JP7364305B2 - Human behavior calculation device and program - Google Patents
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Description
本発明は、人体挙動計算装置及びプログラムに係り、特に、車両のシートに着座した乗員の挙動を計算する人体挙動計算装置及びプログラムに関する。 The present invention relates to a human body behavior calculation device and program, and more particularly to a human body behavior calculation device and program for calculating the behavior of an occupant seated in a vehicle seat.
従来より、人体の挙動をシミュレーションする技術が知られている（例えば、特許文献１）。特許文献１に記載の技術では、最小筋肉動作関数を目的関数に採用する最適制御理論に基づいて人体の動きを推定し、この動きを実現する筋制御をフィードフォワード的に行っている。さらに、計算された動きにおいて人体の姿勢を検証し、姿勢が不安定になった場合には動きの修正を行っている。 BACKGROUND ART Conventionally, techniques for simulating human body behavior have been known (for example, Patent Document 1). In the technique described in Patent Document 1, human body movement is estimated based on an optimal control theory that uses a minimum muscle movement function as an objective function, and muscle control to realize this movement is performed in a feedforward manner. Furthermore, the posture of the human body is verified during the calculated movements, and if the posture becomes unstable, the movement is corrected.
しかしながら、上記特許文献１に記載の技術では、不安定になるたびに最適制御理論に基づく制御則を繰り返し演算するとともに人体挙動のシミュレーションを繰り返す必要が生じるという問題点がある。 However, the technique described in Patent Document 1 has a problem in that it is necessary to repeatedly calculate a control law based on optimal control theory and to repeat a simulation of human body behavior every time instability occurs.
また、自動車乗車中の座位姿勢で旋回に伴う横加速度を受けたときには、乗員、特にドライバはシートに体を委ねつつも頭部を旋回内側に倒し、横加速度に対抗させて倒立させようとする特性を有している。しかしながら、上記特許文献１に記載の技術では、頭部の部分的な安定化などのフィードバック制御については考慮されていない。一方、人間には、頭部の倒立のために頭部の加速度を検知する耳石や、姿勢の崩れを防ぐために筋肉や腱の伸縮を検知する筋紡錘・腱紡錘などの感覚器が備わっており、これらの信号をフィードバックに用いられていることが分かっている。 Additionally, when a vehicle is seated and receives lateral acceleration due to a turn, the occupant, especially the driver, leans his or her body into the seat while tilting the head toward the inside of the turn, trying to counteract the lateral acceleration and stand upright. It has characteristics. However, the technique described in Patent Document 1 does not consider feedback control such as partial stabilization of the head. On the other hand, humans are equipped with sensory organs such as otoliths, which detect the acceleration of the head when the head is inverted, and muscle spindles and tendon spindles, which detect the expansion and contraction of muscles and tendons to prevent posture collapse. It is known that these signals are used for feedback.
本発明は、上記の事情を鑑みてなされたもので、車両のシートに着座した乗員の挙動を精度良く計算することができる人体挙動計算装置及びプログラムを提供することを目的とする。 The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a human body behavior calculation device and program that can accurately calculate the behavior of an occupant seated in a vehicle seat.
上記の目的を達成するために本発明に係る人体挙動計算装置は、車両のシートに着座した乗員の挙動を計算する人体挙動計算装置であって、車両のシートに着座した乗員の挙動を表す人体挙動モデルであって、前記乗員の人体が、頭部及び胸部を含む上部、骨盤を含む中部、及び骨盤より下の下半身を含む下部に分割され、前記中部及び前記下部の間の関節と、前記上部及び前記中部の間の関節とを有する人体挙動モデルを用いて、姿勢の崩れを防ぐための前記中部及び前記下部の間の関節トルクを、前記中部及び前記下部の間の関節角から演算し、前記車両に印加される加速度に対抗して頭部を倒立させるための前記上部及び前記中部の間の関節トルクを、頭部の加速度に応じて演算することにより、前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の関節角とを含む前記乗員の挙動を計算する。 In order to achieve the above object, a human body behavior calculation device according to the present invention is a human body behavior calculation device that calculates the behavior of an occupant seated on a vehicle seat. The human body of the occupant is divided into an upper part including the head and chest, a middle part including the pelvis, and a lower part including the lower body below the pelvis, and a joint between the middle part and the lower part, and a joint between the middle part and the lower part. Using a human body behavior model having a joint between the upper part and the middle part, a joint torque between the middle part and the lower part to prevent posture collapse is calculated from a joint angle between the middle part and the lower part. , a joint torque between the upper part and the middle part for inverting the head against the acceleration applied to the vehicle is calculated according to the acceleration of the head, and the torque between the middle part and the lower part is calculated. and a joint angle between the upper part and the middle part.
本発明に係るプログラムは、車両のシートに着座した乗員の挙動を計算するためのプログラムであって、コンピュータを、車両のシートに着座した乗員の挙動を表す人体挙動モデルであって、前記乗員の人体が、頭部及び胸部を含む上部、骨盤を含む中部、及び骨盤より下の下半身を含む下部に分割され、前記中部及び前記下部の間の関節と、前記上部及び前記中部の間の関節とを有する人体挙動モデルを用いて、姿勢の崩れを防ぐための前記中部及び前記下部の間の関節トルクを、前記中部及び前記下部の間の関節角から演算し、前記車両に印加される加速度に対抗して頭部を倒立させるための前記上部及び前記中部の間の関節トルクを、頭部の加速度に応じて演算することにより、前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の関節角とを含む前記乗員の挙動を計算する人体挙動計算部として機能させるためのプログラムである。 The program according to the present invention is a program for calculating the behavior of an occupant seated in a vehicle seat, and the program is a program for calculating the behavior of an occupant seated in a vehicle seat, and the program is a program for calculating the behavior of an occupant seated in a vehicle seat. The human body is divided into an upper part including the head and thorax, a middle part including the pelvis, and a lower part including the lower body below the pelvis, and a joint between the middle part and the lower part, and a joint between the upper part and the middle part. Using a human body behavior model having By calculating the joint torque between the upper part and the middle part for opposingly inverting the head according to the acceleration of the head, the joint angle between the middle part and the lower part, and the joint angle between the upper part and the middle part are calculated. This is a program for functioning as a human body behavior calculation unit that calculates the behavior of the occupant including the joint angle between the middle parts.
