WO2013172173A1 - Driving assistance device and road map information building method - Google Patents

Abstract

A driving assistance device comprises: a skeleton orientation detection means (31) for detecting a skeleton orientation of a driver; a body state estimation means (32) for estimating, on the basis of the detected skeleton orientation, a body state of the driver; a travel history storage means (14) for storing, as a travel history, on the basis of the estimated body state of the driver, a change of the body state of the driver along with the travel of the host vehicle; and control means (35-37) for querying the travel history, predicting a future body state of the driver from the present body state of the driver, estimating on the basis of the predicted future body state of the driver whether an indication of a deterioration of the body state of the driver is present, and if it is estimated that the indication of the deterioration of the body state of the driver is present, carrying out a control for restoring the body state of the driver before the body state of the driver deteriorates.

Description

Driving support device and road map information construction method

The present invention relates to a driving support device and a road map information construction method.
This application claims priority based on Japanese Patent Application No. 2012-111050 filed on May 18, 2012. For designated countries that are allowed to be incorporated by reference, The contents described in the application are incorporated into the present application by reference and made a part of the description of the present application.

In the prior art described in Patent Document 1, a mechanism capable of adjusting the front and rear position and the inclination angle of the seat is provided, and the front and rear position of the seat is set so that the driving posture is suitable for cruising before the cruising road condition is achieved. And changing the tilt angle. Whether or not the road situation is cruising is determined based on the distance between road junctions, road curvature, and the like with reference to the navigation information (see, for example, Patent Document 1).

Japanese Patent Application No. 2007-38704

However, the conventional technique described in Patent Document 1 merely prompts the driver for a uniform driving posture according to the road conditions, and thus does not necessarily match the physical condition of the driver. . Therefore, there is room for improvement in terms of predicting the driver's physical condition and reducing back pain and muscle fatigue by taking precautions.

The problem of the present invention is to predict changes in the physical condition of the driver and to relieve back pain and muscle fatigue by taking pre-measures.

The present invention estimates the driver's physical state based on the driver's skeleton posture, thereby storing the change in the driver's physical state as the vehicle travels as a travel history. Predict the driver's future physical condition from the driver's current physical condition, and estimate whether the driver's physical condition is a sign of deterioration based on the predicted driver's future physical condition When it is estimated that the driver's physical condition is deteriorating, the above problem is solved by performing control to recover the driver's physical condition before the driver's physical condition deteriorates. To do.

According to the present invention, the change of the driver's physical condition accompanying the traveling of the host vehicle is stored as the driving history, so that the driver's current physical condition can be referred to the driver's future by referring to the driving history. It is possible to appropriately predict the physical condition of the driver according to the physical characteristics of the driver, and thereby to appropriately estimate for each driver whether there is any sign of deterioration in the physical condition of the driver. it can. And if it is predicted that there is a sign that the driver's physical condition will deteriorate, the driver will perform control to recover the driver's physical condition before the driver's physical condition deteriorates. Can relieve back pain and muscle fatigue.

FIG. 1 is a schematic configuration diagram of a driving support device. FIG. 2 is a diagram illustrating an installation example of the body pressure distribution sensor 11. FIG. 3 is a functional block diagram showing functions of the controller 18. FIG. 4 is a diagram illustrating the relationship between the body size distribution and the skeleton posture. FIG. 5 is a diagram illustrating an example of a travel history indicating a driver's fatigue state. FIG. 6 is a diagram illustrating an example of a travel history indicating a load state of the driver's waist. FIG. 7 is a diagram illustrating an example of a travel history indicating the state of sleepiness of the driver. FIG. 8 is a diagram for explaining a method of estimating the driver's fatigue state based on the driving history indicating the driver's fatigue shown in FIG. FIG. 9 is a diagram for explaining a method for estimating signs of low back pain of the driver based on the travel history indicating the load state of the back of the driver shown in FIG. FIG. 10 is a diagram for explaining a method for estimating the signs of the driver's drowsy based on the driving history indicating the state of the driver's sleepiness shown in FIG. 7. FIG. 11 is a flowchart showing the road map information construction process. FIG. 12 is a flowchart showing the driving support process. FIG. 13 is a diagram for explaining another method for estimating the physical state of the driver.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<< First Embodiment >>
"Constitution"
In the present embodiment, the physical condition of the driver is predicted, and back pain and muscle fatigue are alleviated by taking pre-measures.
FIG. 1 is a schematic configuration diagram of a driving support device.
The driving support device is mounted on an automobile, and includes a body pressure distribution sensor 11, a GPS receiver 12, a road traffic information receiver 13, a storage device 14, a display 15, a speaker 16, and an adjustment device 17. And a controller 18.

Body pressure distribution sensor 11 detects the body pressure distribution in the driver's seat. This body pressure distribution sensor 11 is provided in the seat of the driver's seat, and is composed of a plurality of piezoelectric elements provided on a seat surface that contacts the driver's buttocks and a backrest surface that contacts the driver's back. . Each piezoelectric element converts a pressure corresponding to the seating state of the driver into a voltage signal and inputs the voltage signal to the controller 18. The controller 18 determines the body pressure distribution from the input voltage signal.

FIG. 2 is a diagram illustrating an installation example of the body pressure distribution sensor 11.
The driver's seat 21 includes a seating part 22 and a backrest part 23. The body pressure distribution sensor 11 is formed in a sheet shape in which a plurality of piezoelectric elements are covered with a covering material, and is provided inside each seat surface of the seating portion 22 and the backrest portion 23. Here, eight points of piezoelectric elements are arranged on the seating part 22 and eight points on the backrest part 23. Thereby, when the driver is seated, the voltage signal of each piezoelectric element changes according to the seating posture.
The above is an explanation of the body pressure distribution sensor 11.

Returning to the description of the driving support apparatus of FIG.
The GPS receiver 12 acquires current position information of the host vehicle. The GPS receiver 12 receives radio waves from a plurality of GPS satellites, and measures the current position (longitude, latitude, altitude) of the vehicle based on the distance from each GPS satellite obtained from the time difference between transmission and reception. Find the direction of travel. As a positioning method, a single code positioning method based on modulation of a carrier wave is generally used. However, DGPS (relative positioning) with improved positioning accuracy by receiving correction information generated by another base station whose position is fixed. Method).

The road traffic information receiver 13 uses, for example, VICS (registered trademark), FM multiplex broadcasting, optical vehicle detector (optical beacon), radio beacon, etc., traffic regulation information, traffic fault information, traffic jam information, required time information, etc. Receive road traffic information. Not limited to VICS, dedicated short range communication (DSRC: Dedicated Short Range Communication) which is one of two-way wireless communication technologies may be used.

The storage device 14 includes a DVD-ROM drive, a hard disk drive, a flash memory drive, and the like, and stores road map information including information on the physical condition of the driver in a nonvolatile electronic storage medium.
First, general road map information includes road type, road alignment, lane width, vehicle traffic direction, road gradient, features, road structures, and the like. For this general road map information, the road map information database is managed by the server, and only the difference data of the updated road map information is acquired through, for example, a telematics service and stored in the storage device 14. May be updated.
The physical condition information of the driver is a cumulative value over time such as the driver's lumbar skeletal load and muscle fatigue, and the storage / construction of the physical condition information will be described later.

