WO2018163497A1 - Alertness support device, method, and program - Google Patents

Alertness support device, method, and program Download PDF

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Publication number
WO2018163497A1
WO2018163497A1 PCT/JP2017/038550 JP2017038550W WO2018163497A1 WO 2018163497 A1 WO2018163497 A1 WO 2018163497A1 JP 2017038550 W JP2017038550 W JP 2017038550W WO 2018163497 A1 WO2018163497 A1 WO 2018163497A1
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WIPO (PCT)
Prior art keywords
driver
audible sound
output
pulsation
information
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PCT/JP2017/038550
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French (fr)
Japanese (ja)
Inventor
将典 橋崎
崇 池谷
竜洋 平野
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オムロン株式会社
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Publication of WO2018163497A1 publication Critical patent/WO2018163497A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • A61B5/0245—Detecting, measuring or recording pulse rate or heart rate by using sensing means generating electric signals, i.e. ECG signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
    • A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a wake-up support device, a method, and a program for promoting a driver's wake-up.
  • the driver of the vehicle is required to be sufficiently awake while driving the vehicle.
  • a vehicle equipped with an automatic driving control device that automatically controls the driving operation of the vehicle has also been proposed.
  • the driving operation is not completely left to the automatic driving control device. Awakening is required.
  • the wake-up support device is basically a device that obtains a driving state of a vehicle, a driver's biological information and video, and gives a stimulus to the driver when necessary based on the information. Examples of the stimulus given to the driver include sound, vibration, light, and scent.
  • Japanese Patent No. 5482644 discloses an example of a wake-up support device that gives a vibration stimulus to the driver by vibrating the driver's seat.
  • Japanese Patent No. 5056067 discloses an example of a wake-up support device that gives a driver a sound stimulus by generating sound from a speaker.
  • Such awakening support devices are currently under development in methods and techniques for detecting driver drowsiness, stimuli given to drivers, and methods of giving stimuli, etc., and awakening support devices with various specifications and configurations Has been proposed.
  • This invention provides a novel awakening support device that promotes awakening of the driver.
  • a first aspect of the present invention is an awakening support device that promotes a driver's awakening.
  • the awakening support device causes the non-audible sound output device to output a non-audible sound based on detection information of a pulsation sensor that detects the pulsation of the driver and further based on a period of the pulsation of the driver.
  • a non-audible sound information output unit that outputs non-audible sound information is provided.
  • a wake-up support device relates to the wake-up support device according to the first aspect, wherein the driver is drowsy based on detection information of a driver state detection sensor that detects the state of the driver. It further includes a driver state determination unit that determines whether or not the event is being held. The non-audible sound information output unit outputs the non-audible sound information when the driver state determination unit determines that the driver is drowsy.
  • a wake-up support device relates to the wake-up support device according to the first or second aspect, wherein the non-audible sound information is derived from the driver's beat to the driver's beat cycle.
  • the non-audible sound is output to the non-audible sound output device for a predetermined period with a shorter time interval.
  • the time interval is greater than half of the driver's pulsation period, and the predetermined period is shorter than the difference between the pulsation period and the time interval.
  • a wake-up support apparatus relates to the wake-up support apparatus according to the third aspect, wherein the non-audible sound information output unit sets the time interval to a pulsation cycle of a driver who has drowsiness.
  • the non-audible sound information is output so as to decrease in a stepwise manner from a corresponding time interval to a time interval corresponding to a driver's pulsation period at awakening.
  • a wake-up support device relates to the wake-up support device according to the first to fourth aspects, wherein the non-audible sound information is different from the non-audible sound output during the previous period. An audible sound is output to the non-audible sound output device.
  • non-audible sound information that causes the non-audible sound output device to output a non-audible sound is output based on the cycle of the driver's beat. For this reason, it is effective in preventing the driver from drowsiness. Further, when the driver is drowsy, the driver's awakening is promoted. According to the second aspect of the present invention, a non-audible sound is output when it is determined that the driver is drowsy. Thereby, the driver's awakening is promoted.
  • a non-audible sound is output prior to the driver's pulsation. For this reason, shortening of a driver's pulsation period is promoted favorably. Thereby, the driver's arousal is favorably promoted.
  • the time interval until the non-audible sound is output from each pulsation is the time interval corresponding to the cycle of the pulsation of the driver who has drowsiness. It is reduced in steps until a time interval corresponding to the person's beat cycle. As a result, the pulsation of the driver is reliably increased, and the driver's arousal level is improved as in the awakening phase.
  • a non-audible sound different from the previously output non-audible sound is output. That is, a non-audible sound that is not monotonous is output. For this reason, it is reduced that a driver
  • FIG. 1 is a diagram showing an overall configuration of an automatic driving control system including a driving support device including an awakening support device according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a functional configuration of the awakening support apparatus according to the embodiment of the present invention.
  • FIG. 3 is a flowchart showing the procedure and control contents of a wake-up support by the wake-up support apparatus shown in FIG.
  • FIG. 4 is a time chart of non-audible sound output from the non-audible sound output device according to the embodiment of the present invention.
  • FIG. 1 is a diagram showing an overall configuration of an automatic driving control system according to an embodiment of the present invention.
  • This automatic driving control system is mounted on a vehicle 1 such as a passenger car.
  • the vehicle 1 includes, as basic equipment, a power unit 2 including a power source and a transmission, and a steering device 3 equipped with a steering wheel 3a.
  • a power unit 2 including a power source and a transmission
  • a steering device 3 equipped with a steering wheel 3a.
  • An engine and / or a motor is used as the power source.
  • the vehicle 1 is configured to be able to travel in either the manual operation mode or the automatic operation mode.
  • the manual driving mode is a mode in which the vehicle 1 is driven mainly by a driver's manual driving operation, for example.
  • the manual operation mode includes, for example, an operation mode for driving the vehicle based only on the driver's driving operation, and an operation mode for performing driving operation support control for supporting the driving operation of the driver while mainly driving the driver's driving operation. Is included.
  • the driving operation support control assists the steering torque so that the driver's steering becomes an appropriate steering amount based on the curvature of the curve when the vehicle 1 is traveling on the curve, for example.
  • the driving operation support control includes control for assisting a driver's accelerator operation (for example, operation of an accelerator pedal) or brake operation (for example, operation of a brake pedal), manual steering (manual operation of steering), and manual speed adjustment (speed). Adjustment manual operation) is also included.
  • a driver's accelerator operation for example, operation of an accelerator pedal
  • brake operation for example, operation of a brake pedal
  • manual steering manual operation of steering
  • speed manual speed adjustment
  • Adjustment manual operation is also included.
  • manual steering the vehicle 1 is steered mainly by the driver's operation of the steering wheel 3a.
  • the manual speed adjustment the speed of the vehicle is adjusted mainly by the driver's accelerator operation or brake operation.
  • the driving operation support control does not include control for forcibly intervening in the driving operation of the driver and automatically driving the vehicle.
  • the driving operation of the driver is reflected in the driving of the vehicle within a preset allowable range, but forcibly intervenes in the driving of the vehicle under certain conditions (for example, deviation from the lane of the vehicle). Control to do is not included.
  • the automatic operation mode is a mode that realizes an operation state in which the vehicle automatically travels along the road on which the vehicle travels, for example.
  • the automatic driving mode includes, for example, a driving state in which the vehicle automatically travels toward a preset destination without driving by the driver.
  • the automatic driving mode it is not always necessary to automatically control all of the vehicle, and the driving state in which the driving operation of the driver is reflected in the driving of the vehicle within the preset allowable range is also included in the automatic driving mode. That is, the automatic driving mode includes control for forcibly intervening in driving of the vehicle under certain conditions, while reflecting the driving operation of the driver in driving of the vehicle within a preset allowable range.
  • the vehicle 1 is also provided with an automatic driving control device 5 for executing driving control in the automatic driving mode.
  • the automatic driving control device 5 acquires sensing information from the steering sensor 11, the accelerator pedal sensor 12, the brake pedal sensor 13, the GPS receiver 14, the gyro sensor 15, and the vehicle speed sensor 16, respectively.
  • the automatic driving control device 5 is a peripheral monitoring system that monitors these sensing information, route information generated by a navigation system (not shown), traffic information acquired by road-to-vehicle communication, and positions and movements of surrounding people and vehicles.
  • the vehicle 1 is automatically controlled based on the information obtained by the above.
  • Automatic control includes, for example, automatic steering (automatic steering operation) and automatic speed adjustment (automatic driving of speed).
  • Automatic steering is an operating state in which the steering device 3 is automatically controlled.
  • Automatic steering includes LKA (Lane Keeping Assist).
  • LKA Li Keeping Assist
  • the LKA automatically controls the steering device 3 so that the vehicle 1 does not deviate from the traveling lane even when the driver does not perform the steering operation.
  • the driver's steering operation may be reflected in the steering of the vehicle in a range where the vehicle 1 does not deviate from the travel lane (allowable range).
  • automatic steering is not limited to LKA.
  • Automatic speed adjustment is an operating state in which the speed of the vehicle 1 is automatically controlled.
  • Automatic speed adjustment includes ACC (Adaptive Cruise Control). For example, when there is no preceding vehicle ahead of the vehicle 1, ACC performs constant speed control that causes the vehicle 1 to travel at a constant speed at a preset speed, and when the preceding vehicle exists ahead of the vehicle 1. Is a follow-up control that adjusts the vehicle speed of the vehicle 1 in accordance with the inter-vehicle distance from the preceding vehicle.
  • the automatic operation control device 5 decelerates the vehicle 1 according to the driver's brake operation (for example, operation of the brake pedal) even when ACC is being executed.
  • the automatic operation control device 5 can perform the driver's accelerator operation (for example, accelerator) up to a preset maximum allowable speed (for example, the maximum speed legally determined on the traveling road) even during execution of ACC.
  • the vehicle can be accelerated according to the pedal operation.
  • the automatic speed adjustment is not limited to ACC but also includes CC (Cruise Control).
  • the vehicle 1 is also provided with a driving support device 6.
  • the driving support device 6 may have various functions.
  • the driving support device 6 cooperates with a driver monitoring function and a notification device that constitute a driver monitoring system that cooperates with a driver state detection sensor to monitor the driver and acquire the state of the driver.
  • Warning generation function that constitutes a warning generation system that issues a warning according to the state of the driver
  • operation mode switching control function that constitutes an operation mode switching control system that controls switching of the operation mode according to the state of the driver
  • biological information It may have a wake-up support function that constitutes a wake-up support system that works with the sensor and the stimulus output device to wake up the driver according to the driver's state.
  • the state of the driver is, for example, whether the driver is looking aside, whether the driver is drowsy, whether the driver is in a state of high concentration with respect to driving, and automatically During driving, there may be various conditions such as whether or not the driver can return to manual driving.
  • the determination of the driver's state is performed as follows, for example.
  • the driver's monitoring image is acquired by the driver state detection sensor, and based on the acquired monitoring image, the driver's eye opening, blink frequency, eye movement, etc. are detected, and the driver's line of sight is detected. Recognize direction and driver's arousal level.
  • the state of the driver is determined by comparing the dwell time of the driver's line of sight, the arousal level, and the like with a preset threshold value.
  • the driving support device 6 includes at least a driver monitoring unit 6a that performs the driver monitoring function and an awakening support unit 6b that performs the awakening support function.
  • the driver monitoring unit 6a cooperates with the driver camera 7 as a driver state detection sensor to constitute a driver monitoring system 8
  • the awakening support unit 6b includes a pulsation sensor 9A as a biological information sensor and a stimulus output.
  • Awakening support system 10 is configured in cooperation with non-audible sound output device 9B as a device.
  • the driver monitoring unit 6a and the awakening support unit 6b constitute a waking support device 6A.
  • the driving support device 6 includes the awakening support device 6A.
  • the state of the driver determined by the driver monitoring unit 6a includes at least the state of whether or not the driver is drowsy.
  • the driver camera 7 is installed at a position in front of the driver, such as on a dashboard, for example, and images the driver and outputs the video signal to the driving support device 6.
  • the pulsation sensor 9 ⁇ / b> A detects the pulsation of the driver and outputs a pulsation signal representing the pulsation to the driving support device 6.
  • the pulsation sensor 9A is not limited to this, but may be constituted by, for example, a pulse wave sensor or a heart sound sensor.
  • the pulsation sensor 9A may be a clothes-type pulsation sensor, for example. Or the pulsation sensor 9A may be attached to the seat of the driver's seat.
  • the pulsation sensor 9A is composed of a camera that captures the driver's face (for example, the driver camera 7) and its image processing circuit, and uses a technique for measuring the pulse from the image of the driver's face. The pulsation of the driver may be detected.
  • the non-audible sound output device 9B converts the non-audible sound signal output from the driving support device 6 into a non-audible sound and outputs it.
  • the non-audible sound output device 9B has, for example, a speaker and outputs a non-audible sound from the speaker.
  • the non-audible sound output device 9B may be configured to output not only a non-audible sound but also an audible sound.
