment information indicating the surrounding environment of the vehicle 1 in substantially real time by an image pickup device or a distance measuring device (not shown), and controls the surrounding environment for automatic driving. provide feedback. Specifically, for example, when the automatic driving control unit 300 detects an obstacle based on the surrounding environment information, the automatic driving control unit 300 avoids the obstacle or stops the vehicle 1. Further, the automatic driving control unit 300 detects the preceding vehicle based on the surrounding environment information, and accelerates / decelerates the vehicle 1 so as to maintain the inter-vehicle distance from the preceding vehicle. Further, the automatic driving control unit 300 identifies each lane on the set route by the surrounding environment information. The automatic driving control unit 300 selects an appropriate lane according to a set route when there is a dedicated lane for turning left or right, or when passing through a junction of a highway, and the vehicle 1 is selected. Drive on the line.

The automatic driving control unit 300 does not necessarily have to automatically control both acceleration / deceleration and steering of the vehicle 1. The automatic driving control unit 300 may automatically control only a part of the acceleration / deceleration and steering of the vehicle 1. Further, the mechanism for controlling automatic driving is not limited to the above-mentioned example.

The ECU 21 further functions as a driving support unit 210 when the CPU 21a executes the driving support program 200. The driving support unit 210 is a function as the driving support device of the first embodiment, and includes a storage unit 211, an acquisition unit 212, and an output unit 213.

The storage unit 211 is a storage area reserved in the ROM 21b, the RAM 21c, or the SSD 21d. The storage unit 211 holds the stimulus information 214.

The stimulus information 214 is information created in advance indicating the correspondence between the target motion and the stimulus output executed when the target motion is executed. The stimulus information 214 may be included in the driving support program 200 and provided, or may be provided separately from the driving support program 200. The stimulus output includes three types of processing: a first vibration stimulus output, a second vibration stimulus output, and a visual stimulus output.

As described above, the first vibration stimulus output gives a vibration stimulus having a frequency that gives the illusion of muscle stretching to the body part corresponding to the target motion.

The second vibration stimulus output is for notifying the driver of the traveling direction when the target motion is the motion of turning the vehicle 1. In the second vibration stimulus output, the driver is notified of the traveling direction by applying a vibration stimulus having a frequency that does not give the illusion of muscle stretching to the body part on the same side as the driver's turning direction.

The visual stimulus output displays on the display screen 9 a moving image showing the physical movement during the driving operation when the target movement is realized by manual driving. As for the moving image showing the body movement during the driving operation, a model image simulating a part or all of the driver's body is displayed as an animation. The moving image is recorded in the corresponding moving image data 215 and held in the storage unit 211.

In the example described here, a plurality of movements are set as target movements in which the visual stimulus output is executed. The storage unit 211 holds a plurality of moving image data 215 corresponding to different target operations.

FIG. 7 is a diagram showing an example of the stimulus information 214 of the first embodiment. According to the example of this figure, the target motion includes a lane change to the right lane, a lane change to the left lane, a right turn, a left turn, an acceleration of a predetermined acceleration or more, and a deceleration of a predetermined deceleration or more. Of these movements, lane change to the right lane, lane change to the left lane, right turn, and left turn correspond to the target movement of turning the vehicle 1.

As illustrated in FIG. 7, in the case of changing lanes to the right lane, the vibration device 20Lb is used as the first vibration stimulation output at 100 Hz on the left side of the buttocks of the driver, that is, the tendon of the left gluteus medius muscle. Vibration stimulus is given. When the vehicle 1 is moved to the right lane by manual driving, the driver's body tilts to the side opposite to the turning direction of the vehicle 1, that is, to the left side, so that the gluteus medius muscle on the left side of the driver is stretched. That is, the left gluteus medius muscle is mobilized. The driver has the illusion that the gluteus medius muscle on the left side is stretched by applying a vibration stimulus with a frequency of 100 Hz to the tendon of the gluteus medius muscle on the left side of the driver. Since the driver has the illusion that the same muscles as in the case of manual driving are stretched, the driver can recall the motion image of the manual driving operation.

Further, in the case of changing lanes to the right lane, 50 Hz vibration stimulation is given to the right buttock side surface and the thigh side surface by the vibration device 20Rb and the vibration device 20Rc as the second vibration stimulation output. The 50 Hz vibration stimulus is an example of a vibration stimulus having a frequency that does not give the illusion of muscle stretch.