以上説明したように、本発明の人体挙動計算装置及びプログラムによれば、頭部及び胸部を含む上部、骨盤を含む中部、及び骨盤より下の下半身を含む下部に分割され、前記中部及び前記下部の間の関節と、前記上部及び前記中部の間の関節とを有する人体挙動モデルを用いて、姿勢の崩れを防ぐための前記中部及び前記下部の間の関節トルクを、前記中部及び前記下部の間の関節角から演算し、前記車両に印加される加速度に対抗して頭部を倒立させるための前記上部及び前記中部の間の関節トルクを、頭部の加速度に応じて演算することにより、前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の関節角とを含む前記乗員の挙動を計算する。これにより、車両のシートに着座した乗員の挙動を精度良く計算することができる、という効果が得られる。 As explained above, according to the human body behavior calculation device and program of the present invention, the human body is divided into an upper part including the head and chest, a middle part including the pelvis, and a lower part including the lower body below the pelvis. Using a human body behavior model having a joint between the middle part and the middle part, and a joint between the upper part and the middle part, the joint torque between the middle part and the lower part to prevent posture collapse is determined by the joint torque between the middle part and the lower part. By calculating a joint torque between the upper part and the middle part for inverting the head against the acceleration applied to the vehicle according to the acceleration of the head, A behavior of the occupant including a joint angle between the middle part and the lower part and a joint angle between the upper part and the middle part is calculated. This provides the effect that the behavior of the occupant seated in the vehicle seat can be calculated with high accuracy.
以下、図面を参照して本発明の実施の形態を詳細に説明する。 Embodiments of the present invention will be described in detail below with reference to the drawings.
＜本発明の実施の形態の概要＞
人間の筋骨格は、50以上の自由度をもち、姿勢維持や動作実現のために複雑な協調制御が行われている。自動車運転中のドライバは、前方の視認性確保のためにこれらの自由度を活用して、頭部動揺を抑制しつつ、姿勢を維持するための筋制御を行っている。本発明の実施の形態では、この姿勢制御を解明しモデル化することで、車室内のドライバ挙動を予測することが可能となり、シートをはじめとする様々な車両における機能の設計をモデルベースで進めることが可能となる。
<Overview of embodiments of the present invention>
The human musculoskeletal system has more than 50 degrees of freedom, and complex coordinated control is performed to maintain posture and achieve movement. Drivers who are driving a car utilize these degrees of freedom to ensure forward visibility, suppress head movement, and perform muscle control to maintain posture. In the embodiment of the present invention, by elucidating and modeling this attitude control, it becomes possible to predict driver behavior inside the vehicle, and proceed with the design of various vehicle functions, including seats, on a model basis. becomes possible.
ここでは、車両加速度印加時の乗員の姿勢制御を簡易的な低自由度モデルを用いて模擬することを目的とする。 Here, the purpose is to simulate occupant posture control when vehicle acceleration is applied using a simple low-degree-of-freedom model.
＜本発明の実施の形態の原理＞
本発明の実施の形態では、自動車シートに着座した人体をシートバックへの背中の着力点から上のシート非接触部位である頭・胸部と、シートにホールドされた部位である骨盤を含む腹部、さらに骨盤より下の車両に固定された下半身の３分割した人体挙動モデルを想定し、下半身と骨盤の間の関節と、頭・胸部と骨盤を含む腹部の間の関節に加えるトルクの制御則を導出する。なお、背骨の屈曲を１関節で表現した背骨の関節位置は、シートによる体の支え方やドラポジ変化に伴い着力点とともに上下に変化するとする。また、シートに着座した状態では、頭・胸部は、車両の加速度に対抗して３次元空間で倒立するのに対し、シートに接触する骨盤を含む腹部は、運動が概ねシート形状の面内に拘束されることになる。本発明の実施の形態では、脊柱の２０以上の関節を２関節に近似することによって、それぞれの関節の役割を明確化し、下半身と骨盤の間の関節トルクは、関節角から姿勢の崩れを検出して姿勢を維持するための体勢フィードバックの役割を果たすとともに、頭・胸部と骨盤を含む腹部の間の関節トルクは、耳石で検出された加速度から頭部を倒立させるための耳石フィードバックの役割を果たすことを特徴としている。すなわち、発明の実施の形態のポイントを整理すると、以下の（１）～（３）となる。
<Principle of embodiments of the present invention>
In an embodiment of the present invention, a human body seated in a car seat is divided into the head and chest, which are non-contact parts of the seat above the point of application of the back to the seat back, and the abdomen, including the pelvis, which is a part held by the seat. Furthermore, assuming a three-part human behavior model with the lower body fixed to the vehicle below the pelvis, we developed a control law for the torque applied to the joints between the lower body and pelvis, and the joints between the head, chest, and abdomen, including the pelvis. Derive. It is assumed that the joint position of the spine, which expresses the bending of the spine with a single joint, changes up and down along with the point of application of force as the body is supported by the seat and the position of the driver changes. Furthermore, when sitting on a seat, the head and thorax stand inverted in three-dimensional space against the acceleration of the vehicle, whereas the abdomen, including the pelvis, which comes into contact with the seat, moves generally within the plane of the seat shape. You will be detained. In an embodiment of the present invention, the role of each joint is clarified by approximating the 20 or more joints of the spinal column to two joints, and the joint torque between the lower body and pelvis is determined by detecting posture collapse from the joint angle. In addition, the joint torque between the head/thorax and abdomen including the pelvis plays a role in otolith feedback to invert the head from the acceleration detected by the otoliths. It is characterized by its role. In other words, the points of the embodiments of the invention can be summarized as (1) to (3) below.
（１）シートバックへの背中の着力点から上のシート非接触部位（頭・胸部）とシートにホールドされた部位（骨盤・腹部）に上体を分割する。 (1) Divide the upper body into a non-seat contact area (head/chest) above the point of application of the back force to the seat back and an area held by the seat (pelvis/abdomen).
（２）車両の加速度に対抗するように頭部の姿勢を保つ耳石フィードバック（頭・胸部と骨盤間の背骨の関節トルク）と姿勢の崩れを矯正しようとする体勢フィードバック（骨盤と下半身の間の関節トルク）によって姿勢を安定化する。 (2) Otolith feedback (joint torque of the spine between the head/thorax and pelvis) that maintains the posture of the head to counter the acceleration of the vehicle, and postural feedback (between the pelvis and lower body that attempts to correct postural collapse) (joint torque) to stabilize posture.
（３）背骨の屈曲を１関節で表現した背骨の関節位置は、シートによる体の支え方やドラポジ変化に伴い着力点とともに上下に変化する（背骨全体ではなく腰中心に屈曲する場合など）。 (3) The joint position of the spine, which expresses the flexion of the spine with a single joint, changes up and down along with the point of force depending on how the body is supported by the seat and the position of the seat (for example, when the spine is bent at the center of the lower back rather than the entire spine).