  • the non-audible sound output device 9B may be configured using a sound output function of the navigation system.
  • a non-audible sound is a sound having a frequency outside the audible range.
  • An audible sound is a sound having a frequency within the audible region.
  • the non-audible sound may be a sound having a frequency outside the frequency range of 20 Hz to 20 kHz, for example.
  • the non-audible sound may be a sound having a frequency higher than 20 kHz.
  • the non-audible sound may be a sound having a frequency lower than 20 Hz.
  • the awakening support device 6A is a device that works together with the pulsation sensor 9A and the non-audible sound output device 9B to promote the driver's awakening when necessary, for example, when the driver is drowsy. It is configured as follows.
  • FIG. 2 is a block diagram showing the functional configuration.
  • the awakening support device 6A includes a control unit 61, an input / output interface unit 62, and a storage unit 63.
  • the input / output interface unit 62 converts the input analog signal into digital data and outputs the digital data to the control unit 61, and converts the digital data output from the control unit 61 into an analog signal and outputs the analog signal. Specifically, the input / output interface unit 62 receives the video signal output from the driver camera 7, converts it into digital data, and outputs it to the control unit 61. The input / output interface unit 62 also converts the non-audible sound information data output from the control unit 61 into a signal and outputs the signal to the non-audible sound output device 9B.
  • the storage unit 63 uses, as a storage medium, a non-volatile memory that can be written and read at any time, such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive). Not limited to this, the storage unit 63 may be configured by a volatile memory such as a RAM.
  • the storage unit 63 includes a driver monitoring video storage unit 631, a driver state storage unit 632, and a non-audible sound information storage unit 633 as storage areas used for carrying out this embodiment.
  • the control unit 61 has a CPU (Central Processing Unit) and a program memory constituting the computer.
  • the control unit 61 includes a driver monitoring video acquisition unit 611, a driver state determination unit 612, and a non-audible sound information output unit 613 as control functions necessary for carrying out this embodiment. All of these control functions are realized by causing the CPU to execute a program stored in the program memory.
  • the driver monitoring video acquisition unit 611 has a function of acquiring a driver monitoring video from the driver camera 7.
  • the driver monitoring video acquisition unit 611 takes in the digital data (driver monitoring video data) of the driver's video signal output from the driver camera 7 from the input / output interface unit 62, and uses the captured driver monitoring video data.
  • the information is stored in the driver monitoring video storage unit 631 of the storage unit 63.
  • the driver state determination unit 612 has a function of determining the state of the driver.
  • the driver state determination unit 612 reads the driver monitoring video data from the driver monitoring video storage unit 631 at a preset time interval, and each time the driver is drowsy based on the driver monitoring video data. The process which determines whether it exists is performed.
  • the driver state determination unit 612 stores information representing the determination result in the driver state storage unit 632 of the storage unit 63.
  • the determination of whether or not the driver is drowsy is performed, for example, as follows. First, the driver state determination unit 612 detects a driver's eye open state, blinking frequency, or eye movement based on the driver monitoring video data, and recognizes the driver's arousal level. Next, the driver state determination unit 612 compares the driver's arousal level with a preset threshold value. If the driver's arousal level is higher than the threshold, the driver state determination unit 612 determines that the driver is not drowsy. Conversely, if the driver's arousal level is lower than the threshold, It is determined that the driver is drowsy.
  • the non-audible sound information output unit 613 has a function of outputting non-audible sound information when necessary.
  • the non-audible sound information output unit 613 reads information representing a determination result as to whether or not the driver is drowsy from the driver state storage unit 632, and the information indicating the determination result indicates that the driver is drowsy. If this is the case, the non-audible sound information is output to the non-audible sound output device 9B.
  • the non-audible sound information output unit 613 also stores the output non-audible sound information in the non-audible sound information storage unit 633 of the storage unit 63.
  • FIG. 3 is a flowchart showing the overall control procedure and control contents.
  • driver monitoring system 8 starts monitoring the driver in step S1.
  • Driver monitoring continues, for example, during driving.
  • the driver is monitored as follows, for example.
  • the driver camera 7 When driving is started, the driver camera 7 is activated, and continuously captures a predetermined range including the driver's face and outputs the video signal.
  • the awakening support device 6A takes in digital data (driver monitoring video data) of the video signal output from the driver camera 7 from the input / output interface unit 62 under the control of the driver monitoring video acquisition unit 611.
  • the captured driver monitoring video data is stored in the driver monitoring video storage unit 631 of the storage unit 63.
  • the driver's imaging may be performed intermittently at predetermined time intervals.
  • the driver camera 7 or the input / output interface unit 62 may encode the video signal according to a predetermined encoding method. In this way, it is possible to reduce the information amount of the monitoring video data and save the storage capacity of the driver monitoring video storage unit 631.
  • the awakening support device 6 ⁇ / b> A determines the state of the driver every time a certain period of time is determined under the control of the driver state determination unit 612. Do.
  • the driver's determination time interval may be set to a short interval of about 1 second so that a substantially continuous determination can be performed, for example, or to a relatively long interval of 10 to 30 seconds. May be.
  • the driver state determination unit 612 reads the driver monitoring video data from the driver monitoring video storage unit 631 at a preset time interval. Next, every time the driver monitoring video data is read, the driver state determination unit 612 determines whether or not the driver is drowsy based on the driver monitoring video data.
  • the driver state determination unit 612 stores information indicating the determination result in the driver state storage unit 632 of the storage unit 63 in association with information indicating the determination timing, for example, time stamp information.
  • the wakefulness support device 6A determines whether or not the driver is drowsy by the non-audible sound information output unit 613 in step S2, that is, Determine if the driver is sleepy.
  • the driver state determination unit 612 determines the driver's state at regular time intervals, and stores information indicating the determination result in the driver state storage unit 632.
  • the determination result of the driver's state includes information representing the determination result as to whether or not the driver is drowsy.
  • the non-audible sound information output unit 613 reads information representing the determination result of whether or not the driver is drowsy from the driver state storage unit 632 at regular time intervals.
  • step S5 determines the end of driving.
  • the non-audible sound output device 9B performs a process of outputting the non-audible sound in synchronization with the driver's beat.
  • the non-audible sound information output unit 613 reads pulsation information related to the driver's pulsation from the pulsation sensor 9A. Next, the non-audible sound information output unit 613 obtains the period of the driver's pulsation based on the pulsation information. Subsequently, the non-audible sound information output unit 613 outputs the non-audible sound from the driver's beat for a predetermined period at a time interval shorter than the driver's beat cycle. The non-audible sound information to be output to the device 9B is output. The non-audible sound output device 9B outputs a non-audible sound based on the non-audible sound information.
  • FIG. 4 is a time chart of the non-audible sound output from the non-audible sound output device 9B.
  • T 0 is the time when the output of the non-audible sound is started
  • T B is the period (time interval) of the driver's pulsation
  • T S is the time from which each audible sound is output.
  • time interval T P represents the period of non-audible sound is outputted.
  • the non-audible sound S i is output from each beat at a time interval T S ( ⁇ T B ).
  • Time interval T S at least, it is set larger than a half period T B of the driver beat. That is, the time interval T S is set so that at least T S > (1/2) T B.
  • the time interval T S is, T S> (2/3) may be set such that T B, as other, the T S> (3/4) T B , T S> ( 4/5) may be set such that T B.
  • the period T P in which non-audible sound S i is output is set so that the output of the non-audible sound S i before the next beat is completed.
  • the period T P is set to be shorter than the difference between the period T B and the time interval T S beats. That is, the period T P is set such that T P ⁇ (T B -T S ).
  • the non-audible sound S i is output in advance of the time interval of (T B ⁇ T S ) for each pulsation of the driver.
  • the number of beats decreases. That is, the time interval of pulsation of a person who is drowsy is longer than the time interval of pulsation of a person who is not drowsy. Conversely, if the time interval between pulsations is shortened, the person's arousal level increases.
  • the human audible frequency region is generally 20 Hz to 20 kHz.
  • the non-audible sound Si is output in advance for each pulsation of the driver.
  • the timing of the driver of the beat is expected to proceed.
  • the driver's arousal level is increased, that is, the driver's sleepiness is expected to be improved.
  • the non-audible sounds S i may all be the same.
  • non-audible tone S i + 1 may be different from the non-audible sound S i output during the last period T P. That is, S i + 1 ⁇ S i .
  • the non-audible sound S i + 1 only needs to be different from the non-audible sound S i + 1 in at least one of frequency and amplitude.
  • the non-audible sound S i + 1 may be different from the non-audible sound S i + 1 in either frequency or amplitude.
  • the non-audible sound S i + 1 may be different from the non-audible sound S i + 1 in both frequency and amplitude.
  • the non-audible sound information non-audible sound information output unit 613 to output to output the non-audible sound S i + 1 which is different from the non-audible sound S i output during the last period in the non-audible sound output device 9B It may be a thing.
  • the non-audible sound information output unit 613 stores the non-audible sound information in the non-audible sound information storage unit 633 of the storage unit 63 each time the non-audible sound information is output.
  • the non-audible sound information output unit 613 also reads the previously output non-audible sound information from the non-audible sound information storage unit 633 when outputting the non-audible sound information. That is, the non-audible sound information output unit 613 reads the non-audible sound information of the non-audible sound S i from the non-audible sound information storage unit 633 when outputting the non-audible sound information of the non-audible sound S i + 1 .
  • the non-audible sound information output unit 613 determines a non-audible sound information of a non-audible sound S i + 1 to be output to the non-audible sound output device 9B.
  • the time interval from when each beat is output to the non-audible sound may be changed according to the situation. For example, during a certain output period, the non-audible sound is output from each beat at the same time interval, but during the next output period, from each beat, the time interval during the previous output period. Non-audible sounds may be output at different time intervals.
  • the next output period is not allowed for each pulsation with a time interval longer than the time interval during the first output period.
  • Output listening sound if improvement in driver drowsiness is observed during this output period, in the next output period, non-audible sounds are placed at intervals shorter than those in the previous output period from each beat. Is output. Repeat this step until the non-audible sound is output from each beat at intervals of the first output period. You may make it approach to. Specifically, for example, the following may be performed.
  • the pulsation period at this time is 0.751.
  • the driver is drowsy and the driver's beat is 1.29 Hz.
  • the pulsation period at this time is 0.775...
  • the non-audible sound is output at a time interval of 0.751...
  • the time interval from each beat to the actual beat of the driver who drowsed, for example, 1 .Non-audible sound is output with a time interval of 0.769... Seconds corresponding to a 30 Hz beat period.
  • the pulsation of the driver can be easily raised from each pulsation, compared to outputting a non-audible sound at a time interval corresponding to a pulsation cycle of 1.33 Hz from the beginning. If the driver's beat is raised to 1.30 Hz, then each beat will be given an inaudible sound at a time interval of 0.757 ... seconds corresponding to a 1.31 Hz beat cycle. Output. Thereafter, this operation is repeated, and finally the pulsation of the driver is raised to 1.33 Hz.
  • the time interval from each beat until the non-audible sound is output corresponds to the period of the driver's beat at awakening from the time interval close to the period of the sleepy driver's beat.
  • a non-audible sound is output at a time interval corresponding to the period of a general human beat at awakening, and no improvement in the driver's sleepiness is observed.
  • a non-audible sound is output at a time interval close to the beat cycle of the driver who drowsed.
  • the present invention is not limited to this. From the beginning, from each beat, a non-audible sound is output at a time interval close to the beat cycle of the driver who drowsy, and a non-audible sound is output from each beat.
  • the time interval until the vehicle may be gradually reduced to a time interval corresponding to the period of the driver's pulsation when waking up.
  • the effect can be obtained even if non-audible sound is output from each beat with a time interval corresponding to the general beat period of a human being awake. Yes, it takes more time than in such a case, but it can be expected that the pulsation of the driver is surely increased and the driver's arousal level is improved just as when awakened.
  • step S4 Re-determination of the driver's sleepiness After the non-audible sound is output, the arousal support device 6A determines whether or not the driver's sleepiness is sufficiently improved in step S4. This determination is performed by the same method as in step S2.
  • the non-audible sound information output unit 613 reads information representing a determination result of whether or not the driver is drowsy from the driver state storage unit 632.
  • the process proceeds to the next step S5 for determining the end of driving.
  • the process returns to step S3, and the process of outputting the non-audible sound is performed again.
  • the awakening support device 6A obtains a determination result that the driver's sleepiness is sufficiently improved in step S3 and step S4 by the non-audible sound information output unit 613.
  • the process of outputting the non-audible sound and re-determination of the driver's drowsiness is repeated until it is received.
  • step S5 Determination of driving completion If it is determined that the driver is not drowsy at step S2 or if it is determined at step S4 that the driver's drowsiness is sufficiently improved, For example, in step S5, it is determined whether or not the operation is finished. If it is determined that the operation has not ended, the process returns to step S2 to repeat the series of controls described above. On the other hand, when it is determined that the driving is finished, the control of the awakening support is finished.