FIG. 8 is a graph showing an example of the transition of the intensity of the vibration stimulus given to each body part by the driving support device of the first embodiment when the lane is changed to the right lane. The solid line 30 shows the transition of the intensity of the vibration stimulus of 100 Hz given to the side surface of the buttocks on the left side. The broken line 31 shows the transition of the intensity of the vibration stimulus of 50 Hz given to the right side of the buttocks. The alternate long and short dash line 32 shows the transition of the intensity of the vibration stimulus of 50 Hz given to the right side of the thigh.

As illustrated in FIG. 8, the intensity of the 100 Hz vibration stimulus given to the side surface of the left buttock is constant at I1, and the intensity of the 50 Hz vibration stimulus given to each body part on the right side is in the range of 0 to I2. It can be varied like a serration. However, I2 is larger than I1. In addition, the vibration stimulus to the right side of the thigh fluctuates later than the vibration stimulus to the right side of the buttocks.

The driver feels that the vibration moves from the left buttock through the right buttock to the right thigh by applying the vibration stimulus of 50 Hz as described above to the right buttock side surface and the thigh side surface while varying the intensity. .. As a result, the driver can associate the traveling direction of the vehicle 1 with the diagonally forward right direction. That is, the driver is notified that the traveling direction of the vehicle 1 is diagonally forward to the right. By associating the driver with the traveling direction of the vehicle 1, it is possible to further strengthen the motion image of the driving operation in manual driving.

The transition of the intensity of the vibration stimulus of 50 Hz described above is an example. The 50 Hz vibration stimulus may be pulsed, i.e., intermittently varying in intensity. Further, the intensity of the vibration stimulus of 50 Hz may be varied in a triangular wave shape. Further, the frequency used in the second vibration stimulus output may be a frequency that does not induce a motion illusion, and is not limited to 50 Hz.

Further, in the above example, the maximum value of the intensity of the vibration stimulus at 50 Hz is larger than the intensity of the vibration stimulus at 100 Hz. As a result, the driver can feel the vibration stimulus of 50 Hz more strongly, so that it becomes easier to associate the traveling direction. The maximum value of the intensity of the vibration stimulus at 50 Hz does not necessarily have to be larger than the intensity of the vibration stimulus at 100 Hz.

Further, in the case of changing lanes to the right lane, a moving image showing a physical movement of tilting the upper body to the left is displayed on the display screen 9 as a visual stimulus output.

9 and 10 are diagrams for explaining an example of a moving image displayed by the driving support device of the first embodiment in the case of changing lanes to the right lane. First, the image 90a shown in FIG. 9 is displayed on the display screen 9. After that, the display content of the display screen 9 transitions to the image 90b shown in FIG.

The image 90a includes a road model image 91 simulating a traveling road, a white line model image 92 simulating a white line separating lanes, and a seat model image 93 simulating a seat 2d. The upper body model image 1000 simulating the upper body of the driver is arranged above the arrangement position of the seat model image 93 without being tilted to the left or right.

In the image 90b, the upper body model image 1000 is arranged at an angle to the left above the arrangement position of the seat model image 93.

By shifting the display content from the image 90a to the image 90b, the driver can recognize the movement of the upper body model image 1000 as the movement of the upper body tilting to the left. Since the posture of the body during the driving operation when the vehicle 1 is moved to the right lane by the manual driving is visualized on the display screen 9, the motion image of the driving operation by the manual driving can be further strengthened.

The moving images described with reference to FIGS. 9 and 10 are merely examples. For example, as in the case of turning right, which will be described later, a moving image showing a body movement of turning the steering wheel, which is the steering unit 4, to the right may be displayed. Further, the image 90a and the image 90b may be displayed alternately.

Further, in the examples of FIGS. 9 and 10, the images 90a and 90b include an arrow 94 that schematically indicates the traveling direction of the vehicle 1. The images 90a and 90b may not include the arrow 94.

When changing lanes to the left lane, the stimulus is opposite to that when changing lanes to the right lane. Specifically, as the first vibration stimulus output, a vibration stimulus of 100 Hz is given to the right side of the buttocks by the vibration device 20Rb. The intensity of the vibration stimulus given to the right buttock side surface is I1. Further, as the second vibration stimulus output, the vibration device 20Lb and the vibration device 20Lc provide a vibration stimulus of 50 Hz to the left buttock side surface and the thigh side surface. The intensity of the 50 Hz vibration stimulus applied to the left buttock side and thigh side is serrated in the range of 0 to I2, lagging behind the vibration stimulus to the left buttock side, and the vibration stimulus to the left thigh side. Fluctuates. Further, as a visual stimulus output, a moving image showing a physical movement of tilting the upper body to the right side is displayed on the display screen 9.