Display 15 displays road guidance information and driver's physical condition information. The display 15 is provided in the vicinity of the dashboard so that the driver can visually recognize and operate the display 15 and includes, for example, a touch panel including a liquid crystal display and an operation input unit. That is, arbitrary display is performed by partially blocking or transmitting the light emitted from the backlight through the driving circuit. Further, a user's touch operation on the screen is detected by a resistive film type or capacitive type touch sensor, and various settings are performed based on the touch position.

Speaker 16 outputs road guidance information and voice guidance as driver's physical condition information. The speaker 16 is provided in the vehicle compartment, and is composed of, for example, a dynamic speaker. That is, an electric signal is input to the coil directly connected to the diaphragm, and the diaphragm is vibrated by the vibration of the coil due to electromagnetic induction, thereby emitting sound corresponding to the electric signal.

The adjustment device 17 includes at least one of a driver's seat vibrator, a driver's seat power seat, an air conditioner, a power window, a sunroof, an aroma diffuser, an air purifier, a humidifier, and an audio.
A plurality of driver's seat vibrators are provided inside the seat surfaces of the seat portion 22 and the backrest portion 23, and any vibrator can be vibrated.
The driver's seat power seat can be set to an arbitrary seat position by driving the front / rear position and vertical position of the driver's seat 21 and the inclination angle of the backrest portion 23 with an electric motor.
The air conditioner has functions of heating, cooling, dehumidification, and ventilation, and detects room temperature, solar radiation amount, outside temperature, etc., temperature control of blowing air, air volume control, suction port switching, blowing port switching, compressor control The air conditioning control can be performed arbitrarily.
The power window can be set to an arbitrary opening / closing position by driving opening / closing of the window glass with an electric motor.

The sunroof can be set to an arbitrary opening / closing position by driving opening / closing such as tilt up / down and slide open / close with an electric motor.
The aroma diffuser can supply a relaxing scent into the passenger compartment at any timing together with, for example, an air conditioner balloon.
The air purifier can perform deodorization and sterilization by generating positive oxygen and generating negative ions by plasma discharge, for example, and releasing them into the passenger compartment together with the air conditioner blowing.
The humidifier is installed in the vicinity of the driver's seat, and the vehicle interior can be arbitrarily humidified by releasing water into the vehicle interior as fine particles by, for example, ultrasonic waves.
Audio can be received and output from radio broadcasts, music files such as HDD, CD, flash memory, portable audio can be played back, wirelessly connected to other audio devices with short-range wireless communication functions, music Can be played.

The controller 18 includes, for example, a microcomputer, and drives the display 15 and the speaker 16 when functioning as a general navigation system. When the controller 18 functions as a driving support system, the controller 15 and the speaker 16 and the adjustment device 17 are driven. Drive.

First, in a general navigation system, road guidance information to be provided to the driver is displayed on the display 15 or output by the speaker 16. The road guide information includes current position information received by the GPS receiver 11, road map information read from the storage device 14, road traffic information received by the road traffic information receiver 13, and the like. Note that the current position information received by the GPS receiver 11 may include an error or may not be able to temporarily receive radio waves from GPS satellites, so accuracy is improved by dead reckoning navigation or map matching.

First, dead reckoning navigation is based on the travel distance obtained from the vehicle speed sensor, the turning angle of the vehicle obtained from the gyro, the inclination angle of the vehicle obtained from the acceleration sensor, the height change amount, and the traveling direction of the vehicle obtained from the GPS receiver 11. The travel position of the vehicle is calculated at a constant cycle. In the map matching, the current position information is matched with the road map information by comparing the current position calculated by dead reckoning with the road map information read from the storage device 14.

Next, the controller 18 according to the present embodiment will be described. FIG. 3 is a functional block diagram showing functions of the controller 18. As shown in FIG. 3, the controller 18 includes a skeleton posture detection unit 31, a body state estimation unit 32, a current position detection unit 33, a travel history storage control unit 34, a change sign estimation unit 35, and an estimation result transmission. A control unit 36 and a drive control unit 37 are provided.

The skeleton posture detection unit 31 detects the skeleton posture of the driver according to the body pressure distribution detected by the body pressure distribution sensor 11.
Here, detection of the skeleton posture of the driver will be described.
FIG. 4 is a diagram showing the relationship between the body pressure distribution and the skeleton posture.
1. When the body center of gravity of the seating part 22 and the body center of gravity of the backrest part 23 are in predetermined positions, the skeleton posture is in the middle in the left-right direction and in the middle in the front-back direction.
2. When the weight of the seating portion 22 is displaced backward and the center of gravity of the backrest portion 23 is displaced downward, the skeleton posture is in the middle in the left-right direction and tilted forward in the front-back direction.
3. When the weight of the seating portion 22 is displaced to the right and the center of gravity of the backrest portion 23 is displaced to the right, the skeletal posture is tilted to the right in the left-right direction and is in the middle in the front-rear direction.

4). When the weight of the seating portion 22 is displaced to the left and the body center of gravity of the backrest portion 23 is displaced to the left, the skeleton posture is tilted to the left in the left-right direction and is in the middle in the front-rear direction.
5. When the weight of the seating part 22 is displaced to the right rear and the center of gravity of the backrest part 23 is displaced to the lower right, the skeleton posture is tilted to the right in the left-right direction and forward tilted in the front-rear direction.
6). When the weight of the seating part 22 is displaced to the left rear and the center of gravity of the backrest part 23 is displaced to the lower left, the skeleton posture is tilted leftward in the left-right direction and forwardly tilted in the front-rear direction.

7). When the weight of the seating portion 22 is displaced forward and the center of gravity of the backrest portion 23 is displaced upward, the skeleton posture is middle in the left-right direction and tilted backward in the front-rear direction.
8). When the weight of the seating portion 22 is displaced to the right and the body center of gravity of the backrest portion 23 is displaced to the upper right, the skeletal posture is tilted rightward in the left-right direction and tilted backward in the front-rear direction.
9. When the weight of the seating portion 22 is displaced to the left front and the center of gravity of the backrest portion 23 is displaced to the upper left, the skeleton posture is tilted leftward in the left-right direction and tilted backward in the front-rear direction.
In this way, the skeleton posture of the driver is detected according to the body pressure distribution.
The above is the skeleton posture detection processing by the skeleton posture detector 31.

The body state estimation unit 32 calculates a driver's body state evaluation value according to the skeleton posture detected by the skeleton posture detection unit 31, and based on the calculated driver's body state evaluation value, the driver's body state Is estimated. Specifically, the body state estimation unit 32 calculates, based on the skeleton posture detected by the skeleton posture detection unit 31, a temporal cumulative value of the load on the driver's waist associated with the traveling of the host vehicle. It is calculated as a physical condition evaluation value indicating the load state of the waist. Further, the body state estimation unit 32 calculates a temporal cumulative value of the driver's muscle fatigue accompanying the traveling of the host vehicle as a body state evaluation value for estimating the driver's fatigue state. Here, the load on the lumbar region is mainly the eccentric pressure of the lumbar vertebrae (L1 to L5). Muscle fatigue is mainly the degree of muscle tone of trunk muscles.