  • the driver state determination unit 612 causes the driver to detect the driver state based on the detection information of the driver camera 7 that is a driver state detection sensor that detects the driver state. Determine if you are drowsy.
  • the non-audible sound information output unit 613 outputs a non-audible sound to the non-audible sound output device 9B based on the heart rate information from the pulsation sensor 9A. Output non-audible sound information.
  • the non-audible sound output device 9B outputs a non-audible sound from each pulsation of the driver for a predetermined period at a time interval shorter than the period of the pulsation of the driver. . For this reason, the non-audible sound is repeatedly output prior to the driver's beat. Thereby, shortening of the driver's pulsation period, that is, an increase in heart rate is promoted, and the driver's sleepiness is improved.
  • Non-audible sound does not give the driver the awareness of listening. For this reason, it is considered that a non-audible sound does not irritate the driver and does not cause mental damage to the driver. As a result, the driver's arousal can be favorably promoted without causing mental distress to the driver.
  • the driver state detection sensor is configured by the driver camera 7 and the state of the driver is determined based on the video signal including the driver's face obtained by the driver camera 7 has been described as an example.
  • the driver state detection sensor is not limited to the driver camera 7, and is configured by a biological sensor that acquires biological information of the driver, and is detected by a biological signal obtained by the biological sensor, for example, a pulse wave sensor or a heart rate sensor.
  • the state of the driver may be determined based on the pulse wave signal or heartbeat signal of the driver or a signal representing the vertical movement of the diaphragm detected by the pressure sensor.
  • the present invention is not limited to such a situation, and the driver can be used in various situations. You may make it support awakening.
  • the following situation may be used as a situation for supporting the driver's awakening.
  • the sleepiness is such that it is determined that the driver is sleeping or that it is difficult for the driver to manually drive the vehicle
  • the driver's awakening may be supported.
  • the application field of the present invention is not limited to the vehicle, and the present invention is not limited to a vehicle, a machine, or the like. May be applied.
  • the present invention may be applied to various vehicles and facilities such as ships, airplanes, factories, research laboratories, and offices.
  • the term “driver” is not limited to the driver of the vehicle.
  • the vehicle other than the vehicle for example, the operation of a ship, an aircraft, or a spacecraft. It should be construed to include operators, steering personnel, pilots, etc., drivers and operators of machines and systems, operators, operators of computers, etc.
  • the vehicle type, the function of the automatic driving control device, the control function and control procedure of the awakening support device, and the control contents can be variously modified and implemented without departing from the gist of the present invention.
  • the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage.
  • various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.
  • a wake-up support device that promotes driver wake-up, having a hardware processor, The hardware processor causes the non-audible sound output device to output a non-audible sound based on detection information of a pulsation sensor that detects the pulsation of the driver and further based on a period of the pulsation of the driver.
  • Awakening support device that outputs non-audible sound information.
  • the hardware processor is Based on detection information of a driver state detection sensor that detects the state of the driver, it is determined whether or not the driver is drowsy, information indicating the determination result is stored in the memory, The awakening support according to appendix 1, wherein information indicating the determination result is read from the memory, and the non-audible sound information is output when the information indicating the determination result indicates that the driver is drowsy. apparatus.

Abstract

Provided is an alertness support device for promoting alertness of a driver. This alertness support device comprises an inaudible sound information output unit for outputting inaudible sound information for outputting an inaudible sound to an inaudible sound output device on the basis of detection information of a pulse sensor that detects the pulse of the driver, and also on the basis of the cycle of the pulse of the driver.

Description

覚醒支援装置、方法およびプログラムAwakening support apparatus, method and program
　この発明は、運転者の覚醒を促す覚醒支援装置、方法およびプログラムに関する。 The present invention relates to a wake-up support device, a method, and a program for promoting a driver's wake-up.
　例えば、車両の運転者は、車両を運転している間、十分に覚醒していることが求められる。また、近年では、車両の運転操作を自動的に制御する自動運転制御装置を搭載した車両も提案されている。しかし、現状においては、運転操作を完全に自動運転制御装置に任せられるものではなく、緊急事態に咄嗟に対応できるよう、自動運転中であっても、やはり、運転者は、運転中は十分に覚醒していることが求められる。 For example, the driver of the vehicle is required to be sufficiently awake while driving the vehicle. In recent years, a vehicle equipped with an automatic driving control device that automatically controls the driving operation of the vehicle has also been proposed. However, in the present situation, the driving operation is not completely left to the automatic driving control device. Awakening is required.
　車両の運転者に限らず、機械等の運転者または操作者もまた、車両の運転と同様に、機械等を運転や操作している間は、十分に覚醒していることが求められる。 Not only the driver of the vehicle but also the driver or operator of the machine or the like is required to be sufficiently awake while driving or operating the machine or the like, similarly to the driving of the vehicle.
　このような事情から、例えば運転者の眠気を覚まさせる装置、言い換えれば、運転者の覚醒を促す覚醒支援装置が提案されている。覚醒支援装置は、基本的に、車両の走行状態や運転者の生体情報や映像を取得し、それに基づいて必要なときに運転者に刺激を与える装置である。運転者に与える刺激としては、音、振動、光、香りなどがある。 Under such circumstances, for example, a device for awakening the driver's sleepiness, in other words, an awakening support device that promotes the driver's awakening has been proposed. The wake-up support device is basically a device that obtains a driving state of a vehicle, a driver's biological information and video, and gives a stimulus to the driver when necessary based on the information. Examples of the stimulus given to the driver include sound, vibration, light, and scent.
　例えば、日本国特許第５４８２６４４号は、運転者の座席シートを振動させることにより運転者に振動の刺激を与える覚醒支援装置の一例を開示している。また、日本国特許第５０５６０６７号は、スピーカから音を発生させることにより運転者に音の刺激を与える覚醒支援装置の一例を開示している。 For example, Japanese Patent No. 5482644 discloses an example of a wake-up support device that gives a vibration stimulus to the driver by vibrating the driver's seat. Japanese Patent No. 5056067 discloses an example of a wake-up support device that gives a driver a sound stimulus by generating sound from a speaker.
　このような覚醒支援装置は、現在、運転者の眠気を検出する手法や技術、運転者に与える刺激、刺激の与え方などにおいて、開発が進められており、さまざまな仕様や構成の覚醒支援装置が提案されている。 Such awakening support devices are currently under development in methods and techniques for detecting driver drowsiness, stimuli given to drivers, and methods of giving stimuli, etc., and awakening support devices with various specifications and configurations Has been proposed.
　この発明は、運転者の覚醒を促す新規な覚醒支援装置を提供するものである。 This invention provides a novel awakening support device that promotes awakening of the driver.
　上記課題を解決するため、この発明の第１の態様は、運転者の覚醒を促す覚醒支援装置である。この覚醒支援装置は、前記運転者の拍動を検出する拍動センサの検出情報に基づいて、さらに前記運転者の拍動の周期に基づいて、非可聴音出力装置に非可聴音を出力させる非可聴音情報を出力する非可聴音情報出力部を備える。 In order to solve the above-described problem, a first aspect of the present invention is an awakening support device that promotes a driver's awakening. The awakening support device causes the non-audible sound output device to output a non-audible sound based on detection information of a pulsation sensor that detects the pulsation of the driver and further based on a period of the pulsation of the driver. A non-audible sound information output unit that outputs non-audible sound information is provided.
　この発明の第２の態様による覚醒支援装置は、第１の態様による覚醒支援装置に係り、前記運転者の状態を検出する運転者状態検出センサの検出情報に基づいて、前記運転者が眠気を催しているか否かを判定する運転者状態判定部をさらに備える。前記非可聴音情報出力部は、前記運転者状態判定部により前記運転者が眠気を催していると判定された場合に、前記非可聴音情報を出力する。 A wake-up support device according to a second aspect of the present invention relates to the wake-up support device according to the first aspect, wherein the driver is drowsy based on detection information of a driver state detection sensor that detects the state of the driver. It further includes a driver state determination unit that determines whether or not the event is being held. The non-audible sound information output unit outputs the non-audible sound information when the driver state determination unit determines that the driver is drowsy.
　この発明の第３の態様による覚醒支援装置は、第１または第２の態様による覚醒支援装置に係り、前記非可聴音情報は、前記運転者の拍動から、前記運転者の拍動の周期よりも短い時間間隔を置いて、所定の期間の間だけ、前記非可聴音を前記非可聴音出力装置に出力させるものである。前記時間間隔は、前記運転者の拍動の周期の半分よりも大きく、前記所定の期間は、前記拍動の周期と前記時間間隔との差よりも短い。 A wake-up support device according to a third aspect of the present invention relates to the wake-up support device according to the first or second aspect, wherein the non-audible sound information is derived from the driver's beat to the driver's beat cycle. The non-audible sound is output to the non-audible sound output device for a predetermined period with a shorter time interval. The time interval is greater than half of the driver's pulsation period, and the predetermined period is shorter than the difference between the pulsation period and the time interval.
　この発明の第４の態様による覚醒支援装置は、第３の態様による覚醒支援装置に係り、前記非可聴音情報出力部は、前記時間間隔を、眠気を催した運転者の拍動の周期に相当する時間間隔から、覚醒時の運転者の拍動の周期に相当する時間間隔まで、段階的に減少させるように、前記非可聴音情報を出力する。 A wake-up support apparatus according to a fourth aspect of the present invention relates to the wake-up support apparatus according to the third aspect, wherein the non-audible sound information output unit sets the time interval to a pulsation cycle of a driver who has drowsiness. The non-audible sound information is output so as to decrease in a stepwise manner from a corresponding time interval to a time interval corresponding to a driver's pulsation period at awakening.
　この発明の第５の態様による覚醒支援装置は、第１ないし第４の態様による覚醒支援装置に係り、前記非可聴音情報は、前回の期間の間に出力された非可聴音とは異なる非可聴音を前記非可聴音出力装置に出力させるものである。 A wake-up support device according to a fifth aspect of the present invention relates to the wake-up support device according to the first to fourth aspects, wherein the non-audible sound information is different from the non-audible sound output during the previous period. An audible sound is output to the non-audible sound output device.
　この発明の第１の態様によれば、運転者の拍動の周期に基づいて、非可聴音出力装置に非可聴音を出力させる非可聴音情報が出力される。このため、運転者が眠気を催すことを防止することに有効である。また、運転者が眠気を催している場合には、運転者の覚醒が促進される。
　この発明の第２の態様によれば、運転者が眠気を催していると判定された場合に、非可聴音が出力される。これにより、運転者の覚醒が促進される。 According to the first aspect of the present invention, non-audible sound information that causes the non-audible sound output device to output a non-audible sound is output based on the cycle of the driver's beat. For this reason, it is effective in preventing the driver from drowsiness. Further, when the driver is drowsy, the driver's awakening is promoted.
According to the second aspect of the present invention, a non-audible sound is output when it is determined that the driver is drowsy. Thereby, the driver's awakening is promoted.
　この発明の第３の態様によれば、運転者の拍動に先行して非可聴音が出力される。このため、運転者の拍動の周期の短縮が良好に促される。これにより、運転者の覚醒が良好に促進される。 According to the third aspect of the present invention, a non-audible sound is output prior to the driver's pulsation. For this reason, shortening of a driver's pulsation period is promoted favorably. Thereby, the driver's arousal is favorably promoted.
　この発明の第４の態様によれば、各拍動から非可聴音が出力されるまでの時間間隔が、眠気を催した運転者の拍動の周期に相当する時間間隔から、覚醒時の運転者の拍動の周期に相当する時間間隔まで、段階的に減少される。これにより、運転者の拍動が確実に引き上げられ、運転手の覚醒度が覚醒時なみに向上される。 According to the fourth aspect of the present invention, the time interval until the non-audible sound is output from each pulsation is the time interval corresponding to the cycle of the pulsation of the driver who has drowsiness. It is reduced in steps until a time interval corresponding to the person's beat cycle. As a result, the pulsation of the driver is reliably increased, and the driver's arousal level is improved as in the awakening phase.
　この発明の第５の態様によれば、前回に出力された非可聴音とは異なる非可聴音が出力される。つまり、単調ではない非可聴音が出力される。このため、運転者が非可聴音になれてしまうことが低減される。これにより、運転者の覚醒が良好に促進される。 According to the fifth aspect of the present invention, a non-audible sound different from the previously output non-audible sound is output. That is, a non-audible sound that is not monotonous is output. For this reason, it is reduced that a driver | operator becomes an inaudible sound. Thereby, the driver's arousal is favorably promoted.
　すなわち、この発明の各態様によれば、運転者の覚醒を促す新規な覚醒支援装置、方法およびプログラムを提供することができる。 That is, according to each aspect of the present invention, it is possible to provide a novel arousal support device, method, and program for encouraging the driver to awaken.