In the case of a right turn, as the first vibration stimulus output, the vibration device 20La applies a vibration stimulus of 100 Hz to the left trunk side surface of the driver, that is, the tendon of the left latissimus dorsi muscle. When turning the vehicle 1 to the right by manual driving, the driver makes a large turn to the right of the steering wheel, which is the steering unit 4. At that time, the latissimus dorsi muscle on the left side is mobilized and stretched. The driver has the illusion that the left latissimus dorsi muscle is stretched by applying a vibration stimulus of 100 Hz to the tendon of the left latissimus dorsi muscle. Since the driver has the illusion that the same muscles as in the case of manual driving are stretched, the driver can recall the motion image of the manual driving operation.

Further, in the case of a right turn, a vibration stimulus of 50 Hz is given to the side surface of the trunk on the right side of the driver by the vibration device 20Ra as the second vibration stimulus output. The intensity of the 50 Hz vibration stimulus applied to the right side of the trunk is serrated in the range 0 to I2, for example, as shown by the dashed line 31 shown in FIG. However, the intensity of the vibration stimulus of 100 Hz given to the left side of the trunk is constant at I1. By applying the vibration stimulus of 50 Hz in this way, the driver can feel that the vibration moves from the side surface of the trunk on the left side to the side surface of the trunk on the right side, and as a result, the traveling direction of the vehicle 1 is to the right. You can associate it with the direction. By associating the driver with the traveling direction of the vehicle 1, it is possible to further strengthen the motion image of the driving operation in manual driving.

Further, in the case of a right turn, as a visual stimulus output, a moving image showing a physical motion of turning the steering wheel to the right is displayed on the display screen 9.

11 and 12 are diagrams showing an example of a moving image displayed by the driving support device of the first embodiment in the case of a right turn. First, the image 90c shown in FIG. 11 is displayed on the display screen 9. After that, the display content of the display screen 9 transitions to the image 90d shown in FIG.

The image 90c includes a road model image 91, a seat model image 93, and a steering wheel model image 95 showing the steering wheel which is the steering wheel 4. Further, the upper body model image 1000 includes an upper limb model image 1001 showing the driver's upper limbs. In the image 90c, the upper limb model image 1001 is displayed symmetrically, and thus shows a state in which the steering wheel is gripped in a state where the steering angle is zero.

In the image 90d, the upper limb model image 1001 shows a state in which the steering wheel is gripped in a state where the steering wheel is turned to the right by about 60 degrees.

When the display content changes from the image 90c to the image 90d, the driver can recognize the movement of the upper limb model image 1001 as a movement of turning the steering wheel to the right side. Since the physical movement during the driving operation when turning the vehicle 1 to the right in the manual driving is visualized by the display, the motion image of the driving operation in the manual driving can be further strengthened.

The moving images described with reference to FIGS. 11 and 12 are merely examples. For example, as in the case of moving the lane to the right lane described above, a moving image showing the posture in which the body leans to the left may be displayed. Further, the image 90c and the image 90d may be displayed alternately. The image 90c and the image 90d include an arrow 96 that schematically indicates the traveling direction of the vehicle 1. The image 90c and the image 90d may not include the arrow 96.

In the case of a left turn, the stimulus is the opposite of that in the case of a right turn. Specifically, as the first vibration stimulus output, a vibration stimulus of 100 Hz is given to the right side surface of the trunk by the vibration device 20Ra. The intensity of the vibration stimulus given to the right side of the trunk is I1. Further, as a second vibration stimulus output, a vibration stimulus of 50 Hz is given to the left side of the trunk by the vibration device 20La. The intensity of the 50 Hz vibration stimulus applied to the left side of the trunk varies in a serrated manner in the range of 0 to I2. Further, as a visual stimulus output, a moving image showing a physical motion of turning the steering wheel to the left is displayed on the display screen 9.

