WO2018070275A1

WO2018070275A1 - Tactile presentation device

Info

Publication number: WO2018070275A1
Application number: PCT/JP2017/035538
Authority: WO
Inventors: 博満濱島; 健司鳴海
Original assignee: 株式会社東海理化電機製作所
Priority date: 2016-10-11
Filing date: 2017-09-29
Publication date: 2018-04-19
Also published as: JP2018063490A

Abstract

A tactile presentation device 1 includes: a vibration generation unit 10 as a tactile presentation means that carries out tactile presentation for a passenger of a vehicle; a bodily information detection unit 20 as a bodily information detection means that detects bodily information of the passenger; and a control unit 30 that controls the intensity of the presentation to the passenger by the vibration generation unit 10 such that detection results from the bodily information detection unit 20 are within a defined range.

Description

Tactile presentation device

Cross-reference of related applications

This application claims the priority of Japanese Patent Application No. 2016-200345, and the entire contents of Japanese Patent Application No. 2016-200345 are incorporated herein by reference.

The present invention relates to a tactile presentation device, and more particularly to a tactile presentation device that performs tactile presentation using biological information.

2. Description of the Related Art A tactile sensation presentation device that provides tactile feedback for an operation to an operator is known (see, for example, Patent Document 1).

This tactile sense presentation device is provided on an elastic film that expands and contracts in an in-plane direction, on a main surface side of the elastic film, a contacted portion connected to the elastic film, and on the other main surface side of the elastic film. And a plate-like portion supported by an external structure connected to the stretchable film in a state where bending stress is generated from the stretchable film. In this configuration, the stretchable film has elasticity in the normal direction of the main surface, and since the contacted part is provided on the stretchable film, the contacted part is actually pushed in by the user's finger or the like. It is possible to give the user a feeling of pushing the contacted portion. In addition, when the plate-like portion vibrates in the thickness direction due to the vibration of the stretch film in the in-plane direction, the plate-like portion is supported by the external structure, so not only the plate-like portion but also the stretch film has a main surface normal. Directional vibration is caused. Then, the contacted part works as a weight against the vibration in the main surface normal direction of the stretchable film, so that this amplifies the vibration in the main surface normal direction of the stretchable film so that the contacted part is Can be vibrated greatly in the normal direction of the main surface of the stretchable film. At this time, the contacted part generally vibrates in the normal direction of the main surface of the stretchable film, so that variation in vibration amount at each position of the contacted part can be reduced. Therefore, it is said that when a user's finger or the like comes into contact with the contacted portion, a large tactile feedback can be reliably transmitted to the user.

Japanese Unexamined Patent Publication No. 2016-53889

The haptic presentation device of Patent Document 1 can reliably transmit a large haptic feedback to the operation of the operator, but there is a problem whether the strength of the haptic feedback is suitable for the operator. That is, there is a problem that the operator is not aware if the strength of the tactile sensation is small, and conversely, if the strength of the tactile sensation is large, the operator may feel uncomfortable.

An object of the present invention is to provide a haptic presentation device that can present haptic feedback suitable for an operator.

The present invention provides the following tactile sense presentation devices [1] to [8] as an embodiment.

[1] Tactile sensation presentation means for presenting tactile sensation to a vehicle occupant, biological information detection means for detecting biological information of the occupant, and the tactile presentation so that the detection result of the biological information detection means falls within a prescribed range. A tactile sensation presentation apparatus comprising: a control unit configured to control the strength of presentation to the occupant by means.

[2] The haptic presentation according to [1], wherein the control unit increases the strength of presentation to the occupant by the haptic presentation unit when a detection result of the biological information detection unit is below a specified range. apparatus.

[3] In the above [1] or [2], when the detection result of the biological information detection unit exceeds a specified range, the control unit reduces the presentation strength to the occupant by the tactile display unit. The tactile sensation presentation device described.

[4] The tactile sense presentation device according to any one of [1] to [3], wherein the biological information detection unit detects the degree of tension of the occupant as the biological information.

[5] The tactile sense presentation device according to [4], wherein the biological information detection unit detects at least one of heart rate, blood pressure, respiration, skin potential, skin current, skin temperature, and the like as the degree of tension.

[6] The tactile sense presentation device according to [4] or [5], wherein the biological information detection unit is an RF (high frequency) transmission / reception unit that detects the heart rate as the biological information.