図１は、この発明の一実施形態に係る覚醒支援装置を含む運転支援装置を備えた自動運転制御システムの全体構成を示す図である。FIG. 1 is a diagram showing an overall configuration of an automatic driving control system including a driving support device including an awakening support device according to an embodiment of the present invention. 図２は、この発明の一実施形態に係る覚醒支援装置の機能構成を示すブロック図である。FIG. 2 is a block diagram showing a functional configuration of the awakening support apparatus according to the embodiment of the present invention. 図３は、図２に示した覚醒支援装置による覚醒支援の手順と制御内容を示すフローチャートである。FIG. 3 is a flowchart showing the procedure and control contents of a wake-up support by the wake-up support apparatus shown in FIG. 図４は、この発明の一実施形態において非可聴音出力装置が出力する非可聴音のタイムチャートである。FIG. 4 is a time chart of non-audible sound output from the non-audible sound output device according to the embodiment of the present invention.
　以下、図面を参照してこの発明に係わる実施形態を説明する。　
　［一実施形態］
　（構成）
　図１は、この発明の一実施形態に係る自動運転制御システムの全体構成を示す図である。この自動運転制御システムは、乗用車等の車両１に搭載される。 Embodiments according to the present invention will be described below with reference to the drawings.
[One Embodiment]
(Constitution)
FIG. 1 is a diagram showing an overall configuration of an automatic driving control system according to an embodiment of the present invention. This automatic driving control system is mounted on a vehicle 1 such as a passenger car.
　車両１は、基本設備として、動力源および変速装置を含むパワーユニット２と、ステアリングホイール３ａが装備された操舵装置３とを備えている。動力源としては、エンジンまたはモータ、あるいはその両方が用いられる。 The vehicle 1 includes, as basic equipment, a power unit 2 including a power source and a transmission, and a steering device 3 equipped with a steering wheel 3a. An engine and / or a motor is used as the power source.
　車両１は、手動運転モードまたは自動運転モードのいずれかの運転モードで走行可能に構成されている。 The vehicle 1 is configured to be able to travel in either the manual operation mode or the automatic operation mode.
　手動運転モードは、例えば、運転者の手動による運転操作を主体として車両１を走行させるモードである。手動運転モードには、例えば、運転者の運転操作のみに基づいて車両を走行させる動作モードと、運転者の運転操作を主体としながら運転者の運転操作を支援する運転操作支援制御を行う動作モードが含まれる。 The manual driving mode is a mode in which the vehicle 1 is driven mainly by a driver's manual driving operation, for example. The manual operation mode includes, for example, an operation mode for driving the vehicle based only on the driver's driving operation, and an operation mode for performing driving operation support control for supporting the driving operation of the driver while mainly driving the driver's driving operation. Is included.
　運転操作支援制御は、例えば、車両１のカーブ走行時にカーブの曲率に基づいて運転者の操舵が適切な操舵量となるように操舵トルクをアシストする。また運転操作支援制御には、運転者のアクセル操作（例えばアクセルペダルの操作）またはブレーキ操作（例えばブレーキペダルの操作）を支援する制御と、手動操舵（操舵の手動運転）および手動速度調整（速度調整の手動運転）も含まれる。手動操舵は、運転者のステアリングホイール３ａの操作を主体として車両１の操舵を行う。手動速度調整は、運転者のアクセル操作又はブレーキ操作を主体として車両の速度調整を行う。 The driving operation support control assists the steering torque so that the driver's steering becomes an appropriate steering amount based on the curvature of the curve when the vehicle 1 is traveling on the curve, for example. The driving operation support control includes control for assisting a driver's accelerator operation (for example, operation of an accelerator pedal) or brake operation (for example, operation of a brake pedal), manual steering (manual operation of steering), and manual speed adjustment (speed). Adjustment manual operation) is also included. In manual steering, the vehicle 1 is steered mainly by the driver's operation of the steering wheel 3a. In the manual speed adjustment, the speed of the vehicle is adjusted mainly by the driver's accelerator operation or brake operation.
　なお、運転操作支援制御には、運転者の運転操作に強制的に介入して、車両を自動走行させる制御は含まれない。すなわち、手動運転モードには、予め設定された許容範囲において運転者の運転操作を車両の走行に反映させるが、一定条件（例えば車両の車線逸脱等）の下で車両の走行に強制的に介入する制御は含まれない。 Note that the driving operation support control does not include control for forcibly intervening in the driving operation of the driver and automatically driving the vehicle. In other words, in the manual driving mode, the driving operation of the driver is reflected in the driving of the vehicle within a preset allowable range, but forcibly intervenes in the driving of the vehicle under certain conditions (for example, deviation from the lane of the vehicle). Control to do is not included.
　一方、自動運転モードは、例えば、車両の走行する道路に沿って自動で車両を走行させる運転状態を実現するモードである。自動運転モードには、例えば、運転者が運転操作をすることなく、予め設定された目的地に向かって自動的に車両を走行させる運転状態が含まれる。自動運転モードは、必ずしも車両の全ての制御を自動で行う必要はなく、予め設定された許容範囲において運転者の運転操作を車両の走行に反映する運転状態も自動運転モードに含まれる。すなわち、自動運転モードには、予め設定された許容範囲において運転者の運転操作を車両の走行に反映させるが、一定条件の下で車両の走行に強制的に介入する制御が含まれる。 On the other hand, the automatic operation mode is a mode that realizes an operation state in which the vehicle automatically travels along the road on which the vehicle travels, for example. The automatic driving mode includes, for example, a driving state in which the vehicle automatically travels toward a preset destination without driving by the driver. In the automatic driving mode, it is not always necessary to automatically control all of the vehicle, and the driving state in which the driving operation of the driver is reflected in the driving of the vehicle within the preset allowable range is also included in the automatic driving mode. That is, the automatic driving mode includes control for forcibly intervening in driving of the vehicle under certain conditions, while reflecting the driving operation of the driver in driving of the vehicle within a preset allowable range.
　図１において、車両１はまた、自動運転モードによる運転制御を実行するための自動運転制御装置５を備えている。自動運転制御装置５は、ステアリングセンサ１１、アクセルペダルセンサ１２、ブレーキペダルセンサ１３、ＧＰＳ受信機１４、ジャイロセンサ１５、および車速センサ１６からそれぞれセンシング情報を取得する。自動運転制御装置５は、これらのセンシング情報と、図示しないナビゲーションシステムで生成される経路情報や、路車間通信により取得される交通情報、周辺の人や車両の位置と動きを監視する周辺監視システムにより得られる情報をもとに、車両１の走行を自動制御する。 In FIG. 1, the vehicle 1 is also provided with an automatic driving control device 5 for executing driving control in the automatic driving mode. The automatic driving control device 5 acquires sensing information from the steering sensor 11, the accelerator pedal sensor 12, the brake pedal sensor 13, the GPS receiver 14, the gyro sensor 15, and the vehicle speed sensor 16, respectively. The automatic driving control device 5 is a peripheral monitoring system that monitors these sensing information, route information generated by a navigation system (not shown), traffic information acquired by road-to-vehicle communication, and positions and movements of surrounding people and vehicles. The vehicle 1 is automatically controlled based on the information obtained by the above.
　自動制御には、例えば、自動操舵（操舵の自動運転）と自動速度調整（速度の自動運転）がある。自動操舵は、操舵装置３を自動で制御する運転状態である。自動操舵にはＬＫＡ（Lane Keeping Assist）が含まれる。ＬＫＡは、例えば、運転者がステアリング操作をしない場合であっても、車両１が走行車線から逸脱しないように自動で操舵装置３を制御する。なお、ＬＫＡの実行中であっても、車両１が走行車線を逸脱しない範囲（許容範囲）において運転者のステアリング操作を車両の操舵に反映してもよい。なお、自動操舵はＬＫＡに限らない。 Automatic control includes, for example, automatic steering (automatic steering operation) and automatic speed adjustment (automatic driving of speed). Automatic steering is an operating state in which the steering device 3 is automatically controlled. Automatic steering includes LKA (Lane Keeping Assist). For example, the LKA automatically controls the steering device 3 so that the vehicle 1 does not deviate from the traveling lane even when the driver does not perform the steering operation. Even when LKA is being executed, the driver's steering operation may be reflected in the steering of the vehicle in a range where the vehicle 1 does not deviate from the travel lane (allowable range). Note that automatic steering is not limited to LKA.
　自動速度調整は、車両１の速度を自動で制御する運転状態である。自動速度調整にはＡＣＣ（Adaptive Cruise Control）が含まれる。ＡＣＣとは、例えば、車両１の前方に先行車が存在しない場合は予め設定された設定速度で車両１を定速走行させる定速制御を行い、車両１の前方に先行車が存在する場合には先行車との車間距離に応じて車両１の車速を調整する追従制御を行うものである。自動運転制御装置５は、ＡＣＣを実行中であっても、運転者のブレーキ操作（例えばブレーキペダルの操作）に応じて車両１を減速させる。また自動運転制御装置５は、ＡＣＣを実行中であっても、予め設定された最大許容速度（例えば走行中の道路において法的に定められた最高速度）まで、運転者のアクセル操作（例えばアクセルペダルの操作）に応じて車両を加速させることもできる。なお、自動速度調整は、ＡＣＣに限らず、ＣＣ（Cruise Control：定速制御）等も含まれる。 Automatic speed adjustment is an operating state in which the speed of the vehicle 1 is automatically controlled. Automatic speed adjustment includes ACC (Adaptive Cruise Control). For example, when there is no preceding vehicle ahead of the vehicle 1, ACC performs constant speed control that causes the vehicle 1 to travel at a constant speed at a preset speed, and when the preceding vehicle exists ahead of the vehicle 1. Is a follow-up control that adjusts the vehicle speed of the vehicle 1 in accordance with the inter-vehicle distance from the preceding vehicle. The automatic operation control device 5 decelerates the vehicle 1 according to the driver's brake operation (for example, operation of the brake pedal) even when ACC is being executed. In addition, the automatic operation control device 5 can perform the driver's accelerator operation (for example, accelerator) up to a preset maximum allowable speed (for example, the maximum speed legally determined on the traveling road) even during execution of ACC. The vehicle can be accelerated according to the pedal operation. The automatic speed adjustment is not limited to ACC but also includes CC (Cruise Control).
　図１において、車両１はまた、運転支援装置６を備えている。運転支援装置６は、さまざまな機能を有していてよい。例えば、運転支援装置６は、運転者状態検出センサと共働して運転者を監視して運転者の状態を取得する運転者監視システムを構成する運転者監視機能、報知装置と共働して運転者の状態に応じて警告を発する警告発生システムを構成する警告発生機能、運転者の状態に応じて運転モードの切り替えを制御する運転モード切替制御システムを構成する運転モード切替制御機能、生体情報センサおよび刺激出力装置と共働して運転者の状態に応じて運転者の覚醒を促す覚醒支援システムを構成する覚醒支援機能などを有していてよい。 In FIG. 1, the vehicle 1 is also provided with a driving support device 6. The driving support device 6 may have various functions. For example, the driving support device 6 cooperates with a driver monitoring function and a notification device that constitute a driver monitoring system that cooperates with a driver state detection sensor to monitor the driver and acquire the state of the driver. Warning generation function that constitutes a warning generation system that issues a warning according to the state of the driver, operation mode switching control function that constitutes an operation mode switching control system that controls switching of the operation mode according to the state of the driver, biological information It may have a wake-up support function that constitutes a wake-up support system that works with the sensor and the stimulus output device to wake up the driver according to the driver's state.
　運転者の状態は、例えば、運転者が脇見をしているか否か、運転者が眠気を催しているか否か、運転者が運転に対して集中度の高い状態にあるか否か、また自動運転中であれば、運転者が手動運転に復帰可能な状態であるか否かなど、さまざまであってよい。運転者の状態の判定は、例えば、次のようにして行われる。 The state of the driver is, for example, whether the driver is looking aside, whether the driver is drowsy, whether the driver is in a state of high concentration with respect to driving, and automatically During driving, there may be various conditions such as whether or not the driver can return to manual driving. The determination of the driver's state is performed as follows, for example.
　まず、運転者状態検出センサにより運転者の監視映像を取得し、取得した監視映像に基づいて、運転者の眼の開き具合、瞬きの頻度、または眼球運動等を検出し、運転者の視線の方向や運転者の覚醒度等を認識する。次に、運転者の視線の滞留時間や覚醒度等を、予め設定された閾値と比較することにより、運転者の状態を判定する。 First, the driver's monitoring image is acquired by the driver state detection sensor, and based on the acquired monitoring image, the driver's eye opening, blink frequency, eye movement, etc. are detected, and the driver's line of sight is detected. Recognize direction and driver's arousal level. Next, the state of the driver is determined by comparing the dwell time of the driver's line of sight, the arousal level, and the like with a preset threshold value.