In the case of acceleration above a predetermined acceleration, as the first vibration stimulation output, vibration stimulation of 100 Hz is given to the left and right sides of the trunk, that is, the tendons of the left and right latissimus dorsi muscles by the vibration devices 20La and 20Ra. When accelerating the vehicle 1 by manual driving, the driver's upper body is pressed against the backrest portion 2c. At that time, the left and right latissimus dorsi muscles are stretched. That is, the left and right latissimus dorsi muscles are mobilized. The driver illusions that the left and right latissimus dorsi muscles are stretched by applying a vibration stimulus of 100 Hz to the tendons of the left and right latissimus dorsi muscles. Since the driver has the illusion that the same muscles as in the case of manual driving are stretched, the driver can recall the motion image of the manual driving operation.

In the case of acceleration above a predetermined acceleration, the second vibration stimulus output is not executed.

Further, in the case of acceleration at a predetermined acceleration or higher, a moving image showing the body movement of depressing the accelerator pedal as the acceleration operation unit 5 is displayed on the display screen 9 as a visual stimulus output.

In the case of deceleration of a predetermined deceleration or more, as the first vibration stimulation output, vibration stimulation of 100 Hz is given to the left and right sides of the driver's buttocks, that is, the tendons of the left and right gluteus medius muscles by the vibration devices 20Lb and 20Rb. When decelerating the vehicle 1 by manual driving, the driver's upper body leans forward slightly. At that time, the left and right gluteus medius muscles are stretched. That is, the left and right gluteus medius muscles are mobilized. The driver has the illusion that the left and right gluteus medius muscles are stretched by applying a vibration stimulus of 100 Hz to the tendons of the left and right gluteus medius muscles. Since the driver has the illusion that the same muscles as in the case of manual driving are stretched, the driver can recall the motion image of the manual driving operation.

In the case of deceleration of a predetermined deceleration or more, the second vibration stimulus output is not executed.

Further, in the case of deceleration at a predetermined deceleration or higher, a moving image showing the body movement of depressing the brake pedal as the braking operation unit 6 is displayed on the display screen 9 as a visual stimulus output.

It should be noted that each target motion exemplified using the stimulus information 214 in FIG. 7 is merely an example. Any action can be added as a target action. Also, some or all of the actions exemplified using the stimulus information 214 in FIG. 7 may be modified or deleted.

For example, only the right / left turn motion may be regarded as the target motion, or only the lane change motion may be regarded as the target motion.

Further, although the example in which the motion of acceleration equal to or higher than the predetermined acceleration is regarded as the target motion has been described, the motion of acceleration may be regarded as the target motion regardless of the magnitude of the acceleration. Similarly, deceleration movements may be considered as target movements regardless of the magnitude of deceleration.

Further, the stimulus output associated with each target motion by the stimulus information 214 in FIG. 7 is an example. The first vibration stimulus output is arbitrary as long as a vibration stimulus of a specific frequency that gives the illusion of muscle stretching is given to the body part of the driver mobilized during the driving operation when the target motion is realized by manual driving. It can be changed. Further, the second vibration stimulus output can be arbitrarily changed as long as the vibration stimulus having a frequency that does not give the illusion of muscle stretching is given to the body part on the same side as the turning direction of the vehicle 1. Further, the visual stimulus output can be arbitrarily changed as long as the output content represents the physical movement of the driving operation. For example, as a visual stimulus output, a still image showing the physical movement of the driving operation may be output.

The explanation is returned to FIG. The acquisition unit 212 acquires the execution schedule of the target operation from the automatic operation control unit 300. According to the example of FIG. 7, the execution schedule of the target operation is the execution schedule of the lane change to the right lane, the execution schedule of the lane change to the left lane, the execution schedule of the right turn, the execution schedule of the left turn, and the predetermined acceleration or more. Acceleration is scheduled to be executed, or deceleration is scheduled to be executed at a predetermined deceleration or higher.

The automatic driving control unit 300 first calculates the scheduled operation of the vehicle 1 based on the set route and the surrounding environment information, and then executes the scheduled operation. The acquisition unit 212 acquires the execution schedule of the target operation by sequentially acquiring the scheduled operation from the automatic operation control unit 300 and determining whether or not the acquired scheduled operation corresponds to the target operation.

The method of acquiring the execution schedule of the target operation is not limited to the above method. For example, the automatic operation control unit 300 may determine whether or not the scheduled operation corresponds to the target operation, and if the scheduled operation corresponds to the target operation, notify the acquisition unit 212 of the scheduled operation.