Specifically, the body state estimation unit 32 refers to a table indicating the relationship between the skeleton posture and the load on the lumbar region, and from the skeleton posture detected by the skeleton posture detection unit 31, A load is calculated, and a temporal cumulative value of the load on the waist is calculated as a body state evaluation value for estimating the load state of the driver's waist. The body state estimation unit 32 calculates a current muscle fatigue value from the skeletal posture detected by the skeletal posture detection unit 31 by referring to a table indicating the relationship between the skeletal posture and muscle fatigue. The cumulative value of muscle fatigue over time is calculated as a body condition evaluation value for estimating the driver's fatigue state. Furthermore, the body state estimation unit 32 may be configured to calculate the body state evaluation value in consideration of the traveling state of the host vehicle (for example, turning, sudden braking, traffic jam, etc.).

The table indicating the relationship between the skeletal posture and the lumbar skeletal load and the table indicating the relationship between the skeletal posture and muscle fatigue can be set in advance by experiments or the like based on the inverse dynamic model. In addition, this table is preferably set according to the body shape and sex of the driver. In this case, a system for authenticating the driver is required. Driver authentication systems include property authentication, knowledge authentication, biometric authentication, and the like. As the property authentication, for example, the driver is authenticated from the user ID built in the license. Moreover, as knowledge authentication, a driver | operator is authenticated from the input of a password, for example. As biometric authentication, a driver is authenticated from a fingerprint, an iris, a voiceprint, a face, a vein, or the like.

For example, when the driver is clinging to the steering wheel, the load on the ankle joint is reduced but the load on the lumbar spine is increased as the skeletal load, and the load on the foot is also reduced as the muscle load. , Muscle load on shoulders and arms increases. Further, when the driver puts weight on the backrest 23, the lumbar load decreases as the skeletal load, and the foot load slightly increases as the muscle load, but the trunk becomes easy. Also, when shoulders and elbows are attached to armrests, etc., the skeletal load is asymmetric as a whole and the load is increased overall, and the muscle load is also asymmetric as a whole and the load is increased as a whole. .

Further, the body state estimation unit 32 uses the skeleton posture detected by the skeleton posture detection unit 31 to calculate the amount of change (or rate of change) of the center of gravity value of the driver and the body state evaluation value indicating the state of the driver's sleepiness. Can be calculated as For example, it is determined that the driver's drowsiness is stronger as the fluctuation amount of the driver's center of gravity is larger, and the body state evaluation value indicating the driver's drowsiness state can be calculated larger.

The current position detection unit 33 detects current position information received by the GPS receiver 12.

The traveling history storage control unit 34 stores, in the storage device 14, a change in the physical state of the driver accompanying the traveling of the host vehicle as a traveling history. In the present embodiment, the travel history storage control unit 34 indicates, as the travel history, a travel history indicating a driver's fatigue state, a travel history indicating a load state of the driver's waist, and a driver's sleepiness state. Each travel history is stored. Here, FIG. 5 is a diagram showing an example of the driving history indicating the driver's fatigue state stored by the driving history storage control unit 34, and FIG. 6 shows the driving stored by the driving history storage control unit 34. FIG. 7 is a diagram illustrating an example of a travel history indicating a driver's sleepiness state stored by the travel history storage control unit 34.

For example, the travel history storage control unit 34 first stores, in the storage device 14, a temporal change in a physical condition evaluation value indicating a general driver fatigue state as a travel history of the driver's physical condition. . The travel history storage control unit 34 uses the body state evaluation value corresponding to the current travel time of the driver among the body state evaluation values stored as the travel history in the storage device 14, and the body state estimation unit 32. The estimated physical condition evaluation value of the driver is sequentially compared, and when the difference is larger than a predetermined threshold value d, the physical condition evaluation value stored as the running history is updated with the current physical condition evaluation value. Thus, the travel history stored in the storage device 14 is updated. Thus, the travel history storage control unit 34 can store a change in time of the physical state of the driver of the host vehicle as a travel history. First, when the temporal change of the physical condition evaluation value of general driver fatigue is stored in the storage device 14 as the travel history, the travel history corresponding to the driver's body shape and gender is stored. It is desirable.

For example, the driving history storage control unit 34 uses the fatigue state of the driver estimated by the body state estimation unit 32 as the body state evaluation value indicating the fatigue state of a general driver stored in the storage device 14 as the driving history. As shown in FIG. 5, the travel history indicating the driver's fatigue state can be stored in the storage device 14 by updating the body state evaluation value indicating the state of the vehicle. Similarly, the travel history storage control unit 34 estimates the body state evaluation value indicating the load state of the general driver's lower back stored in the storage device 14 as the travel history by the body state estimation unit 32. By updating the physical state evaluation value indicating the load state of the driver's waist, as shown in FIG. 6, the travel history indicating the load state of the driver's waist can be stored in the storage device 14. The physical state evaluation value indicating the state of drowsiness of a general driver stored as the driving history in FIG. 14 is updated with the body state evaluation value indicating the state of drowsiness of the driver estimated by the body state estimation unit 32. Thus, as shown in FIG. 7, the travel history indicating the driver's sleepiness state can be stored in the storage device 14.

The driving history storage method is not limited to the above-described method. For example, the driver's physical condition evaluation value estimated by the physical condition estimating unit 32 in the past is averaged by averaging the driving state every driving time. It is good also as a structure which memorize | stores the temporal change of a physical condition evaluation value as a driving | running | working log | history which shows a driver | operator's physical condition, as shown in FIG.

Furthermore, the travel history storage control unit 34 associates the body state evaluation value estimated by the body state estimation unit 32 with the road map information based on the position of the host vehicle detected by the current position detection unit 33, thereby driving the vehicle. Road map information that correlates the physical state of the person is constructed. Thus, the travel history storage control unit 34 can store a travel history indicating changes in the physical condition of the driver in the storage device 14 for each travel route. That is, the travel history storage control unit 34 can store, as a travel history, a change in the driver's physical condition evaluation value according to the travel time for each travel route that the driver has traveled in the past. In addition, by associating the driving time, weather information, the driver's body type and gender, etc. with the physical condition evaluation value of the driver, the driver's physical state A travel history indicating a change can be stored.

Also, the travel history storage control unit 34 stores a determination reference value for determining whether or not the driver's physical condition has deteriorated in the storage device 14. For example, as shown in FIG. 5, the travel history storage control unit 34 stores a determination reference value S <b> 1 for determining whether or not the driver is tired together with a travel history indicating the driver's fatigue state. 14 stored. The travel history storage control unit 34 may set a physical condition evaluation value that can generally determine that the driver is fatigued as a determination criterion in consideration of the travel route, weather, the driver's body shape, gender, and the like. Alternatively, the determination reference value may be set as follows.