このため、前後方向の加速度印加に対しては、骨盤を含む腹部はシートに拘束されている結果、姿勢の崩れは少なく、下半身と骨盤の間の関節には姿勢維持のためのトルクをほとんど必要としない。この結果、前後方向の加速度を印加された状態では、頭・胸部と骨盤を含む腹部の間の関節トルクは、耳石で検出された加速度から頭部を倒立させるための耳石フィードバック主体の制御則となる。図１に３分割した人体挙動モデルの側面図を示す。ここで、頭部位置での車両加速度を
、腹部の質量をm1、頭・胸部の質量をm2、関節１と関節２の間の距離をL、関節２から頭・胸部の重心までの距離をl、下半身と骨盤の間の関節（関節１）の鉛直軸から車両前方向への傾き角をθx、頭・胸部と腹部の間の関節（関節２）の鉛直軸から車両前方向への傾き角をφxとする。このとき、耳石フィードバックは、例えば、以下の比例ゲインk2xを有する比例制御で記述することができる。
For this reason, when acceleration is applied in the longitudinal direction, the abdomen, including the pelvis, is restrained by the seat, so posture is less likely to collapse, and the joints between the lower body and pelvis require almost no torque to maintain posture. I don't. As a result, when longitudinal acceleration is applied, the joint torque between the head/thorax and abdomen including the pelvis is controlled mainly by otolith feedback to invert the head from the acceleration detected by the otoliths. It becomes a rule. Figure 1 shows a side view of a human behavior model divided into three parts. Here, the vehicle acceleration at the head position is
, the mass of the abdomen is m 1 , the mass of the head and thorax is m 2 , the distance between joint 1 and joint 2 is L, the distance from joint 2 to the center of gravity of the head and thorax is l, the joint between the lower body and pelvis Let θ x be the inclination angle of the joint 1 (joint 1) from the vertical axis toward the front of the vehicle, and φ x be the inclination angle of the joint between the head, chest, and abdomen (joint 2) from the vertical axis toward the front of the vehicle. At this time, the otolith feedback can be described, for example, by proportional control with the following proportional gain k 2x .
(1)
ただし、ｇは重力加速度、Ｔφｘは関節２のｙ軸周りの制御トルクである。
(1)
However, g is the gravitational acceleration, and Tφx is the control torque around the y-axis of the joint 2.
なお、関節２の位置は、シートバックによって拘束されていると仮定することができるが、シートバックの弾性を考慮して、荷重に応じて関節位置が変化する状況を関節１の傾き角θxの変化として記述することによって、より正確な人体挙動の予測を行うことが可能となる。このような詳細な検討では、シートバックの動特性に応じた頭部挙動の違いが表現されることになり、頭部挙動のシミュレーション結果からシート特性の評価が可能となる。 Note that the position of joint 2 can be assumed to be restrained by the seat back, but considering the elasticity of the seat back, the situation in which the joint position changes depending on the load is expressed by the inclination angle θ x of joint 1. By describing it as a change in , it becomes possible to predict human body behavior more accurately. Such a detailed study expresses differences in head behavior depending on the dynamic characteristics of the seat back, and it becomes possible to evaluate seat characteristics from the simulation results of head behavior.
一方、横加速度を受けたときには、前後方向と比較して骨盤を含む腹部へのシートによる拘束力は小さく、シートバック上を腹部の重心が移動する。この挙動を車両の左右－上下軸の平面（y-z平面）に射影させて考えると、図２に示すような等価的な倒立２重振子となっている。 On the other hand, when subjected to lateral acceleration, the restraint force exerted by the seat on the abdomen including the pelvis is smaller than that in the front-back direction, and the center of gravity of the abdomen moves on the seat back. If we project this behavior onto the plane of the vehicle's left-right and up-down axes (y-z plane), we get an equivalent inverted double pendulum as shown in Figure 2.
まず、定式化のために図３のように下半身と骨盤の間の関節（関節１）の鉛直軸から車両左方向への傾き角をθy、頭・胸部と腹部の間の関節（関節２）の鉛直軸から車両左方向への傾き角φy、腹部の質量m1、頭・胸部の質量をm2、関節１と関節２の間の距離をL、関節１から腹部重心までの距離をl1、関節２から頭・胸部の重心までの距離をl、下半身（車体）位置を(y, z)、腹部重心位置を(y1, z1)、頭・胸部重心位置を(y2, z2)、関節１に印加される力を(u1, v1)、関節２に印加される力を(u2, v2)と記述する。また、下半身（車体）の横加速度を
、このときの頭部横加速度を
と記述する。
First, for formulation purposes, as shown in Figure 3, the inclination angle of the joint between the lower body and pelvis (joint 1) from the vertical axis to the left of the vehicle is θ y , and the joint between the head/thorax and abdomen (joint 2 ) from the vertical axis of the vehicle to the left φ y , mass of the abdomen m 1 , mass of the head and thorax m 2 , distance between joint 1 and joint 2 L, distance from joint 1 to the center of gravity of the abdomen is l 1 , the distance from joint 2 to the center of gravity of the head and thorax is l , the lower body (vehicle body) position is (y, z), the abdominal center of gravity is (y 1 , z 1 ), and the head and thorax center of gravity is (y 2 , z 2 ), the force applied to joint 1 is written as (u 1 , v 1 ), and the force applied to joint 2 is written as (u 2 , v 2 ). In addition, the lateral acceleration of the lower body (vehicle body)
, the head lateral acceleration at this time is
It is described as follows.
関節１の回転に関する腹部質点の慣性モーメントは、 The moment of inertia of the abdominal mass point regarding the rotation of joint 1 is:
(2)
(2)
また、関節２の回転に関する頭・胸部質点の慣性モーメントは、 In addition, the moment of inertia of the mass point of the head and thorax regarding the rotation of joint 2 is:
(3)
(3)
となる。さらに、腹部質点と関節１の運動方程式は、以下のように記述される。 becomes. Furthermore, the equation of motion of the abdominal mass point and joint 1 is described as follows.
(4)
(5)
(6)
(Four)
(Five)
(6)
ただし、c1は関節１の粘性係数、c2は、関節２の粘性係数、Tθyは関節１のｘ軸周りの制御トルク、Tφyは関節２の制御トルクである。同様に、頭・胸部質点と関節２の運動方程式は、以下のように記述される。 Here, c 1 is the viscosity coefficient of joint 1, c 2 is the viscosity coefficient of joint 2, T θy is the control torque of joint 1 around the x-axis, and T φy is the control torque of joint 2. Similarly, the equation of motion of the head/thorax mass point and joint 2 is described as follows.