　この実施形態では、運転支援装置６は、少なくとも、運転者監視機能を実施する運転者監視部６ａと、覚醒支援機能を実施する覚醒支援部６ｂとを有している。運転者監視部６ａは、運転者状態検出センサとしての運転者カメラ７と共働して運転者監視システム８を構成し、覚醒支援部６ｂは、生体情報センサとしての拍動センサ９Ａおよび刺激出力装置としての非可聴音出力装置９Ｂと共働して覚醒支援システム１０を構成している。また、運転者監視部６ａと覚醒支援部６ｂは覚醒支援装置６Ａを構成している。言い換えれば、運転支援装置６は、覚醒支援装置６Ａを内包している。 In this embodiment, the driving support device 6 includes at least a driver monitoring unit 6a that performs the driver monitoring function and an awakening support unit 6b that performs the awakening support function. The driver monitoring unit 6a cooperates with the driver camera 7 as a driver state detection sensor to constitute a driver monitoring system 8, and the awakening support unit 6b includes a pulsation sensor 9A as a biological information sensor and a stimulus output. Awakening support system 10 is configured in cooperation with non-audible sound output device 9B as a device. In addition, the driver monitoring unit 6a and the awakening support unit 6b constitute a waking support device 6A. In other words, the driving support device 6 includes the awakening support device 6A.
　従って、運転者監視部６ａにおいて判定される運転者の状態は、少なくとも、運転者が眠気を催しているか否かの状態を含んでいる。 Therefore, the state of the driver determined by the driver monitoring unit 6a includes at least the state of whether or not the driver is drowsy.
　運転者カメラ７は、例えばダッシュボード上のような運転者の正面となる位置に設置され、運転者を撮像してその映像信号を運転支援装置６へ出力する。 The driver camera 7 is installed at a position in front of the driver, such as on a dashboard, for example, and images the driver and outputs the video signal to the driving support device 6.
　拍動センサ９Ａは、運転者の拍動を検知し、その拍動を表す拍動信号を運転支援装置６へ出力する。拍動センサ９Ａは、これに限らないが、例えば、脈波センサや心音センサなどで構成されてよい。拍動センサ９Ａは、例えば、衣服型の拍動センサであってよい。あるいは、拍動センサ９Ａは、運転席のシートに取り付けられていてもよい。さらには、拍動センサ９Ａは、運転者の顔を撮影するカメラ（例えば運転者カメラ７）とその画像処理回路とで構成され、運転者の顔の画像から脈拍を計測する技術を利用して運転者の拍動を検知してもよい。 The pulsation sensor 9 </ b> A detects the pulsation of the driver and outputs a pulsation signal representing the pulsation to the driving support device 6. The pulsation sensor 9A is not limited to this, but may be constituted by, for example, a pulse wave sensor or a heart sound sensor. The pulsation sensor 9A may be a clothes-type pulsation sensor, for example. Or the pulsation sensor 9A may be attached to the seat of the driver's seat. Furthermore, the pulsation sensor 9A is composed of a camera that captures the driver's face (for example, the driver camera 7) and its image processing circuit, and uses a technique for measuring the pulse from the image of the driver's face. The pulsation of the driver may be detected.
　非可聴音出力装置９Ｂは、運転支援装置６から出力された非可聴音信号を非可聴音に変換して出力する。非可聴音出力装置９Ｂは、例えば、スピーカを有し、非可聴音をスピーカから出力する。非可聴音出力装置９Ｂは、非可聴音だけでなく、可聴音も出力できるようになっていてもよい。非可聴音出力装置９Ｂは、ナビゲーションシステムの音声出力機能を利用して構成されてもよい。 The non-audible sound output device 9B converts the non-audible sound signal output from the driving support device 6 into a non-audible sound and outputs it. The non-audible sound output device 9B has, for example, a speaker and outputs a non-audible sound from the speaker. The non-audible sound output device 9B may be configured to output not only a non-audible sound but also an audible sound. The non-audible sound output device 9B may be configured using a sound output function of the navigation system.
　ここにおいて、非可聴音とは、可聴領域から外れた周波数を有する音のことである。また可聴音は、可聴領域内の周波数を有する音のことである。非可聴音は、例えば２０Ｈｚ～２０ｋＨｚの周波数領域から外れた周波数の音であってよい。例えば、非可聴音は、２０ｋＨｚよりも高い周波数の音であってよい。あるいは、非可聴音は、２０Ｈｚよりも低い周波数の音であってもよい。 Here, a non-audible sound is a sound having a frequency outside the audible range. An audible sound is a sound having a frequency within the audible region. The non-audible sound may be a sound having a frequency outside the frequency range of 20 Hz to 20 kHz, for example. For example, the non-audible sound may be a sound having a frequency higher than 20 kHz. Alternatively, the non-audible sound may be a sound having a frequency lower than 20 Hz.
　覚醒支援装置６Ａは、拍動センサ９Ａおよび非可聴音出力装置９Ｂと共働して、必要なときに、例えば運転者が眠気を催したときに、運転者の覚醒を促す装置であり、以下のように構成されている。図２は、その機能構成を示すブロック図である。 The awakening support device 6A is a device that works together with the pulsation sensor 9A and the non-audible sound output device 9B to promote the driver's awakening when necessary, for example, when the driver is drowsy. It is configured as follows. FIG. 2 is a block diagram showing the functional configuration.
　覚醒支援装置６Ａは、制御ユニット６１と、入出力インタフェースユニット６２と、記憶ユニット６３とを備えている。 The awakening support device 6A includes a control unit 61, an input / output interface unit 62, and a storage unit 63.
　入出力インタフェースユニット６２は、入力されたアナログ信号をデジタルデータに変換して制御ユニット６１へ出力し、また、制御ユニット６１から出力されたデジタルデータをアナログ信号に変換して出力する。具体的には、入出力インタフェースユニット６２は、運転者カメラ７から出力された映像信号を受信してデジタルデータに変換して制御ユニット６１へ出力する。入出力インタフェースユニット６２はまた、制御ユニット６１から出力された非可聴音情報のデータを信号に変換して非可聴音出力装置９Ｂへ出力する。 The input / output interface unit 62 converts the input analog signal into digital data and outputs the digital data to the control unit 61, and converts the digital data output from the control unit 61 into an analog signal and outputs the analog signal. Specifically, the input / output interface unit 62 receives the video signal output from the driver camera 7, converts it into digital data, and outputs it to the control unit 61. The input / output interface unit 62 also converts the non-audible sound information data output from the control unit 61 into a signal and outputs the signal to the non-audible sound output device 9B.
　記憶ユニット６３は、記憶媒体として、例えばＳＳＤ（Solid State Drive）やＨＤＤ（Hard Disk Drive）等の随時書き込みおよび読み出しが可能な不揮発性メモリを使用したものである。これに限らず、記憶ユニット６３は、ＲＡＭのような揮発性メモリで構成されてもよい。記憶ユニット６３は、本実施形態を実施するために使用する記憶領域として、運転者監視映像記憶部６３１と、運転者状態記憶部６３２と、非可聴音情報記憶部６３３とを備えている。 The storage unit 63 uses, as a storage medium, a non-volatile memory that can be written and read at any time, such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive). Not limited to this, the storage unit 63 may be configured by a volatile memory such as a RAM. The storage unit 63 includes a driver monitoring video storage unit 631, a driver state storage unit 632, and a non-audible sound information storage unit 633 as storage areas used for carrying out this embodiment.
　制御ユニット６１は、コンピュータを構成するＣＰＵ（Central Processing Unit）およびプログラムメモリを有している。制御ユニット６１は、本実施形態を実施するために必要な制御機能として、運転者監視映像取得部６１１と、運転者状態判定部６１２と、非可聴音情報出力部６１３とを備えている。なお、これらの制御機能はいずれもプログラムメモリに格納されたプログラムをＣＰＵに実行させることにより実現される。 The control unit 61 has a CPU (Central Processing Unit) and a program memory constituting the computer. The control unit 61 includes a driver monitoring video acquisition unit 611, a driver state determination unit 612, and a non-audible sound information output unit 613 as control functions necessary for carrying out this embodiment. All of these control functions are realized by causing the CPU to execute a program stored in the program memory.
　運転者監視映像取得部６１１は、運転者カメラ７から運転者の監視映像を取得する機能を有している。運転者監視映像取得部６１１は、運転者カメラ７から出力された運転者の映像信号のデジタルデータ（運転者監視映像データ）を入出力インタフェースユニット６２から取り込み、この取り込んだ運転者監視映像データを記憶ユニット６３の運転者監視映像記憶部６３１に記憶させる。 The driver monitoring video acquisition unit 611 has a function of acquiring a driver monitoring video from the driver camera 7. The driver monitoring video acquisition unit 611 takes in the digital data (driver monitoring video data) of the driver's video signal output from the driver camera 7 from the input / output interface unit 62, and uses the captured driver monitoring video data. The information is stored in the driver monitoring video storage unit 631 of the storage unit 63.
　運転者状態判定部６１２は、運転者の状態を判定する機能を有している。運転者状態判定部６１２は、運転者監視映像記憶部６３１から予め設定された時間間隔で運転者監視映像データを読み込み、その都度、運転者監視映像データに基づいて、運転者が眠気を催しているか否かを判定する処理を行う。運転者状態判定部６１２は、判定結果を表す情報を、記憶ユニット６３の運転者状態記憶部６３２に記憶させる。 The driver state determination unit 612 has a function of determining the state of the driver. The driver state determination unit 612 reads the driver monitoring video data from the driver monitoring video storage unit 631 at a preset time interval, and each time the driver is drowsy based on the driver monitoring video data. The process which determines whether it exists is performed. The driver state determination unit 612 stores information representing the determination result in the driver state storage unit 632 of the storage unit 63.
　運転者が眠気を催しているか否かの状態の判定は、例えば、次のようにして行う。まず、運転者状態判定部６１２は、運転者監視映像データに基づいて、運転者の眼の開眼の状態、まばたきの頻度、または眼球運動等を検出し、運転者の覚醒度を認識する。次に、運転者状態判定部６１２は、運転者の覚醒度を、予め設定された閾値と比較する。運転者状態判定部６１２は、運転者の覚醒度が閾値よりも高い場合には、運転者が眠気を催していないと判定し、反対に、運転者の覚醒度が閾値よりも低い場合には、運転者が眠気を催していると判定する。 The determination of whether or not the driver is drowsy is performed, for example, as follows. First, the driver state determination unit 612 detects a driver's eye open state, blinking frequency, or eye movement based on the driver monitoring video data, and recognizes the driver's arousal level. Next, the driver state determination unit 612 compares the driver's arousal level with a preset threshold value. If the driver's arousal level is higher than the threshold, the driver state determination unit 612 determines that the driver is not drowsy. Conversely, if the driver's arousal level is lower than the threshold, It is determined that the driver is drowsy.
　非可聴音情報出力部６１３は、必要なときに、非可聴音情報を出力する機能を有している。非可聴音情報出力部６１３は、運転者が眠気を催しているか否かの判定結果を表す情報を運転者状態記憶部６３２から読み込み、判定結果を表す情報が、運転者が眠気を催していることを示す場合、非可聴音情報を非可聴音出力装置９Ｂへ出力する。非可聴音情報出力部６１３はまた、出力した非可聴音情報を記憶ユニット６３の非可聴音情報記憶部６３３に記憶させる。 The non-audible sound information output unit 613 has a function of outputting non-audible sound information when necessary. The non-audible sound information output unit 613 reads information representing a determination result as to whether or not the driver is drowsy from the driver state storage unit 632, and the information indicating the determination result indicates that the driver is drowsy. If this is the case, the non-audible sound information is output to the non-audible sound output device 9B. The non-audible sound information output unit 613 also stores the output non-audible sound information in the non-audible sound information storage unit 633 of the storage unit 63.
　（動作）
　次に、前述したように構成された覚醒支援装置の動作を説明する。図３はその全体の制御手順と制御内容を示すフローチャートである。 (Operation)
Next, the operation of the awakening support apparatus configured as described above will be described. FIG. 3 is a flowchart showing the overall control procedure and control contents.
　（１）運転者監視開始
　運転が開始されると、運転者監視システム８は、ステップＳ１において、運転者の監視を開始する。運転者の監視は、例えば、運転のあいだ続けられる。運転者の監視は、例えば、次のようにして行う。 (1) Driver monitoring start When driving is started, the driver monitoring system 8 starts monitoring the driver in step S1. Driver monitoring continues, for example, during driving. The driver is monitored as follows, for example.
　運転が開始されると、運転者カメラ７が起動し、運転者の顔を含む所定の範囲を連続的に撮像してその映像信号を出力する。この状態で覚醒支援装置６Ａは、運転者監視映像取得部６１１の制御の下、運転者カメラ７から出力された映像信号のデジタルデータ（運転者監視映像データ）を入出力インタフェースユニット６２から取り込み、この取り込んだ運転者監視映像データを記憶ユニット６３の運転者監視映像記憶部６３１に記憶させる。 When driving is started, the driver camera 7 is activated, and continuously captures a predetermined range including the driver's face and outputs the video signal. In this state, the awakening support device 6A takes in digital data (driver monitoring video data) of the video signal output from the driver camera 7 from the input / output interface unit 62 under the control of the driver monitoring video acquisition unit 611. The captured driver monitoring video data is stored in the driver monitoring video storage unit 631 of the storage unit 63.