In other words, the travel history storage control unit 34 presents a message asking the driver whether or not he / she is tired, and when an answer indicating that the driver is tired is input, The body state estimated value may be stored in the storage device 14 as the determination reference value S1 for determining whether or not the driver is tired. In this case, if the driver does not answer anything, it can be determined that the driver is not tired.

In addition, when the determination reference value S1 has already been set, the travel history storage control unit 34, when the driver enters a highway service area, or travels around a road with a low driving load, etc. Alternatively, it may be configured that the determination criterion value S1 that has been set is lowered by determining that the driver is tired. Alternatively, when the determination reference value S1 is already set, the traveling history storage control unit 34 drives the driver when the driver does not follow the guidance even when the driver is guided to a route with a low driving load. The person may determine that he / she is not tired and increase the already set determination reference value S1.

Similarly, as shown in FIG. 6, the travel history storage control unit 34 determines whether or not the driver has developed back pain along with the travel history indicating the load state of the driver's lower back. The value S2 is stored in the storage device 14. For example, the travel history storage control unit 34 presents a message to the driver asking whether or not the driver has developed back pain, and inputs an answer indicating that the driver has developed back pain. In this case, the physical condition evaluation value at this time can be stored in the storage device 14 as the determination reference value S2 for determining whether or not the driver has developed back pain.

Further, as shown in FIG. 7, the travel history storage control unit 34 stores a determination reference value S3 for determining whether or not the driver is asleep, along with the travel history indicating the state of sleepiness of the driver. Store in device 14. For example, the travel history storage control unit 34 determines whether or not the driver is asleep from the driver's face image, and uses the physical state evaluation value when the driver is determined to be asleep as the driver. Can be stored in the storage device 14 as a determination reference value S3 for determining whether or not the patient is dozing.

Next, the change sign estimation unit 35 will be described. The change sign estimation unit 35 refers to the driving history stored in the storage device 14 and predicts the future physical state of the driver from the current physical state of the driver estimated by the physical state estimation unit 32. Estimate whether there is any sign that the physical condition of the driver will deteriorate.

Specifically, the change sign estimation unit 35 first compares the physical condition evaluation value stored in the travel history with the current physical condition evaluation value of the driver, and in the travel history, the current sign of the driver is compared. The running time corresponding to the physical condition evaluation value is calculated. Here, FIG. 8 is a diagram for explaining a method of estimating the driver's fatigue state based on the travel history indicating the driver's fatigue shown in FIG. For example, in the example shown in FIG. 8, the change sign estimation unit 35 indicates the current state of the driver's fatigue estimated by the body state estimation unit 32 based on the body state evaluation value in the driving history indicating the driver's fatigue. A travel time t1 ′ that is the state evaluation value S1 ′ is calculated. In FIG. 8, the body state evaluation value in the driving history indicating the driver's fatigue is a white circle, and the body state evaluation value S1 ′ indicating the driver's current fatigue state estimated by the body state estimation unit 32 is a black circle. Show.

Then, as shown in FIG. 8, the change sign estimation unit 35 indicates the driving time t1 ′ corresponding to the body condition evaluation value S1 ′ indicating the driver's current fatigue and the state of the driver's fatigue in the driving history. A difference (travel time t1−travel time t1 ′) from the travel time t1 at which the physical condition evaluation value reaches the determination reference value S1 is calculated as a prior predicted time T1 until the driver gets tired.

Further, the change sign estimation unit 35 compares the predicted prior prediction time T1 with a predetermined determination time (for example, 10 minutes), and when the prior prediction time T1 is shorter than the predetermined determination time, the driver It is estimated that there is a sign of fatigue. The predetermined determination time is not particularly limited, and can be determined according to driving time, travel distance, time, place, road shape, and the like.

Similarly, as shown in FIG. 9, the change sign estimation unit 35 has a load on the waist of the driver estimated by the body state estimation unit 32 in the running history indicating the load state of the waist of the driver. A travel time t2 ′ that is a physical state evaluation value S2 ′ that indicates the state is calculated, and the driving time t2 ′ that corresponds to the physical state evaluation value S2 ′ that indicates the current load state of the waist of the driver and the travel history are calculated. The difference (running time t2−running time t2 ′) from the running time t2 at which the physical condition evaluation value indicating the load state of the user's lower back reaches the determination reference value S2 is calculated as the prior prediction time T2 until the driver develops low back pain. Calculate as Then, the change sign estimation unit 35 compares the predicted prior prediction time T2 with a predetermined determination time (for example, 10 minutes), and if the prior prediction time T2 is shorter than the predetermined determination time, the driver Presume that there are signs of developing back pain.

Further, as shown in FIG. 10, the change sign estimation unit 35 indicates the driver's sleepiness state estimated by the body state estimation unit 32 in the body history evaluation value in the driving history indicating the driver's sleepiness state. A travel time t3 ′ to be the physical condition evaluation value S3 ′ is calculated, and the travel time t3 ′ corresponding to the physical condition evaluation value S3 ′ indicating the current sleepiness state of the driver and the driver's driver's The difference (travel time t3−travel time t3 ′) from the travel time t3 at which the physical condition evaluation value indicating the sleepiness state reaches the determination reference value S3 is calculated as the prior predicted time T3 until the driver falls asleep. Then, the change sign estimation unit 35 compares the predicted prior prediction time T3 with a predetermined determination time (for example, 10 minutes), and if the prior prediction time T3 is shorter than the predetermined determination time, the driver Presume that there are signs of falling asleep.

Further, in the present embodiment, the driver's physical condition evaluation value is associated with the road map information, whereby the change sign estimation unit 35 causes the driver's body to be different for each travel route on which the host vehicle travels. It is possible to refer to a travel history indicating a change in state. Thereby, the change sign estimation unit 35 refers to the travel history of the travel route of the host vehicle, and predicts the future physical state of the driver from the current physical state of the driver, so that the future body of the driver The state can be estimated with higher accuracy.

If there is no past driving history data, it is estimated by comparison with general reference values. If possible, reference values corresponding to the body type and gender of the driver are prepared in advance and authenticated. Refer to the reference value closest to the driver.
The above is the estimation process of the body state by the change sign estimation part 35. FIG.

The estimation result transmission control unit 36 transmits the estimation result to the driver via the display 15 and the speaker 16 when the change sign estimation unit 35 estimates that there is a sign of deterioration in the driver's physical condition. To do. In this way, by transmitting to the driver that there is a sign of deterioration in the physical condition of the driver, the driver is made aware of the skeletal posture and prompts an appropriate skeleton posture. At this time, in order to reduce the deterioration of the physical condition of the driver, specific advice on how to improve the skeleton posture may be provided.

In the drive control unit 37, when the change sign estimation unit 35 estimates that there are signs of low back pain and physical fatigue, the adjustment device 17 described above is used to promote the reduction of skeletal load and muscle fatigue in the lower back. Drive control.
For example, the driver is urged to correct the skeletal posture by vibrating the vibrator at the position where the driver's body center of gravity is most applied among the driver's seat vibrators. In other words, the skeletal posture is promoted to be an appropriate posture that is middle in the left-right direction and middle in the front-rear direction, thereby reducing lumbar skeletal load and muscle fatigue.
Further, the driver's seat power seat is driven, and the driver is encouraged to correct the skeleton posture by, for example, slightly moving the driver's seat 21 or raising the backrest portion 23. In other words, the skeletal posture is promoted to be an appropriate posture that is middle in the left-right direction and middle in the front-rear direction, thereby reducing lumbar skeletal load and muscle fatigue.