When the acquisition unit 212 acquires the execution schedule of the target motion, the acquisition unit 212 identifies the stimulus output corresponding to the target motion by referring to the stimulus information 214. Then, the acquisition unit 212 notifies the output unit 213 of the specified stimulus output.

The output unit 213 executes the specified stimulus output at a timing before the target motion is executed. For example, when the target motion is the motion of turning the vehicle 1, the output unit 213 executes the stimulus output before the predetermined time when the steering system 22 performs the turning control.

The interval between the execution timing of the stimulus output and the execution timing of the target motion is, for example, about 1 to 2 seconds. That is, the output unit 213 executes the stimulus output 1 to 2 seconds before the execution timing of the target operation. The driver can recall the corresponding motion image and formulate a motion plan between the time when the stimulus output is executed and the time when the target motion is executed.

The interval between the two timings is not limited to the above. Further, the interval between both timings may or may not be fixed. In addition, the period of the stimulus output has a certain length, for example, 30 seconds, and the stimulus output is started 1 to 2 seconds before the execution timing of the target motion, so that the target motion is executed during the execution of the stimulus output. It may be executed.

FIG. 13 is a flowchart showing the operation of the ECU 21 as the driving support device of the first embodiment.

The acquisition unit 212 determines whether or not the automatic operation control unit 300 is executing automatic operation (S101). When the automatic operation control unit 300 is executing the automatic operation (S101, Yes), the acquisition unit 212 acquires the scheduled operation from the automatic operation control unit 300 (S102). Then, the acquisition unit 212 determines whether or not the acquired scheduled operation corresponds to the target operation (S103). The acquisition unit 212 can determine whether or not the scheduled motion corresponds to the target motion by referring to the stimulus information 214, for example.

When the scheduled motion corresponds to the target motion (S103, Yes), the acquisition unit 212 refers to the stimulus information 214, and the stimulus output corresponding to the target motion, that is, the first vibration stimulus output and the second vibration stimulus output. The vibration stimulus output and the visual stimulus output are specified (S104). The acquisition unit 212 notifies the output unit 213 of the specified stimulus output. In addition, there may be a case where the second vibration stimulus output is not set as in the case of acceleration or deceleration.

The output unit 213 executes the specified stimulus output (S105).

In the process of S105, the output unit 213 executes the first vibration stimulus output and the second vibration stimulus output by using the corresponding vibration device 20. The output unit 213 transmits, for example, a signal for starting a vibration stimulus and a signal for designating a frequency to the corresponding vibration device 20. Upon receiving the signal for starting the vibration stimulus and the signal for designating the frequency, the vibrating device 20 starts vibrating at the designated frequency.

Further, in the process of S105, the output unit 213 reads the corresponding video data 215 from the plurality of video data 215 held in the storage unit 211, and outputs the read video data 215 to the display screen 9. ..

After the stimulus output is executed by the process of S105, the target operation is executed by the automatic operation control unit 300 (S106).

When the automatic operation control unit 300 is not executing automatic operation (S101, No), or when the acquired scheduled operation does not correspond to the target operation (S103, No), or after the processing of S106, the processing of S101 is performed. Will be executed again.

As described above, the ECU 21 as the driving support device of the first embodiment functions as the acquisition unit 212 and the output unit 213. The acquisition unit 212 acquires the execution schedule of the target operation of the vehicle 1 during the execution of the automatic driving. The output unit 213 executes the first vibration stimulus output when the execution schedule of the target operation is acquired. The first vibration stimulus output is a specific vibration stimulus output that induces a motion illusion by the vibration device 20 arranged in the seat 2b on the body part of the driver mobilized during the driving operation when the target motion is realized by manual driving. It is to give a vibration stimulus of frequency.

With this configuration, the ECU 21 as the driving support device of the first embodiment can remind the driver of an exercise image in which a driving operation is performed manually, and can make an exercise plan in the brain. The ECU 21 as the driving support device of the first embodiment can act on the driver's brain to execute a high-level activity on the driver's brain, so that a single stimulus output maintains a wakefulness for a long time. be able to. Therefore, it is possible to efficiently suppress the decrease in the arousal level of the driver.

Further, the output unit 213 executes the first vibration stimulus output at a timing before the target operation is executed.