[7] The control unit presents the tactile sensation so that the difference between the intensity signal indicating the intensity of the tactile sensation presenting means and the feedback signal from the biological information detecting means via the feedback coefficient converges within the specified range. The tactile sense presentation device according to any one of [1] to [6], which is controlled.

[8] The tactile sensation presentation apparatus according to any one of [1] to [7], wherein the tactile sensation presentation unit presents at least one selected from vibration, light, and sound.

According to the present invention, it is possible to provide a haptic presentation device capable of presenting haptic feedback suitable for an operator.

FIG. 1 is a schematic diagram showing an example of the inside of a vehicle on which a tactile sense presentation device according to an embodiment of the present invention is mounted. FIG. 2 is a block configuration diagram showing a schematic configuration of the tactile sense presentation device according to the embodiment of the present invention. FIG. 3 is a flowchart showing the operation of the tactile sensation presentation apparatus according to the embodiment of the present invention. FIG. 4 is a block diagram of the control system showing the configuration of the tactile sense presentation device according to the embodiment of the present invention. FIG. 5A is a graph showing a waveform signal of a presentation amplitude in tactile presentation by vibration. FIG. 5B is a graph showing a waveform signal of a presentation amplitude after control.

(Embodiment of the present invention)
The outline of the embodiment of the present invention will be described below.

The tactile sense presentation device 1 according to the embodiment of the present invention includes a vibration generating unit 10 as tactile sense presenting means for performing tactile sense presentation to an occupant 90 (operator) of a vehicle 8, and biometric information detection for detecting biometric information of the occupant 90. A biological information detection unit 20 as a means, and a control unit 30 that controls the intensity of presentation to the occupant 90 by the vibration generation unit 10 so that the biological information detection unit 20 is within a specified range. Yes.

As shown in FIG. 1, the steering 12 of the vehicle 8 is equipped with a vibration generating unit 10 that presents vibrations for tactile feedback to the grasped occupant 90. The driver's seat 81 on which the occupant 90 is seated is equipped with a biological information detection unit 20 for detecting biological information of the occupant 90. For example, the occupant 90 can grasp the operation state of the in-vehicle device corresponding to the vibration presentation by receiving the vibration presentation from the vibration generation unit 10. The strength of the vibration presentation is appropriate based on the biological information of the occupant 90.

(Vibration generator 10)
The tactile presentation device 1 includes a vibration generation unit 10 as a tactile presentation unit. The tactile sense presenting means is for notifying the operating state of the in-vehicle device by tactile feedback to the occupant 90. In the present embodiment, the vibration generating unit 10 for presenting vibration is described as being provided in the steering wheel 12, but other means such as light, sound, etc. may be used, and vibration, light, It may be a combination of two or more selected from sounds and the like. Also, the mounting location of the vibration generating unit 10 is not limited to the steering 12 and may be, for example, a touch pad or a driver's seat seat disposed on the center console.

As the vibration generating unit 10, for example, a vibration actuator using a piezoelectric element mounted inside the steering 12 can be used. The vibration actuator is, for example, a monomorph type piezoelectric actuator including a metal plate and a piezoelectric element. This monomorph type piezoelectric actuator is a vibration actuator having a structure that bends with only one piezoelectric element. Examples of the material for the piezoelectric element include lithium niobate, barium titanate, lead titanate, lead zirconate titanate (PZT), lead metaniobate, and polyvinylidene fluoride (PVDF). As a modification of the vibration actuator, a bimorph piezoelectric actuator in which two piezoelectric elements are provided on both surfaces of a metal plate may be used. A vibration actuator using a laminated piezoelectric element can also be used.

(Biological information detection unit 20)
As the biological information detecting means, the tactile sensation providing apparatus 1 includes a biological information detecting unit 20. The biological information detection means is feedback information for detecting biological information and controlling the presentation strength of the tactile sense presenting means as indicating the degree of tension of the object (occupant 90) that performs tactile feedback.

The biological information detection unit 20 detects at least one biological information such as a heart rate, blood pressure, respiration, skin potential, skin current, skin temperature, and the like as indicating the degree of tension of the occupant 90. In the present embodiment, the heart rate is used to see the change in the degree of tension of the occupant 90. This biological information detection unit functions as a tension level estimation sensor.