　なお、運転者の撮像は、所定の時間間隔で間欠的に行ってもよい。また、運転者カメラ７または入出力インタフェースユニット６２において、映像信号を所定の符号化方式に応じて符号化するようにしてもよい。このようにすると、監視映像データの情報量を減らして運転者監視映像記憶部６３１の記憶容量を節約することが可能となる。 Note that the driver's imaging may be performed intermittently at predetermined time intervals. In addition, the driver camera 7 or the input / output interface unit 62 may encode the video signal according to a predetermined encoding method. In this way, it is possible to reduce the information amount of the monitoring video data and save the storage capacity of the driver monitoring video storage unit 631.
　運転者監視映像データの取得が開始されると、覚醒支援装置６Ａは、次に運転者状態判定部６１２の制御の下、一定時間の経過が判定される毎に、運転者の状態の判定を行う。この運転者の判定の時間間隔は、例えば実質的に連続的な判定を行えるような１秒程度の短い間隔に設定してもよく、また１０～３０秒といった比較的長い間隔に設定するようにしてもよい。 When the acquisition of the driver monitoring video data is started, the awakening support device 6 </ b> A determines the state of the driver every time a certain period of time is determined under the control of the driver state determination unit 612. Do. The driver's determination time interval may be set to a short interval of about 1 second so that a substantially continuous determination can be performed, for example, or to a relatively long interval of 10 to 30 seconds. May be.
　運転者状態判定部６１２は、運転者監視映像記憶部６３１から予め設定された時間間隔で運転者監視映像データを読み込む。次に、運転者状態判定部６１２は、運転者監視映像データを読み込む毎に、運転者監視映像データに基づいて、運転者が眠気を催しているか否かを判定する。運転者状態判定部６１２は、判定結果を表す情報を、判定タイミングを表す情報、例えばタイムスタンプ情報と関連付けて、記憶ユニット６３の運転者状態記憶部６３２に記憶させる。 The driver state determination unit 612 reads the driver monitoring video data from the driver monitoring video storage unit 631 at a preset time interval. Next, every time the driver monitoring video data is read, the driver state determination unit 612 determines whether or not the driver is drowsy based on the driver monitoring video data. The driver state determination unit 612 stores information indicating the determination result in the driver state storage unit 632 of the storage unit 63 in association with information indicating the determination timing, for example, time stamp information.
　（２）運転者の眠気の判定
　運転者の監視が開始されると、覚醒支援装置６Ａは、ステップＳ２において、非可聴音情報出力部６１３により、運転者が眠気を催しているか否か、つまり、運転者が眠そうかどうかを判定する。 (2) Determination of Driver Drowsiness When monitoring of the driver is started, the wakefulness support device 6A determines whether or not the driver is drowsy by the non-audible sound information output unit 613 in step S2, that is, Determine if the driver is sleepy.
　前述したように、運転者状態判定部６１２は、運転者の状態を一定の時間間隔で判定し、その判定結果を表す情報を、運転者状態記憶部６３２に記憶させている。運転者の状態の判定結果は、運転者が眠気を催しているか否かについての判定結果を表す情報を含んでいる。 As described above, the driver state determination unit 612 determines the driver's state at regular time intervals, and stores information indicating the determination result in the driver state storage unit 632. The determination result of the driver's state includes information representing the determination result as to whether or not the driver is drowsy.
　非可聴音情報出力部６１３は、運転者が眠気を催しているか否かの判定結果を表す情報を一定の時間間隔を置いて運転者状態記憶部６３２から読み込む。 The non-audible sound information output unit 613 reads information representing the determination result of whether or not the driver is drowsy from the driver state storage unit 632 at regular time intervals.
　判定結果を表す情報が、運転者が眠気を催していないことを示す場合、運転終了を判定するステップＳ５の処理へ進む。 If the information indicating the determination result indicates that the driver is not drowsy, the process proceeds to step S5 for determining the end of driving.
　（３）非可聴音の出力
　反対に、判定結果を表す情報が、運転者が眠気を催していることを示す場合には、覚醒支援装置６Ａは、ステップＳ３において、非可聴音情報出力部６１３により、非可聴音出力装置９Ｂに非可聴音を運転者の拍動に同期させて出力させる処理を行う。 (3) Output of non-audible sound On the other hand, if the information indicating the determination result indicates that the driver is drowsy, the awakening support device 6A, in step S3, the non-audible sound information output unit 613 Thus, the non-audible sound output device 9B performs a process of outputting the non-audible sound in synchronization with the driver's beat.
　非可聴音情報出力部６１３は、拍動センサ９Ａから、運転者の拍動に関する拍動情報を読み込む。次に、非可聴音情報出力部６１３は、拍動情報に基づいて、運転者の拍動の周期を求める。続いて、非可聴音情報出力部６１３は、運転者の拍動から、運転者の拍動の周期よりも短い時間間隔を置いて、所定の期間の間だけ、非可聴音を非可聴音出力装置９Ｂに出力させる非可聴音情報を出力する。非可聴音出力装置９Ｂは、非可聴音情報に基づいて非可聴音を出力する。 The non-audible sound information output unit 613 reads pulsation information related to the driver's pulsation from the pulsation sensor 9A. Next, the non-audible sound information output unit 613 obtains the period of the driver's pulsation based on the pulsation information. Subsequently, the non-audible sound information output unit 613 outputs the non-audible sound from the driver's beat for a predetermined period at a time interval shorter than the driver's beat cycle. The non-audible sound information to be output to the device 9B is output. The non-audible sound output device 9B outputs a non-audible sound based on the non-audible sound information.
　図４は、非可聴音出力装置９Ｂが出力する非可聴音のタイムチャートである。図４において、Ｔ０は、非可聴音の出力を開始した時刻、ＴＢは、運転者の拍動の周期（時間間隔）、ＴＳは、各拍動から非可聴音が出力されるまでの時間間隔、ＴＰは、非可聴音が出力されている期間を表している。また、Ｓｉ（ｉ＝１，２，３，…）は、非可聴音の出力を開始した時刻Ｔ０からｉ番目に出力された非可聴音を表している。 FIG. 4 is a time chart of the non-audible sound output from the non-audible sound output device 9B. In FIG. 4, T 0 is the time when the output of the non-audible sound is started, T B is the period (time interval) of the driver's pulsation, and T S is the time from which each audible sound is output. time interval, T P represents the period of non-audible sound is outputted. S i (i = 1, 2, 3,...) Represents the i-th inaudible sound output from the time T 0 when the output of the inaudible sound is started.
　図４からわかるように、非可聴音Ｓｉは、各拍動から時間間隔ＴＳ（＜ＴＢ）で出力されている。時間間隔ＴＳは、少なくとも、運転者の拍動の周期ＴＢの半分よりも大きく設定されている。すなわち、時間間隔ＴＳは、少なくとも、ＴＳ＞（１／２）ＴＢとなるように設定されている。例えば、時間間隔ＴＳは、ＴＳ＞（２／３）ＴＢとなるように設定されていてもよく、そのほか、ＴＳ＞（３／４）ＴＢとなるように、ＴＳ＞（４／５）ＴＢとなるように設定されていてもよい。 As can be seen from FIG. 4, the non-audible sound S i is output from each beat at a time interval T S (<T B ). Time interval T S at least, it is set larger than a half period T B of the driver beat. That is, the time interval T S is set so that at least T S > (1/2) T B. For example, the time interval T S is, T S> (2/3) may be set such that T B, as other, the T S> (3/4) T B , T S> ( 4/5) may be set such that T B.
　また、非可聴音Ｓｉが出力されている期間ＴＰは、次の拍動の前に非可聴音Ｓｉの出力が終了するように設定されている。言い換えれば、期間ＴＰは、拍動の周期ＴＢと時間間隔ＴＳとの差よりも短くなるように設定されている。すなわち、期間ＴＰは、ＴＰ＜（ＴＢ－ＴＳ）となるように設定されている。 Moreover, the period T P in which non-audible sound S i is output is set so that the output of the non-audible sound S i before the next beat is completed. In other words, the period T P is set to be shorter than the difference between the period T B and the time interval T S beats. That is, the period T P is set such that T P <(T B -T S ).
　このような設定の結果、非可聴音Ｓｉは、運転者の各拍動に対して、（ＴＢ－ＴＳ）の時間間隔だけ先行して出力される。 As a result of such setting, the non-audible sound S i is output in advance of the time interval of (T B −T S ) for each pulsation of the driver.
　人は、眠気を催すと、拍動数が低下するものである。すなわち、眠気を催している人の拍動の時間間隔は、眠気を催していない人の拍動の時間間隔よりも長い。反対に、拍動の時間間隔が短くなれば、その人の覚醒度は高まる。 When a person becomes sleepy, the number of beats decreases. That is, the time interval of pulsation of a person who is drowsy is longer than the time interval of pulsation of a person who is not drowsy. Conversely, if the time interval between pulsations is shortened, the person's arousal level increases.
　一般に、人は、可聴周波数領域内の周波数の音は認識できるが、可聴周波数領域外の周波数の音は認識できないと言われている。ここで、人の可聴周波数領域は、一般に、２０Ｈｚ～２０ｋＨｚであると言われている。 Generally, it is said that a person can recognize sound having a frequency within the audible frequency range, but cannot recognize sound having a frequency outside the audible frequency range. Here, it is said that the human audible frequency region is generally 20 Hz to 20 kHz.
　しかし、その一方で、人は、可聴周波数外の音、例えば、バイオリンなどの弦楽器の高調波の音を、自覚はしていないものの、感じ取っていると言われていることも良く知られた事実でもある。 However, on the other hand, it is well-known fact that people are said to be perceiving, though not aware of sounds outside the audible frequency, for example, harmonic sounds of stringed instruments such as violins. But there is.
　前述したように、非可聴音Ｓｉは、運転者の各拍動に対して先行して出力されている。これにより、非可聴音Ｓｉにつられて、運転者の拍動のタイミングが進むことが期待される。これにより、運転者の覚醒度は高まる、すなわち、運転者の眠気が改善されることが期待される。 As described above, the non-audible sound Si is output in advance for each pulsation of the driver. Thus, hung in a non-audible sound S i, the timing of the driver of the beat is expected to proceed. As a result, the driver's arousal level is increased, that is, the driver's sleepiness is expected to be improved.
　非可聴音Ｓｉは、すべて同じものであってよい。例えば、非可聴音Ｓｉは、周波数と振幅がすべて同じであってよい。すなわち、Ｓｉ＝Ｓｉ＋１であってよい。すなわち、非可聴音情報出力部６１３が出力する非可聴音情報は、前回の期間ＴＰの間に出力された非可聴音と同じ非可聴音を非可聴音出力装置９Ｂに出力させるものであってよい。 The non-audible sounds S i may all be the same. For example, the non-audible sound S i may have the same frequency and amplitude. That is, S i = S i + 1 may be satisfied. That is, the non-audible sound information non-audible sound information output unit 613 to output a one to output the same non-audible sound and the inaudible sound that is output during the last period T P in the non-audible sound output device 9B It's okay.
　これとは異なり、非可聴音Ｓｉ＋１は、前回の期間ＴＰの間に出力された非可聴音Ｓｉと異なっていてもよい。すなわち、Ｓｉ＋１≠Ｓｉであってよい。この場合、非可聴音Ｓｉ＋１は、周波数と振幅の少なくとも一方が非可聴音Ｓｉ＋１と異なっていればよい。例えば、非可聴音Ｓｉ＋１は、周波数と振幅の一方が非可聴音Ｓｉ＋１と異なっていてよい。あるいは、非可聴音Ｓｉ＋１は、周波数と振幅の両方が非可聴音Ｓｉ＋１と異なっていてもよい。すなわち、非可聴音情報出力部６１３が出力する非可聴音情報は、前回の期間の間に出力された非可聴音Ｓｉとは異なる非可聴音Ｓｉ＋１を非可聴音出力装置９Ｂに出力させるものであってよい。 In contrast, non-audible tone S i + 1 may be different from the non-audible sound S i output during the last period T P. That is, S i + 1 ≠ S i . In this case, the non-audible sound S i + 1 only needs to be different from the non-audible sound S i + 1 in at least one of frequency and amplitude. For example, the non-audible sound S i + 1 may be different from the non-audible sound S i + 1 in either frequency or amplitude. Alternatively, the non-audible sound S i + 1 may be different from the non-audible sound S i + 1 in both frequency and amplitude. That is, the non-audible sound information non-audible sound information output unit 613 to output to output the non-audible sound S i + 1 which is different from the non-audible sound S i output during the last period in the non-audible sound output device 9B It may be a thing.