(7)
(8)
(9)
ただし、
(7)
(8)
(9)
however,
という関係から、 From this relationship,
(10)
(11)
(12)
(13)
(Ten)
(11)
(12)
(13)
となる。(10)式を(4)式に代入すると、 becomes. Substituting equation (10) into equation (4), we get
(14)
(14)
(11)式を(5)式に代入すると、 Substituting equation (11) into equation (5), we get
(15)
(15)
(12)式を(7)式に代入すると、 Substituting equation (12) into equation (7), we get
(16)
(16)
(13)式を(8)式に代入すると、 Substituting equation (13) into equation (8), we get
(17)
(17)
となる。さらに、(16)式を(14)式に代入すると、 becomes. Furthermore, by substituting equation (16) into equation (14), we get
(18)
(18)
(17)式を(15)式に代入すると、 Substituting equation (17) into equation (15), we get
(19)
(19)
となる。ここで、(16), (17), (18), (19)式を(6)式に代入すると、 becomes. Here, by substituting equations (16), (17), (18), and (19) into equation (6), we get
(20)
(20)
(16), (17)式を(9)式に代入すると、 Substituting equations (16) and (17) into equation (9), we get
(21)
(twenty one)
となる。 becomes.
（体勢フィードバック）
関節１では、姿勢の崩れを抑制する体勢フィードバックが働くことを仮定し、関節角θyをフィードバックする以下の制御則を設定する。
(Position feedback)
For joint 1, assuming that posture feedback that suppresses posture collapse works, the following control law for feeding back joint angle θ y is set.
(22)
(twenty two)
ただし、k1yは、体勢フィードバックの制御ゲインである。 However, k 1y is a control gain for posture feedback.
（耳石フィードバック）
また、関節２では、頭部を横加速度に対抗して傾ける耳石フィードバックが働くことを仮定し、以下の制御則を設定する。
(otolith feedback)
Further, in joint 2, it is assumed that otolith feedback that tilts the head against lateral acceleration works, and the following control law is set.
(23)
(twenty three)
以上の運動方程式と制御則から、閉ループ系の運動方程式を導出する。(22), (23)式を(20)式に代入すると、 From the above equation of motion and control law, we derive the equation of motion of the closed loop system. Substituting equations (22) and (23) into equation (20), we get
(22), (23)式を(21)式に代入すると、 Substituting equations (22) and (23) into equation (21), we get
となる。ここでは、(24), (25)式の運動方程式を状態方程式として表現する。 becomes. Here, the equations of motion of equations (24) and (25) are expressed as an equation of state.
(26)
ただし、
(27)
(28)
(29)
(26)
however,
(27)
(28)
(29)
である。これらの関係式から以下の状態方程式が導出される。 It is. The following state equation is derived from these relational expressions.
(30)
ただし、
(31)
(32)
(30)
however,
(31)
(32)
上記（30）式の状態方程式は、横方向加速度に対する、横方向の関節１の関節角と、横方向の関節２の関節角とを含む乗員の挙動を計算するためのものである。 The state equation of equation (30) above is for calculating the behavior of the occupant, including the joint angle of the lateral joint 1 and the joint angle of the lateral joint 2, with respect to the lateral acceleration.
前後方向加速度に対する、前後方向の関節２の関節角とを含む乗員の挙動を計算するための状態方程式は、上記（30）式の状態方程式から、関節１の関節角に関する要素を除いて同様に導出される。 The state equation for calculating the occupant's behavior including the joint angle of joint 2 in the longitudinal direction with respect to the longitudinal acceleration is the same as the state equation of equation (30) above except that the element related to the joint angle of joint 1 is removed. derived.
＜本発明の実施の形態の人体挙動計算装置の構成＞
図４に示すように、本発明の実施の形態に係る人体挙動計算装置１０は、ＣＰＵ１２、ＲＯＭ１４、ＲＡＭ１６、ＨＤＤ１８、通信インタフェース２１、及びこれらを相互に接続するためのバス２２を備えている。
<Configuration of human body behavior calculation device according to embodiment of the present invention>
As shown in FIG. 4, the human body behavior calculation device 10 according to the embodiment of the present invention includes a CPU 12, a ROM 14, a RAM 16, an HDD 18, a communication interface 21, and a bus 22 for interconnecting these.
ＣＰＵ１２は、各種プログラムを実行する。ＲＯＭ１４には、各種プログラムやパラメータ等が記憶されている。ＲＡＭ１６は、ＣＰＵ１２による各種プログラムの実行時におけるワークエリア等として用いられる。記録媒体としてのＨＤＤ１８には、後述する人体挙動計算処理ルーチンを実行するためのプログラムを含む各種プログラムや各種データが記憶されている。 The CPU 12 executes various programs. The ROM 14 stores various programs, parameters, and the like. The RAM 16 is used as a work area etc. when the CPU 12 executes various programs. The HDD 18 as a recording medium stores various programs and various data including a program for executing a human body behavior calculation processing routine to be described later.
本実施の形態における人体挙動計算装置１０を、人体挙動計算処理ルーチンを実行するためのプログラムに沿って、機能ブロックで表すと、図５に示すようになる。人体挙動計算装置１０は、入力部２０、演算部３０、及び出力部５０を備えている。 The human body behavior calculation device 10 according to the present embodiment is represented by functional blocks as shown in FIG. 5 along with a program for executing a human body behavior calculation processing routine. The human body behavior calculation device 10 includes an input section 20, a calculation section 30, and an output section 50.
入力部２０は、解析対象となる人体挙動モデルに関する情報、及び車両に加えられる加速度の時系列を入力として受け付ける。 The input unit 20 receives as input information regarding a human behavior model to be analyzed and a time series of accelerations applied to a vehicle.
演算部３０は、人体挙動計算部４４を備えている。 The calculation unit 30 includes a human body behavior calculation unit 44.
人体挙動計算部４４は、上述した、乗員の人体が、頭部及び胸部を含む上部、骨盤を含む中部、及び骨盤より下の下半身を含む下部に分割され、中部及び前記下部の間の関節１と、上部及び中部の間の関節２とを有する人体挙動モデルを用いて、姿勢の崩れを防ぐための関節１の関節トルクを、関節１の関節角から演算し、車両に印加される加速度に対抗して頭部を倒立させるための関節２の関節トルクを、頭部の加速度に応じて演算することにより、関節１の関節角と、関節２の関節角とを含む乗員の挙動を計算する。 The human body behavior calculation unit 44 divides the human body of the occupant into the upper part including the head and chest, the middle part including the pelvis, and the lower part including the lower body below the pelvis, and the joint 1 between the middle part and the lower part. Using a human body behavior model that has a joint 2 between the upper and middle parts, the joint torque of the joint 1 to prevent posture collapse is calculated from the joint angle of the joint 1, and the joint torque applied to the vehicle is The behavior of the occupant including the joint angle of joint 1 and the joint angle of joint 2 is calculated by calculating the joint torque of joint 2 for countering and inverting the head according to the acceleration of the head. .