As a method for detecting a heart rate as biological information, a method of detecting a heart rate in a non-contact manner by a minute movement of an occupant 90 measured by an RF (high frequency) transmission / reception unit 22 is known. The heart rate can be measured by measuring minute displacements such as the chest and legs of the occupant 90 and removing running vibration and body movement.

As shown in FIG. 1, the vehicle 8 includes an RF (high frequency) transmission / reception unit 22 in a driver seat 81. The RF transmitting / receiving unit 22 measures the heart rate by transmitting a high-frequency radar and receiving the Doppler radar reflected by the occupant 90.

(Control unit 30)
The control unit 30 includes, for example, a CPU (Central Processing Unit) that performs operations and processing on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. Microcomputer. For example, the RAM is used as a storage area for temporarily storing calculation results and the like. Further, the ROM stores, for example, a program for operating the control unit 30 and a threshold value Sth. The control unit 30 includes an interface unit for signal input / output processing.

As shown in FIG. 2, the control unit 30 is connected to the vibration generating unit 10 and performs vibration control using the vibration drive signal Sv. In addition, biological information such as the heart rate of the occupant 90 is taken from the RF transmission / reception unit 22 described above, and is output to the control unit 30 as a biological information signal Sh.

(Operation of the tactile sense presentation device 1 according to the embodiment of the present invention)
Hereinafter, the operation of the tactile sense presentation device 1 will be described according to the steps of the flowchart shown in FIG.

When the operation of the tactile sense presentation device 1 starts, the control unit 30 outputs a vibration drive signal Sv to the vibration generation unit 10 to generate vibration. Thereby, the steering 12 is vibrated to present the vibration to the occupant 90 (Step 1).

The control unit 30 acquires the biological information signal Sh by the biological information detection unit 20 (Step 2). This biological information signal Sh is a heart rate.

The control unit 30 determines whether or not the biological information signal Sh is greater than or equal to the threshold value Sth (Step 3). The threshold value Sth is set to a predetermined heart rate suitable for driving, for example, the heart rate of the occupant 90. This threshold value Sth (heart rate) can be set arbitrarily.

When the biological information signal Sh is equal to or greater than the threshold value Sth, the control unit 30 proceeds to Step 4 (Step 3: Yes), and proceeds to Step 5 when the biological information signal Sh is less than the threshold value Sth (Step 3: No).

The control unit 30 weakens the vibration intensity (Step 4). That is, the control unit 30 decreases the vibration drive signal Sv and weakens the vibration intensity generated by the vibration generation unit 10. Thereby, when the tension | tensile_strength of the passenger | crew 90 is high, a vibration intensity | strength can be weakened.

Further, the control unit 30 increases the vibration intensity (Step 5). That is, the control unit 30 increases the vibration drive signal Sv to increase the vibration intensity generated by the vibration generation unit 10. As a result, the vibration intensity can be increased when the occupant 90 has low tension or no response.

The tactile sensation presentation apparatus 1 according to the present embodiment controls the vibration intensity generated by the vibration generator 10 so that the detection result of the biological information detection means is within the specified range by performing the above-described series of flows. can do. By the feedback control from Step 1 to Step 5 as described above, control is performed so that the biological information signal Sh of the occupant 90 converges to the threshold value Sth and falls within the specified range. In other words, the control unit 30 reduces the strength of presentation to the occupant 90 by the tactile sense presenting means when the detection result by the biological information detecting means exceeds the specified range. Moreover, the control part 30 enlarges the presentation intensity | strength to the passenger | crew 90 by a tactile sense presentation means, when the detection result in a biometric information detection means is less than the regulation range. Thereby, tactile sensation can be presented by controlling the vibration intensity generated by the vibration generating unit 10 so that the degree of tension of the occupant 90 is appropriate.

Therefore, by estimating and learning the occupant's tension level from the biometric information, it is possible to provide an appropriate tactile sensation intensity for the occupant.

As shown in FIG. 4, vibration is input from the vibration generating unit 10, and a vibration presentation as a control amount is fed back via the biological information detection unit 20. The biological information signal Sh that is an output of the biological information detection unit 20 is fed back by a feedback coefficient K. The control unit 30 presents the vibration so that the difference between the signal Sv of the vibration generating unit 10 and the feedback signal K · Sv from the biological information detecting unit 20 converges within a specified range.

Feedback control based on such biological information makes it possible to provide an appropriate tactile sensation presentation strength with respect to the occupant's tension.