　前述したように、非可聴音情報出力部６１３は、非可聴音情報を出力する都度、その非可聴音情報を記憶ユニット６３の非可聴音情報記憶部６３３に記憶させている。非可聴音情報出力部６１３はまた、非可聴音情報を出力する際、前回出力した非可聴音情報を非可聴音情報記憶部６３３から読み込む。つまり、非可聴音情報出力部６１３は、非可聴音Ｓｉ＋１の非可聴音情報を出力する際に、非可聴音Ｓｉの非可聴音情報を非可聴音情報記憶部６３３から読み込む。そして、非可聴音情報出力部６１３は、非可聴音Ｓｉの非可聴音情報に基づいて、非可聴音出力装置９Ｂへ出力する非可聴音Ｓｉ＋１の非可聴音情報を決定する。 As described above, the non-audible sound information output unit 613 stores the non-audible sound information in the non-audible sound information storage unit 633 of the storage unit 63 each time the non-audible sound information is output. The non-audible sound information output unit 613 also reads the previously output non-audible sound information from the non-audible sound information storage unit 633 when outputting the non-audible sound information. That is, the non-audible sound information output unit 613 reads the non-audible sound information of the non-audible sound S i from the non-audible sound information storage unit 633 when outputting the non-audible sound information of the non-audible sound S i + 1 . Then, the non-audible sound information output unit 613, based on the non-audible sound information of a non-audible sound S i, determines a non-audible sound information of a non-audible sound S i + 1 to be output to the non-audible sound output device 9B.
　各拍動から非可聴音が出力されるまでの時間間隔は、状況に応じて変化されてもよい。例えば、ある出力期間の間は、各拍動から、同一の時間間隔を置いて非可聴音を出力するが、次の出力期間の間は、各拍動から、先の出力期間中の時間間隔とは異なる時間間隔を置いて非可聴音を出力するようにしてもよい。 The time interval from when each beat is output to the non-audible sound may be changed according to the situation. For example, during a certain output period, the non-audible sound is output from each beat at the same time interval, but during the next output period, from each beat, the time interval during the previous output period. Non-audible sounds may be output at different time intervals.
　例えば、最初の出力期間の間に運転者の眠気の改善が認められない場合、次の出力期間では、各拍動から、最初の出力期間中の時間間隔よりも長い時間間隔を置いて非可聴音を出力する。さらに、この出力期間中に運転者の眠気の改善が認められた場合、さらに次の出力期間では、各拍動から、先の出力期間中の時間間隔よりも短い時間間隔を置いて非可聴音を出力する。これを繰り返して、最終的には、各拍動から、最初の出力期間中の時間間隔を置いて非可聴音が出力されるように、時間間隔を段階的に最初の出力期間中の時間間隔に近づけていくようにしてもよい。具体的には、例えば、次のようにしてよい。 For example, if no improvement in driver drowsiness is observed during the first output period, the next output period is not allowed for each pulsation with a time interval longer than the time interval during the first output period. Output listening sound. In addition, if improvement in driver drowsiness is observed during this output period, in the next output period, non-audible sounds are placed at intervals shorter than those in the previous output period from each beat. Is output. Repeat this step until the non-audible sound is output from each beat at intervals of the first output period. You may make it approach to. Specifically, for example, the following may be performed.
　一般に、覚醒時の人間の拍動は８０回／分＝１．３３…Ｈｚである。このときの拍動の周期は０．７５１…秒である。例えば、運転者が眠気を催して、運転手の拍動が１．２９Ｈｚになったと仮定する。このときの拍動の周期は０．７７５…秒である。このような場合、各拍動から、１．３３Ｈｚの拍動の周期に相当する０．７５１…秒の時間間隔を置いて非可聴音を出力ことにより、運転者の拍動が１．３３Ｈｚに引き上げられ、運転手の覚醒度が覚醒時なみに向上されることが期待できる。 Generally, human pulsation at awakening is 80 times / minute = 1.33. The pulsation period at this time is 0.751. For example, assume that the driver is drowsy and the driver's beat is 1.29 Hz. The pulsation period at this time is 0.775... In such a case, from each beat, the non-audible sound is output at a time interval of 0.751... Seconds corresponding to a beat cycle of 1.33 Hz, so that the driver's beat becomes 1.33 Hz. It can be expected that the driver's arousal level will be improved as much as when awakened.
　しかし、予め設定された出力期間が経過した時点で運転手の眠気の改善が認められない場合には、各拍動から、眠気を催した運転者の実際の拍動に近い時間間隔、例えば１．３０Ｈｚの拍動の周期に相当する０．７６９…秒の時間間隔を置いて非可聴音を出力する。これより、各拍動から、最初から１．３３Ｈｚの拍動の周期に相当する時間間隔を置いて非可聴音を出力するよりも容易に運転者の拍動が引き上げられる。運転者の拍動が１．３０Ｈｚに引き上げられたならば、続いて、各拍動から、１．３１Ｈｚの拍動の周期に相当する０．７５７…秒の時間間隔を置いて非可聴音を出力する。その後は、この操作を繰り返して、最終的に、運転者の拍動を１．３３Ｈｚに引き上げる。 However, if the improvement of the driver's sleepiness is not recognized at the time when the preset output period has elapsed, the time interval from each beat to the actual beat of the driver who drowsed, for example, 1 .Non-audible sound is output with a time interval of 0.769... Seconds corresponding to a 30 Hz beat period. Thus, the pulsation of the driver can be easily raised from each pulsation, compared to outputting a non-audible sound at a time interval corresponding to a pulsation cycle of 1.33 Hz from the beginning. If the driver's beat is raised to 1.30 Hz, then each beat will be given an inaudible sound at a time interval of 0.757 ... seconds corresponding to a 1.31 Hz beat cycle. Output. Thereafter, this operation is repeated, and finally the pulsation of the driver is raised to 1.33 Hz.
　このように、各拍動から非可聴音が出力されるまでの時間間隔を、眠気を催した運転者の拍動の周期に近い時間間隔から、覚醒時の運転者の拍動の周期に相当する時間間隔まで、段階的に減少させることにより、運転者の拍動が確実に引き上げられ、運転手の覚醒度が覚醒時なみに向上されることが期待できる。 In this way, the time interval from each beat until the non-audible sound is output corresponds to the period of the driver's beat at awakening from the time interval close to the period of the sleepy driver's beat. By gradually reducing the time interval up to the time interval, it can be expected that the pulsation of the driver is surely increased, and the driver's arousal level is improved as in the awakening state.
　ここでは、最初に、各拍動から、覚醒時の人間の一般的な拍動の周期に相当する時間間隔を置いて非可聴音を出力し、運転者の眠気の改善が認められない場合に、次に、各拍動から、眠気を催した運転者の拍動の周期に近い時間間隔を置いて非可聴音を出力するとした。しかし、これに限らず、最初から、各拍動から、眠気を催した運転者の拍動の周期に近い時間間隔を置いて非可聴音を出力し、各拍動から非可聴音が出力されるまでの時間間隔を、覚醒時の運転者の拍動の周期に相当する時間間隔まで段階的に減少させるようにしてもよい。 Here, first, from each beat, a non-audible sound is output at a time interval corresponding to the period of a general human beat at awakening, and no improvement in the driver's sleepiness is observed. Next, from each beat, a non-audible sound is output at a time interval close to the beat cycle of the driver who drowsed. However, the present invention is not limited to this. From the beginning, from each beat, a non-audible sound is output at a time interval close to the beat cycle of the driver who drowsy, and a non-audible sound is output from each beat. The time interval until the vehicle may be gradually reduced to a time interval corresponding to the period of the driver's pulsation when waking up.
　このようにすることによって、最初から、各拍動から、覚醒時の人間の一般的な拍動の周期に相当する時間間隔を置いて非可聴音を出力してもその効果が得られる場合もあり、そのような場合に比べると時間を要するが、運転者の拍動が確実に引き上げられ、運転手の覚醒度が覚醒時なみに向上されることが期待できる。 In this way, from the beginning, the effect can be obtained even if non-audible sound is output from each beat with a time interval corresponding to the general beat period of a human being awake. Yes, it takes more time than in such a case, but it can be expected that the pulsation of the driver is surely increased and the driver's arousal level is improved just as when awakened.
　（４）運転者の眠気の再判定
　非可聴音が出力された後、覚醒支援装置６Ａは、ステップＳ４において、運転者の眠気が十分に改善されたか否かを判定する。この判定は、ステップＳ２と同様の手法によって行う。 (4) Re-determination of the driver's sleepiness After the non-audible sound is output, the arousal support device 6A determines whether or not the driver's sleepiness is sufficiently improved in step S4. This determination is performed by the same method as in step S2.
　すなわち、非可聴音情報出力部６１３は、運転者が眠気を催しているか否かの判定結果を表す情報を運転者状態記憶部６３２から読み込む。結果を表す情報が、運転者が眠気を催していないことを示す場合、運転者の眠気が十分に改善されたと判定し、運転終了を判定する次のステップＳ５に進む。反対に、結果を表す情報が、運転者が眠気を催していることを示す場合、ステップＳ３に戻り、非可聴音の出力の処理を再び行う。 That is, the non-audible sound information output unit 613 reads information representing a determination result of whether or not the driver is drowsy from the driver state storage unit 632. When the information indicating the result indicates that the driver is not drowsy, it is determined that the drowsiness of the driver has been sufficiently improved, and the process proceeds to the next step S5 for determining the end of driving. On the other hand, when the information indicating the result indicates that the driver is drowsy, the process returns to step S3, and the process of outputting the non-audible sound is performed again.
　つまり、非可聴音の出力が開始された後、覚醒支援装置６Ａは、非可聴音情報出力部６１３により、ステップＳ３とステップＳ４において、運転者の眠気が十分に改善されたとの判定結果が得られるまで、非可聴音の出力と運転者の眠気の再判定の処理を繰り替え続ける。 That is, after the output of the non-audible sound is started, the awakening support device 6A obtains a determination result that the driver's sleepiness is sufficiently improved in step S3 and step S4 by the non-audible sound information output unit 613. The process of outputting the non-audible sound and re-determination of the driver's drowsiness is repeated until it is received.
　（５）運転終了の判定
　覚醒支援装置６Ａは、ステップＳ２により運転者が眠気を催していないと判定されたならば、または、ステップＳ４により運転者の眠気が十分に改善されと判定されたならば、ステップＳ５において、運転が終了したか否かを判定する。運転が終了していないと判定した場合は、ステップＳ２の処理に戻って先に述べた一連の制御を繰り返す。反対に、運転が終了したと判定した場合は、覚醒支援の制御を終了する。 (5) Determination of driving completion If it is determined that the driver is not drowsy at step S2 or if it is determined at step S4 that the driver's drowsiness is sufficiently improved, For example, in step S5, it is determined whether or not the operation is finished. If it is determined that the operation has not ended, the process returns to step S2 to repeat the series of controls described above. On the other hand, when it is determined that the driving is finished, the control of the awakening support is finished.
　（効果）
　以上詳述したように、この発明の実施形態では、運転者の状態を検出する運転者状態検出センサである運転者カメラ７の検出情報に基づいて、運転者状態判定部６１２により、運転者が眠気を催しているか否かを判定する。そして、運転者が眠気を催していると判定した場合には、非可聴音情報出力部６１３が、拍動センサ９Ａからの心拍情報に基づいて、非可聴音出力装置９Ｂに非可聴音を出力させる非可聴音情報を出力する。これを受けて、非可聴音出力装置９Ｂは、運転者の各拍動から、運転者の拍動の周期よりも短い時間間隔を置いて、所定の期間の間だけ、非可聴音を出力する。このため、非可聴音は、運転者の拍動に先行して繰り返し出力される。これにより、運転者の拍動の周期の短縮、すなわち、心拍数の上昇が促され、運転者の眠気が改善される。 (effect)
As described above in detail, in the embodiment of the present invention, the driver state determination unit 612 causes the driver to detect the driver state based on the detection information of the driver camera 7 that is a driver state detection sensor that detects the driver state. Determine if you are drowsy. When it is determined that the driver is drowsy, the non-audible sound information output unit 613 outputs a non-audible sound to the non-audible sound output device 9B based on the heart rate information from the pulsation sensor 9A. Output non-audible sound information. In response to this, the non-audible sound output device 9B outputs a non-audible sound from each pulsation of the driver for a predetermined period at a time interval shorter than the period of the pulsation of the driver. . For this reason, the non-audible sound is repeatedly output prior to the driver's beat. Thereby, shortening of the driver's pulsation period, that is, an increase in heart rate is promoted, and the driver's sleepiness is improved.
　非可聴音は、聞いているという自覚を運転者に与えることがない。このため、非可聴音が運転者をいらだたせたりするなど、運転者に精神的なダメージを与えることがないと考えられる。これにより、運転者に精神的苦痛を伴うことなく、運転者の覚醒が良好に促進される。 非 Non-audible sound does not give the driver the awareness of listening. For this reason, it is considered that a non-audible sound does not irritate the driver and does not cause mental damage to the driver. As a result, the driver's arousal can be favorably promoted without causing mental distress to the driver.
　常に同一の非可聴音が出力された場合には、運転者が無意識のうちに単調さを感じ取って、眠気の改善がうまくいかないことが懸念される。しかし、前回に出力された非可聴音とは異なる非可聴音を出力することによって、このような懸念も回避できる。 常 に If the same non-audible sound is always output, there is a concern that the driver will unconsciously feel monotonous and the sleepiness cannot be improved. However, such a concern can be avoided by outputting a non-audible sound different from the non-audible sound output last time.