With this configuration, the association between the vibration stimulus and the target motion is strengthened in the driver's brain, and the response of the neural activity in the brain to the vibration stimulus is stabilized. Therefore, it is possible to stably realize the effect of maintaining the wakefulness for a long time with one stimulus output.

Further, since the output of the first vibration stimulus is executed before the output unit 213 executes the target motion, the driver can imagine the execution of the target motion in advance. As a result, it is possible to suppress the occurrence of motion sickness, reduce the discomfort with the control of automatic driving, and improve the riding comfort.

The output unit 213 does not necessarily have to execute the first vibration stimulus output at a timing before the target operation is executed. The output unit 213 may execute the first vibration stimulus output at the same time as the target operation is executed.

Further, in the case of changing lanes, the output unit 213 applies a vibration stimulus having a frequency that gives the illusion of muscle stretching to the side surface of the buttocks on the side opposite to the turning direction of the vehicle 1. In the case of turning left or right, the output unit 213 applies a vibration stimulus with a frequency that gives the illusion of muscle stretch to the side surface of the trunk opposite to the turning direction of the vehicle 1.

As described above, when the target motion is the motion of turning the vehicle 1, the output unit 213 gives a vibration stimulus having a frequency that gives the illusion of muscle stretching to the body portion on the side opposite to the turning direction of the vehicle 1. With this configuration, it is possible to remind the driver of the motion image of the body motion when the target motion is realized by manual driving.

Further, in the case of changing lanes, the output unit 213 applies a vibration stimulus at a frequency that does not give the illusion of muscle stretch to the side surface of the buttocks and the side surface of the thigh on the same side as the turning direction of the vehicle 1, while varying the intensity. In the case of turning left or right, the output unit 213 applies a vibration stimulus with a frequency that does not give the illusion of muscle stretch to the side surface of the trunk on the same side as the turning direction of the vehicle 1, while varying the intensity.

As described above, in the case of the turning motion of the vehicle 1, the output unit 213 gives a vibration stimulus having a frequency that does not give the illusion of muscle stretching to the body part on the same side as the turning direction of the vehicle 1. With this configuration, the driver is notified of the traveling direction of the vehicle 1 by being associated with the traveling direction of the vehicle 1. As a result, the movement image can be further strengthened.

Further, the intensity of the frequency given to the body part on the opposite side of the turning direction of the vehicle 1 to illusion the muscle stretch is illusioned to the muscle stretching given to the body part on the same side as the turning direction of the vehicle 1. Less than the maximum intensity of the vibration stimulus at no frequency. As a result, the driver can more strongly feel the vibration stimulus given to the body part on the same side as the turning direction of the vehicle 1, so that it becomes easier to associate the traveling direction.

Further, the output unit 213 displays an image showing the physical movement of the driving operation when the target movement is realized by the manual operation on the display screen 9 at the time of the first vibration stimulation output.

With this configuration, the physical movement of the driving operation when the target movement is realized by manual driving is visualized on the display screen 9, so that the motion image can be further strengthened.

The frequency that induces the illusion of motion in the driver is a frequency that causes the illusion of muscle stretching, and is, for example, a frequency in the range of 70 hertz to 110 hertz.

<Second embodiment>
When driving on a highway, the execution frequency of the target motion may decrease. In such a case, the chance of stimulus output to the driver is reduced, and there is a possibility that the wakefulness cannot be maintained sustainably. Therefore, the driving support device of the second embodiment creates an opportunity to execute the stimulus output by forcibly causing the vehicle 1 to execute some target motion when the period in which the target motion is not executed continues for a certain period of time.

FIG. 14 is a block diagram showing an example of the functional configuration of the ECU 21 of the second embodiment. Elements different from the first embodiment are designated by different reference numerals from the first embodiment. The same elements as in the first embodiment will be omitted.

The ECU 21 functions as an automatic driving control unit 300 and a driving support unit 210a. The driving support unit 210a is a function as the driving support device of the second embodiment, and includes a storage unit 211, an acquisition unit 212a, an output unit 213a, and a measurement unit 216.

The storage unit 211 holds the stimulus information 214 and the moving image data 215.

The measurement unit 216 is a counter that measures the elapsed time since the last target operation was executed. After executing the target operation, the measurement unit 216 resets the count value and restarts the count.

The acquisition unit 212a and the output unit 213a execute the operation described below in addition to the operation similar to that of the first embodiment (that is, the operation shown in FIG. 13).