The air conditioner makes the room temperature comfortable, the power window and sunroof are opened a little to bring in outside air, the aroma diffuser releases a pleasant scent into the room, and the air purifier deodorizes and disinfects the passenger compartment. Go, make humid with a humidifier, or output radio and music with audio. Thereby, the lumbar skeletal load and muscle fatigue are reduced by the relaxation effect and the refresh effect. Of course, there is an aim that the driver himself corrects the skeleton posture by the relaxation effect and the refresh effect.
The above is description of the function of the controller 18 based on the block diagram of FIG.

Next, road map information construction processing and driving support processing executed by the controller 18 every predetermined time (for example, 10 msec) will be described.
First, the road map information construction process will be described.
FIG. 11 is a flowchart showing the road map information construction process.
First, step S101 corresponds to the processing in the skeleton posture detection unit 31, and detects the skeleton posture of the driver according to the body pressure distribution detected by the body pressure distribution sensor 11. That is, the voltage signal of the piezoelectric element is A / D converted, and the load center for the seating portion 22 and the backrest portion 23 is calculated. And a driver | operator's frame | skeleton attitude | position is detected from the load center with respect to each of the seating part 22 and the backrest part 23. FIG.

The subsequent step S102 corresponds to the process in the body state estimation unit 32, and estimates the current body state of the driver according to the driver's skeleton posture. Specifically, the body state estimation unit 32 calculates the temporal cumulative value of the driver's waist load as a body state evaluation value indicating the driver's waist load state based on the driver's skeleton posture. Thus, the load state of the driver's waist is estimated. Further, the body state estimation unit 32 calculates a temporal cumulative value of the driver's muscle load based on the driver's skeleton posture as a body state evaluation value indicating the driver's fatigue state, Estimate the state of fatigue of the driver. Further, the body state estimation unit 32 estimates the driver's sleepiness state by calculating the fluctuation amount (change rate) of the driver's center of gravity value as a body state evaluation value indicating the driver's sleepiness state. .

The subsequent step S103 corresponds to the processing in the current position detection unit 33, and detects the current position information received by the GPS receiver 12.

Subsequent step S104 corresponds to the processing in the travel history storage control unit 34, refers to the travel history stored in the storage device 14 according to the current position, the physical condition evaluation value stored as the travel history, the current The physical condition evaluation value is compared, and the difference is calculated.
In the subsequent step S105, it is determined whether or not the difference between the physical condition evaluation value referenced from the travel history and the current evaluation value is greater than a predetermined threshold value d. Here, when the difference is equal to or less than a predetermined threshold value d, it is determined that there is no need to update the physical condition evaluation value referred to from the travel history, and the process returns to the predetermined main program as it is. On the other hand, when the difference is larger than a predetermined threshold value, it is determined that the body condition evaluation value referred to from the travel history needs to be updated, and the process proceeds to step S106.

In step S106, the physical condition evaluation value referenced from the running history is updated to the current physical condition evaluation value, and then the process returns to the predetermined main program. In this travel history, the physical condition evaluation value, the current position, and the time are associated with the road map information, and include driving time information, travel distance information, and weather information from the departure point. It is also desirable to store data on the body type and gender of the driver.

In step S102, the load state of the driver's lumbar region, the driver's fatigue state, and the driver's sleepiness state are estimated. In steps S105 and S106, the driver's lumbar region load state is shown. The travel history, the travel history indicating the driver's fatigue state, and the travel history indicating the driver's sleepiness state are updated and stored.
The above is the description of the road map information construction process based on the flowchart of FIG.

Next, driving support processing will be described.
FIG. 12 is a flowchart showing the driving support process.
First, step S201 corresponds to the processing in the skeleton posture detection unit 31, and detects the skeleton posture of the driver according to the body pressure distribution detected by the body pressure distribution sensor 11. That is, the voltage signal of the piezoelectric element is A / D converted, and the load center for the seating portion 22 and the backrest portion 23 is calculated. And a driver | operator's frame | skeleton attitude | position is detected from the load center with respect to each of the seating part 22 and the backrest part 23. FIG.

The subsequent step S202 corresponds to the process in the body state estimation unit 32 and estimates the driver's body state according to the driver's skeleton posture. As described above, the body state estimation unit 32 calculates the body state evaluation value indicating the load state of the driver's waist as the driver's waist load state, and the driver's fatigue state as the driver's fatigue state. The body state evaluation value indicating the driver's sleepiness state is calculated as the driver's sleepiness state.
The subsequent step S203 corresponds to the processing in the current position detection unit 33, and detects the current position information received by the GPS receiver 12.

The subsequent step S204 corresponds to the processing in the change sign estimation unit 35, refers to the travel history stored in the storage device 14 according to the current position of the host vehicle, and the physical condition evaluation value stored as the travel history, The body state evaluation value estimated by the body state estimation unit 32 is compared.

In step S205, it is determined whether or not there is at least one of a sign of low back pain, a sign of physical fatigue, and a sign of dozing. Here, when there are no signs of low back pain, signs of physical fatigue, and signs of dozing, the process returns to the predetermined main program. On the other hand, if there are any signs of low back pain, signs of physical fatigue, and signs of dozing, the process proceeds to step S206.

For example, as shown in FIG. 8, the change sign estimation unit 35 indicates the body state evaluation value of the travel history indicating the driver's fatigue state, and the driver's fatigue state estimated by the body state estimation unit 32. Compared with the body condition evaluation value S1 ′, a travel time t1 ′ at which a body condition evaluation value S1 ′ indicating the driver's fatigue state is obtained in the driving history indicating the driver's fatigue state is calculated. Then, the change sign estimation unit 35 calculates a travel time t1 at which the body state evaluation value is a determination reference value S1 that can be determined that the driver is tired in the travel history indicating the driver's fatigue state, The time until the driver gets tired (traveling time t1−traveling time t1 ′) is calculated as the prior predicted time T1. Further, the change sign estimation unit 35 compares the predicted prior prediction time T1 with a predetermined determination reference time (for example, 10 minutes), and when the prior prediction time T1 is shorter than the predetermined determination reference time, The driver is assumed to have signs of fatigue, and the process proceeds to step S206.

In this embodiment, the physical condition evaluation value of the driver is associated with the road map information, and the change sign estimation unit 35 refers to the driving history of the driver in the driving route of the host vehicle, and the driver Estimate the state of fatigue. In addition to the driver fatigue state, the change sign estimator 35 may also be a sign of the driver developing back pain or a driver doze sign based on the driver's lower back load and driver drowsiness. When it is determined that there is such a sign, the process proceeds to step S206.