　［他の実施形態］
　実施形態では、運転者状態検出センサが運転者カメラ７で構成され、運転者カメラ７により得られる運転者の顔を含む映像信号に基づいて運転者の状態を判定する場合を例にとって説明した。しかし、運転者状態検出センサは、運転者カメラ７に限らず、運転者の生体情報を取得する生体センサで構成し、生体センサにより得られる生体信号、例えば脈波センサまたは心拍センサにより検出される運転者の脈波信号または心拍信号や、圧力センサにより検出される横隔膜の上下動を表す信号に基づいて、運転者の状態を判定するようにしてもよい。 [Other Embodiments]
In the embodiment, the case where the driver state detection sensor is configured by the driver camera 7 and the state of the driver is determined based on the video signal including the driver's face obtained by the driver camera 7 has been described as an example. However, the driver state detection sensor is not limited to the driver camera 7, and is configured by a biological sensor that acquires biological information of the driver, and is detected by a biological signal obtained by the biological sensor, for example, a pulse wave sensor or a heart rate sensor. The state of the driver may be determined based on the pulse wave signal or heartbeat signal of the driver or a signal representing the vertical movement of the diaphragm detected by the pressure sensor.
　実施形態では、車両の手動運転中に運転者が眠気を催したときに運転者の覚醒を支援する例について説明したが、このような状況に限定されるものではなく、さまざまな状況において運転者の覚醒を支援するようにしてもよい。運転者の覚醒を支援する状況としては、例えば、次のような状況であってよい。 In the embodiment, an example of supporting the driver's awakening when the driver becomes drowsy during manual driving of the vehicle has been described. However, the present invention is not limited to such a situation, and the driver can be used in various situations. You may make it support awakening. For example, the following situation may be used as a situation for supporting the driver's awakening.
　運転操作を完全に自動運転制御装置に任せることは安全性の面から避けた方が望ましいと考えられている現状とは異なり、運転操作を完全に自動運転制御装置に任せることに不安のない未来において、車両の自動運転中にしばらく先に手動運転に切り替える必要が生じた状況において、運転者が眠っているか、運転者が車両を手動で運転するには困難であると判定される程度の眠気を運転者が催しているときに、運転者の覚醒を支援するようにしてもよい。 Unlike the current situation where it is desirable to leave driving operations to fully automatic driving control devices from the viewpoint of safety, the future without worrying to leave driving operations to fully automatic driving control devices In the situation where it is necessary to switch to manual driving for a while during automatic driving of the vehicle, the sleepiness is such that it is determined that the driver is sleeping or that it is difficult for the driver to manually drive the vehicle When the driver is hosting, the driver's awakening may be supported.
　また、実施形態では、車両の運転中の運転者の覚醒を支援する例について説明したが、この発明の適用分野は車両に限定されるものではなく、この発明は、車両以外の乗り物や機械等に適用されてもよい。例えば、この発明は、船舶、航空機、工場、研究所、オフィス等、さまざまな乗り物や施設に適用されてよい。 In the embodiment, the example of supporting the driver's awakening while driving the vehicle has been described. However, the application field of the present invention is not limited to the vehicle, and the present invention is not limited to a vehicle, a machine, or the like. May be applied. For example, the present invention may be applied to various vehicles and facilities such as ships, airplanes, factories, research laboratories, and offices.
　従って、この明細書において、「運転者」との用語は、車両の運転者に限定されるものではなく、車両の運転者のほか、車両以外の乗り物、例えば、船舶や航空機、宇宙船の運転者や操舵者、操縦士等、また、機械やシステム等の運転者や操作者、作業者等、コンピュータ等の操作者、その他を含むと解釈すべきである。 Therefore, in this specification, the term “driver” is not limited to the driver of the vehicle. In addition to the driver of the vehicle, the vehicle other than the vehicle, for example, the operation of a ship, an aircraft, or a spacecraft. It should be construed to include operators, steering personnel, pilots, etc., drivers and operators of machines and systems, operators, operators of computers, etc.
　その他、車両の種類、自動運転制御装置の機能、覚醒支援装置の制御機能と制御手順および制御内容等についても、この発明の要旨を逸脱しない範囲で種々変形して実施可能である。 In addition, the vehicle type, the function of the automatic driving control device, the control function and control procedure of the awakening support device, and the control contents can be variously modified and implemented without departing from the gist of the present invention.
　要するにこの発明は、上記実施形態そのままに限定されるものではなく、実施段階ではその要旨を逸脱しない範囲で構成要素を変形して具体化できる。また、上記実施形態に開示されている複数の構成要素の適宜な組み合せにより種々の発明を形成できる。例えば、実施形態に示される全構成要素から幾つかの構成要素を削除してもよい。さらに、異なる実施形態に亘る構成要素を適宜組み合せてもよい。 In short, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.
　上記の実施形態の一部又は全部は、以下の付記のようにも記載されうるが、以下には限られるものではない。
（付記１）
　運転者の覚醒を促す覚醒支援装置であって、ハードウェアプロセッサを有し、
　前記ハードウェアプロセッサが、前記運転者の拍動を検出する拍動センサの検出情報に基づいて、さらに前記運転者の拍動の周期に基づいて、非可聴音出力装置に非可聴音を出力させる非可聴音情報を出力する、覚醒支援装置。
（付記２）
　メモリをさらに有し、
　前記ハードウェアプロセッサが、
　　前記運転者の状態を検出する運転者状態検出センサの検出情報に基づいて、前記運転者が眠気を催しているか否かを判定し、その判定結果を表す情報を前記メモリに記憶させ、
　　前記メモリから前記判定結果を表す情報を読み出し、前記判定結果を表す情報が、前記運転者が眠気を催していることを示す場合、前記非可聴音情報を出力する、付記１に記載の覚醒支援装置。
（付記３）
　運転者の覚醒を促す装置が実行する覚醒支援方法であって、
　前記ハードウェアプロセッサを用いて、前記運転者の拍動を検出する拍動センサの検出情報に基づいて、さらに前記運転者の拍動の周期に基づいて、非可聴音出力装置に非可聴音を出力させる非可聴音情報を出力する、覚醒支援方法。
（付記４）
　前記ハードウェアプロセッサを用いて、前記運転者の状態を検出する運転者状態検出センサの検出情報に基づいて、前記運転者が眠気を催しているか否かを判定し、その判定結果を表す情報をメモリに記憶させ、
　前記ハードウェアプロセッサを用いて、前記メモリから前記判定結果を表す情報を読み出し、前記判定結果を表す情報が、前記運転者が眠気を催していることを示す場合、前記非可聴音情報を出力する、付記３に記載の覚醒支援方法。 A part or all of the above embodiment can be described as in the following supplementary notes, but is not limited thereto.
(Appendix 1)
A wake-up support device that promotes driver wake-up, having a hardware processor,
The hardware processor causes the non-audible sound output device to output a non-audible sound based on detection information of a pulsation sensor that detects the pulsation of the driver and further based on a period of the pulsation of the driver. Awakening support device that outputs non-audible sound information.
(Appendix 2)
And further having a memory
The hardware processor is
Based on detection information of a driver state detection sensor that detects the state of the driver, it is determined whether or not the driver is drowsy, information indicating the determination result is stored in the memory,
The awakening support according to appendix 1, wherein information indicating the determination result is read from the memory, and the non-audible sound information is output when the information indicating the determination result indicates that the driver is drowsy. apparatus.
(Appendix 3)
An awakening support method executed by a device that prompts the driver to awaken,
Based on detection information of a pulsation sensor that detects the pulsation of the driver using the hardware processor, and further, based on a period of the pulsation of the driver, an inaudible sound is output to the inaudible sound output device. Awakening support method for outputting non-audible sound information to be output.
(Appendix 4)
Using the hardware processor, based on detection information of a driver state detection sensor that detects the state of the driver, it is determined whether or not the driver is drowsy, and information indicating the determination result is displayed. Memorize it in memory,
Using the hardware processor, the information indicating the determination result is read from the memory, and when the information indicating the determination result indicates that the driver is drowsy, the non-audible sound information is output. Awakening support method according to appendix 3.

Claims (8)

  1. 　運転者の覚醒を促す覚醒支援装置であって、
    　前記運転者の拍動を検出する拍動センサの検出情報に基づいて、さらに前記運転者の拍動の周期に基づいて、非可聴音出力装置に非可聴音を出力させる非可聴音情報を出力する非可聴音情報出力部を備える、覚醒支援装置。     A wake-up support device that promotes driver wake-up,
    Based on detection information of a pulsation sensor that detects the pulsation of the driver, and further based on the period of the pulsation of the driver, outputs non-audible sound information that causes the non-audible sound output device to output non-audible sound An awakening support device comprising a non-audible sound information output unit.
  2. 　前記運転者の状態を検出する運転者状態検出センサの検出情報に基づいて、前記運転者が眠気を催しているか否かを判定する運転者状態判定部をさらに備え、
    　前記非可聴音情報出力部は、前記運転者状態判定部により前記運転者が眠気を催していると判定された場合に、前記非可聴音情報を出力する、請求項１に記載の覚醒支援装置。     A driver state determination unit that determines whether the driver is drowsy based on detection information of a driver state detection sensor that detects the state of the driver;
    The arousal support device according to claim 1, wherein the non-audible sound information output unit outputs the non-audible sound information when the driver state determination unit determines that the driver is drowsy. .
  3. 　前記非可聴音情報は、前記運転者の拍動から、前記運転者の拍動の周期よりも短い時間間隔を置いて、所定の期間の間だけ、前記非可聴音を前記非可聴音出力装置に出力させるものであり、前記時間間隔は、前記運転者の拍動の周期の半分よりも大きく、前記所定の期間は、前記拍動の周期と前記時間間隔との差よりも短い、請求項１または請求項２に記載の覚醒支援装置。 The non-audible sound information is obtained by outputting the non-audible sound to the non-audible sound output device only for a predetermined period from the driver's beat at a time interval shorter than a period of the driver's beat. The time interval is greater than half of the driver's beat cycle, and the predetermined period is shorter than a difference between the beat cycle and the time interval. The awakening support apparatus according to claim 1 or 2.
  4. 　前記非可聴音情報出力部は、前記時間間隔を、眠気を催した運転者の拍動の周期に相当する時間間隔から、覚醒時の運転者の拍動の周期に相当する時間間隔まで、段階的に減少させるように、前記非可聴音情報を出力する、請求項３に記載の覚醒支援装置。 The non-audible sound information output unit is configured to perform the time interval from a time interval corresponding to a pulsation cycle of a drowsy driver to a time interval corresponding to a pulsation cycle of the driver at awakening. The wakefulness support device according to claim 3, wherein the non-audible sound information is output so as to reduce the noise.
  5. 　前記非可聴音情報は、前回の期間の間に出力された非可聴音とは異なる非可聴音を前記非可聴音出力装置に出力させるものである、請求項１ないし請求項４のいずれかひとつに記載の覚醒支援装置。 The non-audible sound information causes the non-audible sound output device to output a non-audible sound different from the non-audible sound output during the previous period. Awakening support apparatus according to 1.
  6. 　運転者の覚醒を促す装置が実行する覚醒支援方法であって、
    　前記運転者の拍動を検出する拍動センサの検出情報に基づいて、さらに前記運転者の拍動の周期に基づいて、非可聴音出力装置に非可聴音を出力させる非可聴音情報を出力する非可聴音情報出力ステップを有する、覚醒支援方法。     An awakening support method executed by a device that prompts the driver to awaken,
    Based on detection information of a pulsation sensor that detects the pulsation of the driver, and further based on the period of the pulsation of the driver, outputs non-audible sound information that causes the non-audible sound output device to output non-audible sound And a non-audible sound information output step.
  7. 　前記運転者の状態を検出する運転者状態検出センサの検出情報に基づいて、前記運転者が眠気を催しているか否かを判定する運転者状態判定ステップをさらに有し、
    　前記非可聴音情報出力ステップは、前記運転者状態判定ステップにより前記運転者が眠気を催していると判定された場合に、前記非可聴音情報を出力する、請求項６に記載の覚醒支援方法。     A driver state determination step of determining whether or not the driver is drowsy based on detection information of a driver state detection sensor that detects the state of the driver;
    7. The awakening support method according to claim 6, wherein the non-audible sound information output step outputs the non-audible sound information when the driver state determination step determines that the driver is drowsy. .
  8. 　請求項１ないし請求項５のいずれかひとつに記載の覚醒支援装置が備える各部の機能または請求項６または請求項７に記載の覚醒支援方法の各ステップをコンピュータに実行させるプログラム。 A program that causes a computer to execute the function of each unit included in the wakefulness support device according to any one of claims 1 to 5 or each step of the wakefulness support method according to claim 6 or 7.
PCT/JP2017/038550 2017-03-10 2017-10-25 Alertness support device, method, and program WO2018163497A1 (en)

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