具体的には、車両の加速度の時系列を入力とし、各時間ステップで、前後方向について、人体挙動モデルを用いて関節１の関節角の基準状態からの偏差に比例した、関節２の関節トルクを演算することにより乗員の挙動を計算するための、上記（30）式に示す状態方程式と同様の状態方程式に従って、前後方向の関節２の関節角を含む乗員の挙動を計算する。また、横方向について、人体挙動モデルを用いて関節１の関節角の基準状態からの偏差に比例した、関節１の関節トルクを演算し、頭部座標系における左右方向の加速度に比例した、関節２の関節トルクを演算することにより乗員の挙動を計算するための上記（30）式に示す状態方程式に従って、横方向の関節１の関節角と、横方向の関節２の関節角とを含む乗員の挙動を計算する。 Specifically, the time series of vehicle acceleration is input, and at each time step, a human body behavior model is used to calculate the joint torque of joint 2, which is proportional to the deviation of the joint angle of joint 1 from the reference state. The behavior of the occupant including the joint angle of the joint 2 in the longitudinal direction is calculated according to a state equation similar to the state equation shown in equation (30) above. In addition, in the lateral direction, the joint torque of joint 1, which is proportional to the deviation of the joint angle of joint 1 from the reference state, is calculated using the human body behavior model, and the joint torque of joint 1, which is proportional to the acceleration in the left and right direction in the head coordinate system, is calculated. According to the state equation shown in equation (30) above for calculating the occupant's behavior by calculating the joint torque of 2, the occupant's behavior including the joint angle of lateral joint 1 and the joint angle of lateral joint 2 is calculated. calculate the behavior of
出力部５０は、各時間ステップでの計算結果を、乗員の挙動として出力する。 The output unit 50 outputs the calculation results at each time step as the behavior of the occupant.
＜人体挙動計算装置の動作＞
次に、本発明の実施の形態に係る人体挙動計算装置１０の動作について説明する。
<Operation of human body behavior calculation device>
Next, the operation of the human body behavior calculation device 10 according to the embodiment of the present invention will be explained.
入力部２０によって解析対象となる人体挙動モデルに関する情報、及び車両の加速度の時系列を受け付けると、人体挙動計算装置１０によって、図６に示す人体挙動計算処理ルーチンが実行される。 When the input unit 20 receives information regarding the human body behavior model to be analyzed and the time series of vehicle acceleration, the human body behavior calculation device 10 executes the human body behavior calculation processing routine shown in FIG.
まず、ステップＳ１００において、計算対象の時間ステップにおける車両の加速度を取得する。 First, in step S100, the acceleration of the vehicle at the time step to be calculated is obtained.
ステップＳ１０２において、人体挙動計算部４４は、上記ステップＳ１００で取得した車両の加速度に基づいて、上記（30）式の状態方程式と同様の状態方程式に従って、前後方向の関節２の関節角を計算する。 In step S102, the human body behavior calculation unit 44 calculates the joint angle of the joint 2 in the longitudinal direction based on the vehicle acceleration obtained in step S100 and according to a state equation similar to the state equation of equation (30) above. .
ステップＳ１０４において、人体挙動計算部４４は、上記ステップＳ１００で取得した車両の加速度に基づいて、上記（30）式の状態方程式に従って、横方向の関節１の関節角と、横方向の関節２の関節角とを計算する。 In step S104, the human body behavior calculation unit 44 calculates the joint angle of the lateral joint 1 and the joint angle of the lateral joint 2 according to the state equation of equation (30) above, based on the acceleration of the vehicle acquired in the step S100. Calculate the joint angle.
ステップＳ１０６では、繰り返し処理を終了するか否かを判定する。繰り返し処理を終了しない場合には、上記ステップＳ１００へ戻り、次時刻を計算対象の時間ステップとして処理を繰り返す。一方、繰り返し処理を終了すると判定された場合には、ステップＳ１０８において、出力部５０は、時間ステップ毎に計算された関節１の関節角及び関節２の関節角の計算結果を、解析対象となる乗員の挙動として出力し、人体挙動計算処理ルーチンを終了する。 In step S106, it is determined whether or not to end the repetitive processing. If the iterative process is not completed, the process returns to step S100, and the process is repeated using the next time as the time step to be calculated. On the other hand, if it is determined that the iterative process is to end, in step S108, the output unit 50 outputs the calculation results of the joint angle of joint 1 and the joint angle of joint 2 calculated for each time step as the analysis target. It is output as the occupant's behavior, and the human body behavior calculation processing routine is ended.
＜実施例＞
本発明の実施の形態で説明した手法を用いて数値解析を行った結果を示す。
<Example>
The results of numerical analysis performed using the method described in the embodiment of the present invention are shown.
ここでは、以下のパラメータを背骨全体が屈曲する標準状態としてシミュレーションを行う。 Here, the simulation is performed using the following parameters as a standard state in which the entire spine is bent.
また、図７に示すような腰中心に屈曲する場合のパラメータとして、関節間距離のみ以下の値に変更する。 Further, as a parameter for bending around the waist as shown in FIG. 7, only the inter-joint distance is changed to the following value.
図８に、(30)～(32)式のボード線図を、図９に横加速度=1m/s2をステップ的に印加したときの関節角の時間応答を示す。人体挙動は、位相遅れが180degを超える非最小位相推移系となり、横加速度印加初期に逆応答（逆方向に頭・胸部が倒れ込む）を示すことがわかる。また、腰中心に屈曲する場合、安定性は向上しているものの、頭部の動きが大きく遅れることがわかる。 FIG. 8 shows the Bode diagram of equations (30) to (32), and FIG. 9 shows the time response of the joint angle when lateral acceleration = 1 m/s 2 is applied stepwise. It can be seen that the human body behavior is a non-minimum phase shift system with a phase delay exceeding 180 degrees, and exhibits a reverse response (the head and chest fall in the opposite direction) at the beginning of the application of lateral acceleration. It can also be seen that when bending around the waist, although stability is improved, head movement is significantly delayed.
図１０は、加振機上に乗員を着座させたシートを設置し、横方向に加振させたときの実験結果（実線）と、背骨全体で屈曲する場合のゲイン線図（破線）を比較した図である。実験では、横加速度0.1Gの振幅一定の条件で、0.35Hzから15Hzまで周波数を90s間でスイープさせている。モデルでは、上半身を２慣性系という極めて低自由度な記述を行っているにもかかわらず、実際の人体挙動を表現できていることがわかる。 Figure 10 compares the experimental results (solid line) when a seat with a passenger seated on a vibration exciter is vibrated in the lateral direction, and the gain diagram (dashed line) when the entire spine is bent. This is a diagram. In the experiment, the frequency was swept from 0.35Hz to 15Hz for 90 seconds under conditions of a constant amplitude and lateral acceleration of 0.1G. It can be seen that although the model describes the upper body in a two-inertial frame with extremely low degrees of freedom, it is able to express actual human body behavior.