Step S206 corresponds to the processing in the estimation result transmission control unit 36, and transmits to the driver via the display 15 and the speaker 16 that there are signs of low back pain, signs of physical fatigue, and signs of dozing. This makes the driver aware of the skeletal posture and prompts the appropriate skeleton posture. At this time, in order to reduce these symptoms, specific advice on how to improve the skeleton posture may be provided.
The subsequent step S207 corresponds to the processing in the drive control unit 37, and returns to a predetermined main program after driving and controlling the adjusting device 17 described above in order to promote reduction of skeletal load, muscle fatigue and the like in the lower back. At this time, which of the adjustment devices 17 is selected and how much control is executed is determined by the degree of signs that each symptom develops.
The above is the description of the driving support process based on the flowchart of FIG.

<Action>
Next, the operation of the first embodiment will be described.
Even if the driver is prompted to drive uniformly according to the road conditions, it does not always match the physical condition of the driver. Therefore, it is desired to predict the physical condition of the driver and to reduce back pain and muscle fatigue by taking precautions.

In the present embodiment, the driver's skeleton posture is detected according to the body pressure distribution detected by the body pressure distribution sensor 11 (step S101), and the current body condition evaluation value of the driver is determined according to the skeleton posture. Estimate (step S102). Then, referring to the travel history stored in the storage device 14 according to the current position, the body state evaluation value stored as the travel history is compared with the current body state evaluation value, and the difference is calculated (step) S104). When the difference between the physical condition evaluation value referenced from the travel history and the current evaluation value is greater than a predetermined threshold value d (determination in step S105 is “Yes”), the physical condition evaluation value referred to from the travel history Is updated to the current physical condition evaluation value (step S105).

Thus, by recording the physical condition evaluation value in association with the road map information, the physical condition evaluation value when traveling in the past can be referred to thereafter when traveling on the same route. In addition, every time you travel on the same route, instead of memorizing the running history, when the body condition evaluation value changes greatly, it only updates the past body condition evaluation value, so that the data capacity increases. Can be suppressed.

It is possible to predict in advance signs of low back pain or signs of physical fatigue when comparing the past physical condition evaluation values stored in this way with the current physical condition evaluation values of current running. . That is, comparing the physical condition evaluation value when running in the past with the current physical evaluation value, estimating posture collapse after a predetermined time (10 minutes), at that time, signs of low back pain or physical fatigue It is estimated whether or not there is a sign (step S204).

Then, when it is predicted in advance that there is a sign of low back pain or physical fatigue ("Yes" in step S205), the predicted sign of low back pain or physical fatigue is transmitted to the driver ( Step S206). As a result, the driver can take advance measures and can relieve back pain and muscle fatigue. In particular, in the present embodiment, since the driving history is generated based on the physical condition evaluation value when the driver actually travels, the physical condition of the driver deteriorates according to the physical ability of each driver. It is possible to appropriately estimate the signs to be performed.

Also, various adjustment devices 17 are driven and controlled to promote the reduction of skeletal load, muscle fatigue, and sleepiness in the lower back. That is, by operating the driver's seat vibrator or adjusting the seat position of the driver's seat power seat, the driver can be encouraged to correct the skeletal posture, and the lumbar skeletal load, muscle fatigue, and sleepiness can be reduced. In addition, by appropriately operating air conditioners, power windows, sunroofs, aroma diffusers, air purifiers, humidifiers, audios, etc., relaxation and refreshing effects will reduce lumbar skeletal load, muscle fatigue, and sleepiness. be able to.

<< Modification 1 >>
In the present embodiment, the adjustment device 17 is activated in order to promote the reduction of the skeletal load, muscle fatigue, and sleepiness, and the timing for transmitting to the driver that there are signs of low back pain, signs of physical fatigue, and signs of dozing. Although the timing is the same, it is not limited to this. For example, when there are few signs of low back pain, physical fatigue, or dozing, tell the driver that there are signs of low back pain, physical fatigue, or dozing. In addition, the adjustment device 17 may be operated to promote the reduction of skeletal load, muscle fatigue, and drowsiness.

That is, when it is judged that there are relatively few signs of low back pain, signs of physical fatigue, and signs of falling asleep, it is only communicated to the driver. On the other hand, when it is judged that signs of low back pain, signs of physical fatigue, signs of dozing have become relatively large, this is communicated to the driver and also promotes reduction of skeletal load, muscle fatigue, and sleepiness The adjustment device 17 is operated. Thus, by adjusting the control contents in multiple stages, it is possible to execute fine control suitable for the driver's physical condition.

<< Application Example 1 >>
In this embodiment, by comparing the physical information evaluation value referenced from the running history and the current physical condition evaluation value, it is understood that there are signs of low back pain, signs of physical fatigue, signs of dozing, You may be able to understand signs of low back pain, signs of physical fatigue, and signs of falling asleep by reporting from yourself. For example, when it is estimated that there is a sign of low back pain, a sign of physical fatigue, or a sign of dozing, before driving the adjustment device 17, first, whether there is a sign of low back pain, a sign of physical fatigue, or a sign of dozing To the driver via the display 15 and the speaker 16, and the driver's response to the driver is accepted from the touch operation on the display 15.

Then, if it is possible to grasp the signs of low back pain, signs of physical fatigue, and signs of dozing by reporting from the driver himself, the results are compared with the estimation results by the change sign estimation unit 35. Continue. If the driver's declaration and the estimation result by the change sign estimation unit 35 do not match, the estimation result of the change sign estimation unit 35 is canceled and updated to the driver's declaration content. In this case, the subsequent estimation accuracy is improved by correcting the threshold th in a direction in which the driver's declaration and the estimation result by the change sign estimation unit 35 match. In this way, by reflecting the declaration from the driver himself / herself in the control, it is possible to execute control more suitable for the physical condition of the driver.

As described above, the processes in steps S101 and S201 which are the processes in the skeleton posture detection unit 31 correspond to the “skeleton posture detection means”, and the processes in steps S102 and S202 which are the processes in the body state estimation unit 32 are “physical state”. Corresponds to "estimating means". Further, the processes in steps S103 and S203 which are the processes in the current position detection unit 33 correspond to the “current position detection means”, and the processes in steps S104 to S106 which are the processes in the travel history storage control unit 34 are “travel history”. Corresponds to "memory means". Further, steps S204 and S205 that are processing in the change sign estimation unit 35, processing in step S206 that is processing in the estimation result transmission control unit 36, and processing in step S207 that is processing in the drive control unit 37 are “ Corresponds to "control means".