When the elapsed time from the last execution of any target motion reaches a predetermined threshold value, the acquisition unit 212a determines the target motion to be forcibly executed and specifies the stimulus output corresponding to the target motion. do. Hereinafter, the target operation to be forcibly executed will be referred to as a second target operation. The above-mentioned threshold value to be compared with the elapsed time can be set arbitrarily.

The method for determining the second target motion is not limited to a specific method. For example, the acquisition unit 212a acquires travel route and surrounding environment information via the automatic driving control unit 300, and based on the acquired information, out of the six target movements recorded in the stimulus information 214. A feasible target action is selected, and the selected target action is determined as a second target action. For example, when traveling on a highway, if no other vehicle is detected in the right lane, it is possible to change lanes to the right lane. In that case, the acquisition unit 212a determines the lane change to the right lane as the second target operation.

The output unit 213a executes the stimulus output corresponding to the second target operation, and also sends an instruction to the automatic operation control unit 300 to execute the second target operation. The output unit 213a executes the stimulus output corresponding to the second target motion before forcibly executing the second target motion.

FIG. 15 is a flowchart showing the operation of the ECU 21 as the driving support device of the second embodiment.

By referring to the count value of the measurement unit 216, the acquisition unit 212a determines whether or not the elapsed time since the last execution of any target operation has reached a predetermined threshold value (S201). When the elapsed time reaches the threshold value (S201, Yes), the acquisition unit 212a determines the second target operation (S202).

Following the processing of S202, the acquisition unit 212a identifies the stimulus output corresponding to the second target motion by referring to the stimulus information 214 (S203). The acquisition unit 212a notifies the output unit 213a of the second target motion and the stimulus output corresponding to the second target motion.

The output unit 213a executes a stimulus output corresponding to the second target motion (S204). After that, the output unit 213a causes the automatic operation control unit 300 to execute the second target operation by sending an instruction to the automatic operation control unit 300 (S205).

When the elapsed time has not reached the threshold value (S201, No), or after the processing of S205, the determination processing of S201 is executed again.

As described above, according to the second embodiment, the measuring unit 216 measures the elapsed time since the last target operation was executed. When the elapsed time exceeds a predetermined threshold value, the output unit 213a executes the stimulus output corresponding to the second target motion. Further, the output unit 213a causes the automatic operation control unit 300 to execute the second target operation.

With this configuration, the driving support device of the second embodiment continuously maintains the awake state because it creates an opportunity to execute the stimulus output even when the target motion is not executed for a continuous period. Can be done.

In the above description, the output unit 213a has been described as executing the first vibration stimulus output, the second vibration stimulus output, and the visual stimulus output. The output unit 213a may execute the first vibration stimulus output, and may not necessarily execute all of the first vibration stimulus output, the second vibration stimulus output, and the visual stimulus output.

Further, the output unit 213a has been described as executing the corresponding stimulus output before the second target motion is executed. The output unit 213a may execute the corresponding stimulus output at the same time as the second target motion is executed.

In the description of the first embodiment and the second embodiment, it has been described that the function as the driving support device (driving support units 210, 210a) is realized by the ECU 21, that is, one computer. Each functional component (storage unit 211, acquisition unit 212, 212a, output unit 213, 213a, and measurement unit 216) included in the function as a driving support device can be distributed and realized in a plurality of computers.

Further, in the above, it has been described that the function as the driving support device and the automatic driving control unit 300 are realized by the same ECU 21. The function as a driving support device and the automatic driving control unit 300 can be realized by different computers.

Further, in the above, it has been described that the function as the driving support device is realized by the CPU 21a executing the driving support program 200. Part or all of the function as a driving support device can be realized by a hardware circuit such as an ASIC (Application Specific Integrated Circuit).

Further, the function as a driving support device can be realized by any portable information terminal. For example, the driver downloads the driving support program 200 to the smartphone in advance. Then, the driver connects the smartphone to the in-vehicle network 26 and each vibration device 20 wirelessly or by wire, and activates the driving support program 200. The smartphone starts a function as a driving support device, acquires a scheduled operation of automatic driving from the ECU 21, and controls each vibration device 20 by sending a signal to each vibration device 20.

As described above, the functions of the first embodiment and the second embodiment as the driving support device can be realized by various hardware.