以上説明したように、本発明の実施の形態に係る人体挙動計算装置によれば、頭部及び胸部を含む上部、骨盤を含む中部、及び骨盤より下の下半身を含む下部に分割され、中部及び下部の間の関節１と、上部及び中部の間の関節２とを有する人体挙動モデルを用いて、姿勢の崩れを防ぐための関節１の関節トルクを、関節１の関節角から演算し、車両に印加される加速度に対抗して頭部を倒立させるための関節２の関節トルクを、頭部の加速度に応じて演算することにより、関節１の関節角と、関節２の関節角とを含む乗員の挙動を計算する。これにより、車両のシートに着座した乗員の挙動を精度良く計算することができる。 As explained above, according to the human body behavior calculation device according to the embodiment of the present invention, the human body behavior calculation device is divided into an upper part including the head and chest, a middle part including the pelvis, and a lower part including the lower body below the pelvis. Using a human body behavior model that has joint 1 between the lower part and joint 2 between the upper and middle parts, the joint torque of joint 1 to prevent posture collapse is calculated from the joint angle of joint 1, and the vehicle By calculating the joint torque of joint 2 for inverting the head against the acceleration applied to the head according to the acceleration of the head, the joint angle of joint 1 and the joint angle of joint 2 are included. Calculate occupant behavior. Thereby, the behavior of the occupant seated in the vehicle seat can be calculated with high accuracy.
また、例えば旋回時の横加速度を受けた際の車室内の乗員挙動が正確に予測することが可能となり、シートのホールド性やステアリング操作などの評価を計算できるようになり、車両設計への幅広い活用が期待できる。 In addition, it has become possible to accurately predict the behavior of occupants in the vehicle interior when subjected to lateral acceleration during turning, for example, and it has become possible to calculate evaluations of seat holdability, steering operation, etc., which has wide-ranging implications for vehicle design. It can be expected to be put to good use.
本発明の実施の形態では、自動車シートに着座した人体を頭・胸部と、骨盤を含む腹部、骨盤より下の車両に固定された下半身の３分割した人体挙動モデルを想定し、下半身と骨盤の間の関節と、頭・胸部と骨盤を含む腹部の間の関節に加えるトルクの制御則を導出する。脊柱の２０以上の関節を２関節に近似することによって、それぞれの関節の役割を明確化し、下半身と骨盤の間の関節トルクは、関節角から姿勢の崩れを検出して姿勢を維持するための体勢フィードバックを行うとともに、頭・胸部と骨盤を含む腹部の間の関節トルクは、耳石で検出された加速度から頭部を倒立させるための耳石フィードバックを行うことを特徴とする。 In the embodiment of the present invention, a human body behavior model is assumed in which a human body seated in a car seat is divided into three parts: the head and chest, the abdomen including the pelvis, and the lower body fixed to the vehicle below the pelvis. We derive control laws for the torque applied to the joints between the head, thorax, and abdomen, including the pelvis. By approximating the more than 20 joints of the spine to two joints, the role of each joint is clarified, and the joint torque between the lower body and pelvis is used to detect posture collapse from joint angles and maintain posture. In addition to providing posture feedback, the joint torque between the head/thorax and abdomen including the pelvis is characterized by otolith feedback for inverting the head based on the acceleration detected by the otoliths.
これら２関節のフィードバック制御によって、人間の行っている「シートに体を委ねつつも頭部を旋回内側に倒し、横加速度に対抗させて倒立させようとする特性」を正確に模擬することが可能となる。この制御則によって、旋回時の横加速度を受けた際の車室内の乗員挙動が正確に予測することが可能となり、シートのホールド性やステアリング操作などの評価を計算できるようになり、車両設計への幅広い活用が期待できる。また、本発明の実施の形態では、姿勢の安定化をフィードバックによって補償することから、従来技術で必要とされていたフィードフォワード制御の繰り返しが不要となり、演算負荷を抑制する効果を有している。 Feedback control of these two joints makes it possible to accurately simulate the human behavior of leaning the head toward the inside of the turn while resting the body on the seat, and attempting to stand upside down against lateral acceleration. becomes. This control law makes it possible to accurately predict the behavior of occupants in the vehicle interior when subjected to lateral acceleration during turns, and to calculate evaluations of seat holdability, steering operation, etc., which can be used in vehicle design. It is expected that it will be widely used. In addition, in the embodiment of the present invention, since the stabilization of the posture is compensated by feedback, the repetition of feedforward control required in the conventional technology is unnecessary, and this has the effect of suppressing the calculation load. .
なお、本発明は、上述した実施形態に限定されるものではなく、この発明の要旨を逸脱しない範囲内で様々な変形や応用が可能である。 Note that the present invention is not limited to the embodiments described above, and various modifications and applications are possible without departing from the gist of the present invention.
例えば、制御則の導出に当たっては、３分割された人体挙動モデルを想定しているが、車両設計に活用する際には、ここで導出された２つの関節トルクをそれぞれ複数の関節トルクへの変換や、等価的な筋力への変換によって、多関節の筋骨格人体挙動モデルに適用することもできる。この場合、フィードバックに用いる下半身と骨盤の間の関節角は、複数の関節角の和で代用することになる。また、導出された関節トルクを複数の筋力に変換する際には、例えば最適制御に基づいて、各筋肉に対応した筋活性度の２乗和を最小化する配分や、筋活性度の最大値を最小化する配分が考えられる。 For example, when deriving the control law, we assume a human behavior model divided into three parts, but when using it for vehicle design, we need to convert the two joint torques derived here into multiple joint torques. It can also be applied to multi-joint musculoskeletal human behavior models by converting it to equivalent muscle strength. In this case, the joint angle between the lower body and pelvis used for feedback is substituted by the sum of multiple joint angles. In addition, when converting the derived joint torque into multiple muscle forces, for example, based on optimal control, distribution that minimizes the sum of squares of muscle activation corresponding to each muscle, or the maximum value of muscle activation It is possible to consider an allocation that minimizes
また、人体と車両の接触によって生じる反力や、ステアリングを把持する腕からの影響を無視した場合を例に説明しているが、これに限定されるものではない。人体と車両の接触によって生じる反力や、ステアリングを把持する腕からの影響を考慮して計算するようにしてもよい。この場合には、人体と車両の接触によって生じる反力や、ステアリングを把持する腕からの影響に応じた関節トルクを追加して計算すればよい。 Further, although the case is explained in which the reaction force caused by the contact between the human body and the vehicle and the influence from the arm gripping the steering wheel are ignored, the present invention is not limited to this. The calculation may take into account the reaction force caused by contact between the human body and the vehicle and the influence from the arm gripping the steering wheel. In this case, the reaction force caused by the contact between the human body and the vehicle and the joint torque depending on the influence from the arm gripping the steering wheel may be added and calculated.