"effect"
Next, the effect of the main part in 1st Embodiment is described.
(1) In the driving support apparatus according to the present embodiment, the skeleton posture detection unit 31 detects the skeleton posture of the driver, and the body state estimation unit 32 drives according to the skeleton posture detected by the skeleton posture detection unit 31. Estimate the current physical condition evaluation value of the person. Then, the current position detection unit 33 detects the current position of the host vehicle, the travel history storage control unit 34 detects the body state evaluation value estimated by the body state estimation unit 32, and the current position detected by the current position detection unit 33. Is stored as a travel history of the host vehicle. Then, the change sign estimation unit 35 refers to the travel history stored in the travel history storage control unit 34 according to the current position detected by the current position detection unit 33, and the physical state evaluation value stored as the travel history, and the body By comparing the body state evaluation values estimated by the state estimating unit 32, it is estimated whether or not there is at least one of a sign of low back pain and a sign of physical fatigue in the driver. When the estimated result transmission control unit 36 estimates that there is at least one of the signs of low back pain and physical fatigue by the change sign estimation unit 35, the estimated result is transmitted to the driver.
Thus, the physical condition evaluation value of the driver is stored in association with the travel history, and the past physical condition evaluation value and the current physical condition evaluation value corresponding to the current position are referred to with respect to the travel history. By comparing, it is possible to predict in advance signs of low back pain and signs of physical fatigue. In addition, by transmitting the predicted sign of the onset of back pain and the sign of physical fatigue to the driver, the driver can take precautions and can alleviate the back pain and muscle fatigue.

(2) In the driving support apparatus according to the present embodiment, the cumulative time-dependent value of the driver's waist load is calculated as a body condition evaluation value indicating the driver's waist load state, and the driver's muscle fatigue time The cumulative value is calculated as the physical condition evaluation value indicating the driver's fatigue state, and the temporal cumulative value of the driver's muscle fatigue is calculated as the physical condition evaluation value indicating the driver's sleepiness state. Various body conditions of the driver can be estimated. In particular, the driver's physical condition can be accurately estimated by using the temporal cumulative value of the load on the lower back, muscle fatigue, and sleepiness as an index.

Further, in the present embodiment, changes in the physical condition of the driver accompanying the traveling of the host vehicle are stored as a traveling history. Such changes in the driver's physical state are different for each driver, and in this embodiment, the future physical state of the driver is predicted based on the history of changes in the physical state of each driver. Thus, the future physical state of the driver can be appropriately predicted according to the physical characteristics of the driver. For example, in the example shown in FIG. 9, after the driver exceeds the traveling time t2, the driving posture of the driver tends to collapse, and the degree of increase in the load on the driver's waist is increased. Even in such a case, it is possible to appropriately determine the running time t2 at which the physical condition evaluation value indicating the load on the waist of the driver reaches the determination reference value S2 based on the history of changes in the physical condition of the driver. As a result, it is possible to appropriately estimate the signs of the back pain of the driver.

(3) When the driving control unit 37 estimates that the change sign estimation unit 35 has at least one of the onset of back pain and the sign of physical fatigue, the driving support device according to the present embodiment has a low back skeletal load and muscles. In order to reduce fatigue, a predetermined adjusting device 17 is driven and controlled.
In this way, by operating the various adjustment devices 17, it is possible to reduce lumbar skeletal load, muscle fatigue, and sleepiness.

(4) The driving assistance apparatus according to the present embodiment includes a driver seat vibrator, a driver seat power seat, an air conditioner, a power window, a sunroof, an aroma diffuser, an air purifier, a humidifier, an audio device as the predetermined adjustment device 17. Use at least one of
As described above, by effectively using the adjusting device 17 that prompts the driver to correct the skeletal posture and the adjusting device 17 having a high relaxing effect and refreshing effect, the lumbar skeletal load, muscle fatigue, and sleepiness can be effectively reduced. Can do.

(5) The road map information construction method according to the present embodiment detects the driver's skeleton posture, estimates the current body state evaluation value of the driver according to the detected skeleton posture, and determines the current position of the host vehicle. , And the estimated physical state evaluation value and the detected current position are stored as the travel history of the host vehicle, thereby constructing road map information in which the information on the physical state of the driver is associated.
Thus, by recording the physical condition evaluation value in association with the road map information, the physical condition evaluation value when traveling in the past can be easily referred to thereafter when traveling on the same route. .

In the present embodiment, the driver's future physical state on the travel route is predicted with high accuracy from the history information of the travel route on which the host vehicle travels by associating the physical state of the driver with the road map information. be able to. In addition, by comparing the driver's physical state with the road map information only for the travel route on which the host vehicle actually traveled, the vehicle travels compared to the case where the general driver's physical state is associated with all routes. The storage capacity of the history can be reduced. In particular, the route traveled by the driver is often about a dozen patterns, and the storage capacity of the travel history can be reduced by this amount.

The above description has been made with reference to a limited number of embodiments. However, the scope of rights is not limited thereto, and modifications of the embodiments based on the above disclosure are obvious to those skilled in the art.

For example, in the above-described embodiment, by comparing the body state evaluation value estimated by the body state estimation unit 32 with the body state evaluation value of the travel history stored in the storage device 14, the driver's body state Although the configuration for calculating the travel time for the evaluation value to reach the determination reference value is illustrated, the present invention is not limited to this configuration. For example, as shown below, the travel time for the driver's physical condition evaluation value to reach the determination reference value is It is good also as a structure to predict.

このように、変化兆候推定部３５は、走行開始から現時点までの走行履歴に基づいて、運転者の身体状態評価値が判定基準値Ｓ_ｘとなる走行時間ｔ_ｘを算出することができる。 Here, FIG. 13 is a figure for demonstrating the other method of estimating a driver | operator's physical condition. For example, change sign estimator 35, as shown in the following formula 1, and the current body condition evaluation value S _c of the driver, the straight line L connecting the body condition evaluation position S _c1 of the driver calculated in the previous Based on the gradient, the travel time at which the driver's physical condition evaluation value becomes the determination reference value S _x can be calculated as the travel time t _{x at} which the driver's physical condition evaluation value reaches the determination reference value. Note that t _c is a running time when the body condition evaluation value S _c is obtained, and t _c1 is a running time when the body condition evaluation value S _c1 is obtained.

As described above, the change sign estimation unit 35 can calculate the travel time t _x when the physical condition evaluation value of the driver becomes the determination reference value S _x based on the travel history from the start of travel to the current time.

Further, as shown in FIG. 9, the degree of change in the physical state of the driver increases after a certain period of time (for example, travel time t2 in the example shown in FIG. 9), and the physical state evaluation value of the driver becomes The judgment reference value may be reached. Therefore, for example, the change sign estimation unit 35 specifies the degree of change in the driver's past physical state evaluation value on the route from the travel history of the route on which the host vehicle travels, and the current state of the driver's physical state is identified. By comparing with the degree of change (gradient), it may be configured to estimate whether or not there is a sign that the physical condition of the driver deteriorates.

Further, the change sign estimation unit 35 compares the travel time in which the driver's physical condition evaluation value becomes the determination reference value with the travel time of the host vehicle during the current travel in advance in the travel history, for example. It is good also as a structure which estimates prediction time and estimates whether there exists a sign that a driver | operator's physical condition deteriorates. Further, in this case, by storing the traveling time in which the driver's physical condition evaluation value becomes the determination reference value for each route, it is possible to appropriately predict the advance prediction time in the route on which the host vehicle travels. As a result, it is possible to appropriately estimate whether or not there is a sign that the physical condition of the driver deteriorates.