A presenting amplitude based on the signal Sv is A1, and as shown in FIG. 5A, the vibration generating unit 10 is driven from time t1 to time t3 to perform vibration presenting. As shown in FIG. 5B, the control unit 30 presents an appropriate presentation for the occupant's tension in the period from time t2 to t3 through the transition period from time t1 to t2, as shown in FIG. 5B, by the feedback control shown in FIG. The vibration can be presented with the amplitude A2.

The operation of the tactile sensation presentation apparatus according to the embodiment of the present invention is capable of discrete feedback control as shown in FIG. 3, and continuous as shown in FIGS. 4, 5A, and 5B. Feedback control is also possible.

Further, feedback control can be performed not on the continuous vibration waveform as shown in FIGS. 5A and 5B but also on the vibration waveform sequence discretized in time series.

(Effect of the embodiment of the present invention)
The tactile sense presentation device 1 according to the present embodiment has the following effects.
(1) A tactile sense presentation device 1 according to an embodiment of the present invention includes a vibration generating unit 10 as tactile sense presenting means for presenting tactile sense to an occupant 90 of a vehicle 8 and biometric information detecting means for detecting biometric information of the occupant 90. And a control unit 30 for controlling the intensity of presentation to the occupant 90 by the vibration generation unit 10 so that the detection result of the biological information detection unit 20 falls within a specified range. Has been. Since the tactile sense presentation device 1 includes the biological information detection unit 20 as a feedback element, the strength of vibration presentation by the vibration generation unit 10 can be made suitable based on the biological information of the occupant 90. As a result, it is possible to provide a haptic presentation device that can present haptic feedback suitable for the operator.
(2) The biological information detection unit 20 detects at least one biological information such as a heart rate, blood pressure, respiration, skin potential, skin current, skin temperature, and the like as indicating the degree of tension of the occupant 90. In the present embodiment, the heart rate is used to see the change in the degree of tension of the occupant 90. This biological information detection unit functions as a tension level estimation sensor. Thereby, the tactile sense presentation intensity | strength suitable for the passenger | crew during a driving | operation can be provided.
(3) In addition, in order to provide appropriate tactile sensation presentation strength, there is an effect that the occupant is not aware of tactile feedback and is not surprised by the strength and does not hinder driving.

As mentioned above, although some embodiment of this invention was described, these embodiment is only an example and does not limit the invention which concerns on a claim. These novel embodiments can be implemented in various other forms, and various omissions, replacements, changes, and the like can be made without departing from the scope of the present invention. In addition, not all the combinations of features described in these embodiments are essential to the means for solving the problems of the invention. Furthermore, these embodiments are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Tactile sense presentation apparatus 8 Vehicle 10 Vibration generation part 20 Biological information detection part 22 Transmission / reception unit 30 Control part

Claims

Tactile presentation means for presenting tactile sense to a vehicle occupant;
Biological information detecting means for detecting biological information of the occupant;
A control unit for controlling the presenting intensity to the occupant by the tactile sense presenting means so that the detection result of the biological information detecting means is within a specified range;
A tactile presentation device.
The tactile sensation presentation apparatus according to claim 1, wherein the control unit increases the strength of presentation to the occupant by the tactile sensation presentation unit when a detection result of the biological information detection unit is below a specified range.
The tactile display according to claim 1 or 2, wherein when the detection result of the living body information detection unit exceeds a predetermined range, the control unit reduces the strength of presentation to the occupant by the tactile display unit. apparatus.
The tactile sensation presentation apparatus according to any one of claims 1 to 3, wherein the biological information detection unit detects a degree of tension of the occupant as the biological information.
The tactile sense presentation device according to claim 4, wherein the biological information detection unit detects at least one of a heart rate, blood pressure, respiration, skin potential, skin current, skin temperature, and the like as the degree of tension.
The tactile sense presentation device according to claim 4, wherein the biological information detection unit is an RF (high frequency) transmission / reception unit that detects the heart rate as the biological information.
The control unit controls the tactile presentation so that the difference between the strength signal indicating the presentation strength of the tactile sense presenting means and the feedback signal from the biological information detecting means via the feedback coefficient converges within the specified range; The tactile sense presentation device according to any one of claims 1 to 6.
The tactile sensation presentation apparatus according to any one of claims 1 to 7, wherein the tactile sensation presentation unit presents at least one selected from vibration, light, and sound.