また、前後加速度及び横加速度が印加される場合を例に説明したが、これに限定されるものではない。例えば、前後加速度のみが印加された場合の乗員の挙動を計算するようにしてもよい。この場合には、上記（30）式に示す状態方程式と同様の状態方程式に従って、前後方向の関節２の関節角を含む乗員の挙動を計算するようにすればよい。一方、横加速度のみが印加された場合の乗員の挙動を計算するようにしてもよい。この場合には、上記（30）式に示す状態方程式に従って、横方向の関節１の関節角と、横方向の関節２の関節角とを含む乗員の挙動を計算するようにすればよい。 Further, although the case where longitudinal acceleration and lateral acceleration are applied has been described as an example, the present invention is not limited to this. For example, the behavior of the occupant when only longitudinal acceleration is applied may be calculated. In this case, the behavior of the occupant including the joint angle of the joint 2 in the longitudinal direction may be calculated according to a state equation similar to the state equation shown in equation (30) above. On the other hand, the occupant's behavior when only lateral acceleration is applied may be calculated. In this case, the behavior of the occupant including the joint angle of the lateral joint 1 and the joint angle of the lateral joint 2 may be calculated according to the state equation shown in equation (30) above.
また、本発明のプログラムは、記憶媒体に格納して提供するようにしてもよい。 Further, the program of the present invention may be provided by being stored in a storage medium.
１０ 人体挙動計算装置
２０ 入力部
３０ 演算部
４４ 人体挙動計算部
５０ 出力部
10 human body behavior calculation device 20 input section 30 calculation section 44 human body behavior calculation section 50 output section
Claims (4)
車両のシートに着座した乗員の挙動を表す人体挙動モデルであって、前記乗員の人体が、頭部及び胸部を含む上部、骨盤を含む中部、及び骨盤より下の下半身を含む下部に分割され、前記中部及び前記下部の間の関節と、前記上部及び前記中部の間の関節とを有する人体挙動モデルを用いて、
姿勢の崩れを防ぐための前記中部及び前記下部の間の関節トルクを、前記中部及び前記下部の間の関節角から演算し、前記車両に印加される加速度に対抗して頭部を傾けるための前記上部及び前記中部の間の関節トルクを、頭部の加速度に応じて演算することにより、前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の関節角とを含む前記乗員の挙動を計算する
人体挙動計算装置であり、
前記乗員の挙動を計算する際に、
前記車両に印加される加速度の時系列を入力とし、各時間ステップで、
前記中部及び前記下部の間の関節角に、予め定められたゲインを乗算することにより、姿勢の崩れを防ぐための前記中部及び前記下部の間の関節トルクを演算し、
前記頭部の加速度と、前記上部及び前記中部の間の関節角と、重力加速度とを用いて、頭部座標系における頭部加速度を演算し、前記頭部座標系における頭部加速度に、予め定められたゲインを乗算することにより、前記車両に印加される加速度に対抗して頭部を傾けるための前記上部及び前記中部の間の関節トルクを演算し、
前記中部及び前記下部の間の関節トルクと、前記上部及び前記中部の間の関節トルクと、前記車両に印加される加速度とから、前記人体挙動モデルを用いて、前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の関節角と、前記頭部の加速度とを計算し、
前記頭部座標系における前後方向の頭部加速度は、
で演算され、
前記頭部座標系における横方向の頭部加速度は、
で演算される人体挙動計算装置。
ただし、ｇは重力加速度であり、
は、前記頭部の前後方向の加速度であり、φ x は、前記上部及び前記中部の間の左右軸周りの関節角であり、
は、前記頭部の横方向の加速度であり、φ ｙ は、前記上部及び前記中部の間の前後軸周りの関節角である。 A human body behavior calculation device that calculates the behavior of an occupant seated in a vehicle seat,
A human body behavior model representing the behavior of an occupant seated in a vehicle seat, wherein the human body of the occupant is divided into an upper part including the head and chest, a middle part including the pelvis, and a lower part including the lower body below the pelvis, Using a human body behavior model having a joint between the middle part and the lower part, and a joint between the upper part and the middle part,
A joint torque between the middle part and the lower part to prevent the posture from collapsing is calculated from a joint angle between the middle part and the lower part, and the joint torque is used to tilt the head against the acceleration applied to the vehicle. By calculating the joint torque between the upper part and the middle part according to the acceleration of the head, the joint torque including the joint angle between the middle part and the lower part and the joint angle between the upper part and the middle part is calculated. It is a human body behavior calculation device that calculates the behavior of occupants.
When calculating the behavior of the occupant,
The time series of acceleration applied to the vehicle is input, and at each time step,
calculating a joint torque between the middle part and the lower part to prevent posture collapse by multiplying the joint angle between the middle part and the lower part by a predetermined gain;
The head acceleration in the head coordinate system is calculated using the acceleration of the head, the joint angle between the upper part and the middle part, and the gravitational acceleration, and the head acceleration in the head coordinate system is calculated in advance. calculating a joint torque between the upper part and the middle part for tilting the head against the acceleration applied to the vehicle by multiplying by a predetermined gain;
From the joint torque between the middle part and the lower part, the joint torque between the upper part and the middle part, and the acceleration applied to the vehicle, the human body behavior model is used to determine the joint torque between the middle part and the lower part. calculating a joint angle, a joint angle between the upper part and the middle part, and an acceleration of the head;
The head acceleration in the longitudinal direction in the head coordinate system is
It is calculated by
The lateral head acceleration in the head coordinate system is
A human body behavior calculation device that calculates with .
However, g is the gravitational acceleration,
is the longitudinal acceleration of the head, φ x is the joint angle around the left-right axis between the upper part and the middle part,
is the lateral acceleration of the head, and φ y is the joint angle between the upper and middle parts about the anteroposterior axis.
頭部座標系における左右方向の加速度に比例した、前記上部及び前記中部の間の前後軸周りの関節トルクを演算すると共に、頭部座標系における前後方向の加速度に比例した、前記上部及び前記中部の間の左右軸周りの関節トルクを演算することにより、前記乗員の挙動を計算する請求項１記載の人体挙動計算装置。 calculating a joint torque between the middle part and the lower part that is proportional to the deviation of the joint angle between the middle part and the lower part from a reference state;
A joint torque between the upper part and the middle part about the front-back axis is calculated, which is proportional to the acceleration in the left-right direction in the head coordinate system, and the upper part and the middle part are proportional to the acceleration in the front-rear direction in the head coordinate system. 2. The human body behavior calculation device according to claim 1 , wherein the behavior of the occupant is calculated by calculating a joint torque around a left-right axis between the vehicle and the vehicle.