Although the embodiments of the present invention have been illustrated above, the above-described embodiments and modifications are merely examples, and the scope of the invention is not intended to be limited. The above-described embodiment and modification can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the gist of the invention. Further, the configuration and shape of each embodiment and each modification can be partially replaced.

1 ... Vehicle, 2 ... Body, 2a ... Car room, 2b ... Seat, 2c ... Backrest, 2d ... Seat, 3 ... Wheels, 3F ... Front wheels, 3R ... Rear wheels, 4 ... Steering, 5 ... Acceleration operation , 6 ... Braking operation unit, 7 ... Shift operation unit, 8 ... Dashboard, 9 ... Display screen, 10 ... Monitor device, 20, 20La, 20Lb, 20Lc, 20Ra, 20Rb, 20Rc ... Vibration device, 21 ... ECU, 22 ... Steering system, 23 ... Brake system, 24 ... Speed change system, 25 ... Drive source control system, 26 ... In-vehicle network, 30 ... Solid line, 31 ... Broken line, 32 ... Single point chain line, 90a, 90b, 90c, 90d ... Image, 91 ... Road model image, 92 ... White line model image, 93 ... Seat model image, 94, 96 ... Arrow, 95 ... Steering wheel model image, 100 ... Driving support system, 200 ... Driving support program, 210, 210a ... Driving support department , 211 ... Storage unit, 212, 212a ... Acquisition unit, 213, 213a ... Output unit, 214 ... Stimulation information, 215 ... Video data, 216 ... Measurement unit, 300 ... Automatic operation control unit, 1000 ... Upper body model image, 1001 ... Upper limb model image.

Claims (7)

An acquisition unit that acquires the execution schedule of the turning of the vehicle during the execution of automatic driving of the vehicle,
If the execution schedule is acquired, the first body part and the turning direction of the vehicle ride who is a body part of the opposite side, the vibration stimulation of the first frequency allowed to illusion stretching muscles in the cabin It is equipped with an output unit, which is provided by a vibrating device arranged in the seat.
The output unit gives the vibration stimulus of the first frequency to the first body part at a timing before the timing at which the turning is executed, and the vibration device causes the vibration device to be on the same side as the turning direction. a second body part which is a body part, applying vibration stimulation of the second frequency is not allowed illusion stretching muscles, only the vibration stimulation of the second frequency, varying the intensity, OPERATION support apparatus. The intensity of the vibration stimulus at the first frequency is smaller than the maximum intensity of the vibration stimulus at the second frequency.
The driving support device according to claim 1. The output unit is provided with an image showing the body movement of the driving operation when the turning is realized by manual driving when the vibration stimulus of the first frequency is applied to the first body part. Display on the display screen,
The driving support device according to claim 1 or 2. The first frequency is a frequency in the range of 70 hertz to 110 hertz.
The driving support device according to any one of claims 1 to 3. A plurality of second body parts, which are body parts on the same side as the turning direction, are set.
The output unit shifts the timing of varying the intensity of the vibration stimulus of the second frequency applied to the plurality of second body parts.
The driving support device according to claim 1. The acquisition process of acquiring the execution schedule of the turning of the vehicle during the execution of the automatic driving of the vehicle, and
If the execution schedule is acquired, the first body part and the turning direction of the vehicle ride who is a body part of the opposite side, the vibration stimulation of the first frequency allowed to illusion stretching muscles in the cabin Including the output process, which is given by the vibrating device disposed on the seat,
In the output step, the vibration stimulus of the first frequency is applied to the first body part at a timing prior to the timing at which the turning is executed, and the vibration device causes the vibration device to be on the same side as the turning direction. A second frequency vibration stimulus that does not give the illusion of muscle stretching is given to the second body part, and the intensity is changed only by the second frequency vibration stimulus.
METHODS. On the computer
The acquisition function to acquire the execution schedule of the turning of the vehicle while the automatic driving of the vehicle is being executed, and
If the execution schedule is acquired, the first body part and the turning direction of the vehicle ride who is a body part of the opposite side, the vibration stimulation of the first frequency allowed to illusion stretching muscles in the cabin Realizing the output function provided by the vibration device installed in the seat,
The output function gives the vibration stimulus of the first frequency to the first body part at a timing before the timing at which the turning is executed, and the vibration device causes the vibration device to be on the same side as the turning direction. A second frequency vibration stimulus that does not give the illusion of muscle stretching is given to the second body part, and the intensity is changed only by the second frequency vibration stimulus.
Program.

Images