Further, in the above-described embodiment, as shown in FIG. 8, in the travel history indicating the driver's fatigue, the body state evaluation value indicates the current fatigue state of the driver estimated by the body state estimation unit 32. The travel time that becomes the state evaluation value S1 ′ is calculated as the travel time t1 ′, and the travel time when the physical condition evaluation value of the driver reaches the determination reference value S1 in the travel time t1 ′ and the travel history indicating the driver's fatigue. The difference between t1 (traveling time t1−traveling time t1 ′) is illustrated as an example of calculating the prior prediction time T1 until the driver gets tired, but the present invention is not limited to this configuration. It is good also as a structure which calculates prior prediction time T1.

That is, first, based on the physical condition evaluation value of the travel history stored in the storage device 14 and the physical condition evaluation value of the driver up to the present time estimated by the physical condition estimation unit 32, the physical condition of the driver Generate a profile of evaluation values. Specifically, the change sign estimation unit 35 plots a physical condition evaluation value indicating the driver's fatigue state up to the present time estimated by the physical condition estimation unit 32, and is stored in the storage device 14. Interpolate and extrapolate body condition evaluation values of running history. Then, the change sign estimation unit 35 uses the plotted physical condition evaluation value indicating the state of fatigue of the driver at the time of traveling and the physical condition evaluation value of the interpolated and extrapolated traveling history, for example, at least two. A profile of the physical condition evaluation value of the driver at the time of traveling this time is generated by multiplication or the like. And based on the produced | generated profile of the driver | operator's physical condition evaluation value, time until a driver | operator's physical condition deteriorates is estimated as prior prediction time. Specifically, a criterion value for determining whether or not the physical condition of the driver has deteriorated is applied to the generated profile, and the physical condition evaluation value of the driver is determined as a criterion value on the generated profile. It can be set as the structure which calculates the time required until it reaches | attains as prior prediction time.

Moreover, in embodiment mentioned above, the time until a driver | operator's physical condition deteriorates is estimated as prior prediction time, and a driver | operator's physical condition is compared by comparing the estimated prior prediction time with predetermined | prescribed determination time. Although the configuration for predicting the signs of deterioration is illustrated, the present invention is not limited to this configuration. For example, the position where the driver's physical condition has deteriorated in the past is identified from the driving history, and the driver's body is determined from the current position of the host vehicle. As a configuration that predicts the distance to a position where the state has deteriorated in the past as a pre-predicted distance, and compares the predicted pre-predicted distance with a predetermined determination distance, thereby predicting signs that the driver's physical condition will deteriorate Also good.

Furthermore, in the above-described embodiment, the configuration in which the load state of the driver's waist, the driver's fatigue state, and the driver's sleepiness state are estimated as the driver's physical state. For example, the driver's mental stress, the activity of the autonomic nervous system, and the driver's mood may be estimated as the driver's physical state.

For example, the body state estimation unit 32 may calculate the driver's pulse wave from the change in the load on the backrest 23 that is in contact with the driver's body, and estimate the driver's heart rate based on the calculated pulse wave. it can. The body state estimation unit 32 can calculate a body state evaluation value indicating the driver's mental stress, for example, by multiplying the driver's heartbeat by a predetermined coefficient. Of exacerbation of social stress can be estimated.

In addition, the body state estimation unit 32 measures, for example, a pulse group estimated from a change in the driver's load in a long-term span, and calculates the driver's autonomic nerve from the fluctuation frequency of the pulse group measured in the long-term span. The activity of the system can be estimated. Furthermore, the body state estimation unit 32 can further estimate the driver's mood (Mood) based on the estimated temporal change in the activity of the autonomic nervous system. Then, by combining the driver's mental stress, the activity of the autonomic nervous system, and the driver's mood estimated in this way, the signs that the driver's mood deteriorates are estimated, for example, the driver's mood The driver's mood can be recovered by turning on the audio or changing the song selection before it gets worse.

DESCRIPTION OF SYMBOLS 11 Body pressure distribution sensor 12 GPS receiver 13 Road traffic information receiver 14 Memory | storage device 15 Display 16 Speaker 17 Adjustment apparatus 18 Controller 21 Driver's seat 22 Seating part 23 Backrest part 31 Skeletal posture detection part 32 Body condition estimation part 33 Present position detection Unit 34 Travel history storage control unit 35 Change sign estimation unit 36 Estimation result transmission control unit 37 Drive control

Claims (9)

Skeleton posture detection means for detecting the skeleton posture of the driver;
Body state estimation means for estimating the driver's body state based on the skeleton posture detected by the skeleton posture detection means;
Based on the driver's physical condition estimated by the physical condition estimating means, a travel history storage means for storing a change in the driver's physical condition as the vehicle travels as a travel history;
With reference to the travel history stored in the travel history storage means, the driver's future physical state is predicted from the current physical state of the driver estimated by the physical state estimation means, and the predicted Based on the driver's future physical condition, the driver's physical condition is estimated whether there is any sign of deterioration, and when the driver's physical condition is estimated to have a sign of deterioration, the driving And a control means for performing control for recovering the physical condition of the driver before the physical condition of the driver deteriorates. The driving support device according to claim 1,
The body state estimation means calculates a load applied to the driver's body as a body state evaluation value based on the skeleton posture,
The control means determines a time required for the physical condition evaluation value calculated by the physical condition estimation means to exceed a predetermined threshold that can determine that the physical condition of the driver has deteriorated based on the travel history. A driving support device that calculates and determines whether or not to perform control for recovering the physical state of the driver according to the calculated required time. The driving support device according to claim 1 or 2,
The driving history storage means stores, as the driving history, a temporal change in the physical state of the driver accompanying the driving of the host vehicle. The driving support device according to any one of claims 1 to 3,
It further comprises current position detecting means for detecting the current position of the host vehicle,
The travel history storage means associates the travel position of the host vehicle detected by the current position detection means with a change in the driver's physical condition, and changes in the driver's physical condition for each travel route Is stored as a travel history of the host vehicle,
The control means predicts a future physical state of the driver when traveling along the route by referring to the travel history on the route along which the host vehicle travels. The driving support device according to any one of claims 1 to 4,
The driving support apparatus according to claim 1, wherein the physical state of the driver includes at least one of a state of fatigue of the driver, a load state of the waist of the driver, and a state of sleepiness of the driver. The driving support device according to any one of claims 1 to 5,
The said control means transmits the said driver | operator's physical condition to the said driver, when it estimates that the driver | operator's physical condition has a sign of deterioration. The driving support device according to any one of claims 1 to 6,
When the control means estimates that there is a sign of deterioration in the physical condition of the driver, the control means controls driving of a predetermined adjustment device so that the physical condition of the driver is recovered. Support device. The driving support device according to claim 7,
The predetermined adjustment device includes at least one of a driver's seat vibrator, a driver's seat power seat, an air conditioner, a sunroof, an aroma diffuser, an air purifier, a humidifier, and an audio. Detecting the driver's skeleton posture, estimating the driver's physical state based on the detected skeleton posture, detecting the current position of the host vehicle, and estimating the driver's physical state, and the detected A road map information construction method characterized in that the current position of the host vehicle is stored as a travel history of the host vehicle, thereby building road map information in association with information on the physical state of the driver.

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