前記車両に印加される加速度の時系列を入力とし、各時間ステップで、
前記中部及び前記下部の間の関節角の基準状態からの偏差に比例した、前記中部及び前記下部の間の関節トルクを演算し、かつ、
前記頭部の横方向の加速度と、前記上部及び前記中部の間の前後軸周りの関節角と、重力加速度とを用いて、頭部座標系における横方向の頭部加速度を演算し、頭部座標系における横方向の頭部加速度に比例した、前記上部及び前記中部の間の前後軸周りの関節トルクを演算すると共に、前記頭部の前後方向の加速度と、前記上部及び前記中部の間の左右軸周りの関節角と、重力加速度とを用いて、頭部座標系における前後方向の頭部加速度を演算し、前記頭部座標系における前後方向の頭部加速度に比例した、前記上部及び前記中部の間の左右軸周りの関節トルクを演算することにより前記乗員の挙動を計算するための状態方程式に従って、
前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の前後軸周りの関節角と、前記上部及び前記中部の間の左右軸周りの関節角と、前記頭部の横方向の加速度と、前記頭部の前後方向の加速度と、を計算する請求項１記載の人体挙動計算装置。 When calculating the behavior of the occupant,
The time series of acceleration applied to the vehicle is input, and at each time step,
calculating a joint torque between the middle part and the lower part that is proportional to a deviation of a joint angle between the middle part and the lower part from a reference state, and
The lateral head acceleration in the head coordinate system is calculated using the lateral acceleration of the head, the joint angle between the upper part and the middle part about the anteroposterior axis, and the gravitational acceleration. A joint torque around the longitudinal axis between the upper part and the middle part, which is proportional to the lateral head acceleration in the coordinate system, is calculated, and the joint torque between the longitudinal direction of the head and the upper part and the middle part is calculated. Using the joint angle around the left-right axis and the gravitational acceleration, calculate the head acceleration in the front-rear direction in the head coordinate system, and calculate the upper and lower head accelerations in the front-rear direction in the head coordinate system. According to the state equation for calculating the occupant's behavior by calculating the joint torque around the left and right axis between the middle part,
A joint angle between the middle part and the lower part, a joint angle between the upper part and the middle part about the anteroposterior axis, a joint angle about the left and right axis between the upper part and the middle part, and a lateral direction of the head. The human body behavior calculation device according to claim 1 , which calculates an acceleration of the head and an acceleration of the head in the longitudinal direction.
コンピュータを、
車両のシートに着座した乗員の挙動を表す人体挙動モデルであって、前記乗員の人体が、頭部及び胸部を含む上部、骨盤を含む中部、及び骨盤より下の下半身を含む下部に分割され、前記中部及び前記下部の間の関節と、前記上部及び前記中部の間の関節とを有する人体挙動モデルを用いて、
姿勢の崩れを防ぐための前記中部及び前記下部の間の関節トルクを、前記中部及び前記下部の間の関節角から演算し、前記車両に印加される加速度に対抗して頭部を傾けるための前記上部及び前記中部の間の関節トルクを、頭部の加速度に応じて演算することにより、前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の関節角とを含む前記乗員の挙動を計算する人体挙動計算部として機能させるためのプログラムであり、
前記乗員の挙動を計算する際に、
前記車両に印加される加速度の時系列を入力とし、各時間ステップで、
前記中部及び前記下部の間の関節角に、予め定められたゲインを乗算することにより、姿勢の崩れを防ぐための前記中部及び前記下部の間の関節トルクを演算し、
前記頭部の加速度と、前記上部及び前記中部の間の関節角と、重力加速度とを用いて、頭部座標系における頭部加速度を演算し、前記頭部座標系における頭部加速度に、予め定められたゲインを乗算することにより、前記車両に印加される加速度に対抗して頭部を傾けるための前記上部及び前記中部の間の関節トルクを演算し、
前記中部及び前記下部の間の関節トルクと、前記上部及び前記中部の間の関節トルクと、前記車両に印加される加速度とから、前記人体挙動モデルを用いて、前記中部及び前記下部の間の関節角と、前記上部及び前記中部の間の関節角と、前記頭部の加速度とを計算し、
前記頭部座標系における前後方向の頭部加速度は、
で演算され、
前記頭部座標系における横方向の頭部加速度は、
で演算されるプログラム。
ただし、ｇは重力加速度であり、
は、前記頭部の前後方向の加速度であり、φ x は、前記上部及び前記中部の間の左右軸周りの関節角であり、
は、前記頭部の横方向の加速度であり、φ ｙ は、前記上部及び前記中部の間の前後軸周りの関節角である。 A program for calculating the behavior of an occupant seated in a vehicle seat,
computer,
A human body behavior model representing the behavior of an occupant seated in a vehicle seat, wherein the human body of the occupant is divided into an upper part including the head and chest, a middle part including the pelvis, and a lower part including the lower body below the pelvis, Using a human body behavior model having a joint between the middle part and the lower part, and a joint between the upper part and the middle part,
A joint torque between the middle part and the lower part to prevent the posture from collapsing is calculated from a joint angle between the middle part and the lower part, and the joint torque is used to tilt the head against the acceleration applied to the vehicle. By calculating the joint torque between the upper part and the middle part according to the acceleration of the head, the joint torque including the joint angle between the middle part and the lower part and the joint angle between the upper part and the middle part is calculated. This is a program that functions as a human body behavior calculation unit that calculates the behavior of the occupants.
When calculating the behavior of the occupant,
The time series of acceleration applied to the vehicle is input, and at each time step,
calculating a joint torque between the middle part and the lower part to prevent posture collapse by multiplying the joint angle between the middle part and the lower part by a predetermined gain;
The head acceleration in the head coordinate system is calculated using the acceleration of the head, the joint angle between the upper part and the middle part, and the gravitational acceleration, and the head acceleration in the head coordinate system is calculated in advance. calculating a joint torque between the upper part and the middle part for tilting the head against the acceleration applied to the vehicle by multiplying by a predetermined gain;
From the joint torque between the middle part and the lower part, the joint torque between the upper part and the middle part, and the acceleration applied to the vehicle, the human body behavior model is used to determine the joint torque between the middle part and the lower part. calculating a joint angle, a joint angle between the upper part and the middle part, and an acceleration of the head;
The head acceleration in the longitudinal direction in the head coordinate system is
It is calculated by
The lateral head acceleration in the head coordinate system is
A program that is operated on .
However, g is the gravitational acceleration,
is the longitudinal acceleration of the head, φ x is the joint angle around the left-right axis between the upper part and the middle part,
is the lateral acceleration of the head, and φ y is the joint angle between the upper and middle parts about the anteroposterior axis.
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