Source: https://patents.google.com/patent/JP2014008070A/en
Timestamp: 2020-02-19 14:11:14
Document Index: 84994377

Matched Legal Cases: ['art 27', 'art 22', 'art 23', 'art 24', 'art 25', 'art 26']

JP2014008070A - Stress state estimation device and stress state estimation method - Google Patents
Stress state estimation device and stress state estimation method Download PDF
JP2014008070A
JP2014008070A JP2012144219A JP2012144219A JP2014008070A JP 2014008070 A JP2014008070 A JP 2014008070A JP 2012144219 A JP2012144219 A JP 2012144219A JP 2012144219 A JP2012144219 A JP 2012144219A JP 2014008070 A JP2014008070 A JP 2014008070A
JP2012144219A
2012-06-27 Application filed by Nissan Motor Co Ltd, 日産自動車株式会社 filed Critical Nissan Motor Co Ltd
2012-06-27 Priority to JP2012144219A priority Critical patent/JP2014008070A/en
2014-01-20 Publication of JP2014008070A publication Critical patent/JP2014008070A/en
PROBLEM TO BE SOLVED: To improve estimation accuracy when a stress state of an operator is estimated.SOLUTION: When breathing information of an operator is detected (step S101), and when a specific operation event is detected being caused in an own vehicle (decision of step S102 is "Yes"), the breathing down time Ts of the operator is detected in accordance with the breathing information (step S110), the stress state of the operator is estimated accompanying to the specific operation event in accordance with the breathing down time Ts. In other words, when the breathing down time Ts is 0 (decision of step S112 is "No"), the stress state of the operator accompanying to the specific operation event is estimated relatively small (step S115). Meantime, when the breathing down time Ts is not less than a threshold value Tt (decision of step S113 is "Yes"), the stress state of the operator accompanying to the specific operation event is estimated relatively large (step S114).
The present invention relates to a stress state estimation device and a stress state estimation method.
In the prior art described in Patent Document 1, a piezoelectric sensor is provided on the seat belt, the heart rate and breathing information of the driver are acquired, and when the driver's breathing rate is increasing, the degree of tension (stress state) Is estimated to increase.
JP 2005-95408 A
However, for example, when the vehicle is started or in a scene where merging or lane changes are made during traveling, the driver's tension may temporarily increase, and the driver may be unconsciously holding his or her breath. Accordingly, just because the respiratory rate is low, the driver's stress state is not necessarily low. Therefore, the conventional technique described in Patent Document 1 may not accurately estimate the driver's stress state.
The subject of this invention is improving the estimation precision at the time of estimating a driver | operator's stress state.
The stress state estimation device according to an aspect of the present invention detects a driver's breathing information and detects in advance that a predetermined driving event occurs in the host vehicle. Then, when it is detected that a specific driving event occurs in the host vehicle, the driver's breathing pause time is detected according to the breathing information, and the driver's stress state associated with the specific driving event is detected according to the detected breathing pause time. Is estimated.
According to the present invention, when it is detected in advance that a specific driving event occurs in the host vehicle, the driver's stress state is estimated according to the driver's breathing pause time, so that the estimation accuracy can be improved. . That is, the driver's stress state in a scene where the driver's tension temporarily increases and unconsciously stops breathing, for example, when starting the vehicle or when merging or changing lanes while driving Can be estimated with high accuracy.
It is a schematic block diagram of a stress state estimation apparatus. It is a figure which shows the example of installation of a body motion sensor. It is a graph which shows an example of respiration signal alpha outputted from body motion sensor 11. It is a block diagram which shows a stress state estimation process. It is a figure explaining detection of respiratory rest time Ts. It is a figure which shows the stress state according to the respiratory rest time Ts. It is a figure which shows the statistics of respiratory rest time Ts. It is a flowchart which shows a stress state estimation process. It is a time chart which shows the respiration signal at the time of starting at a complicated intersection. It is a time chart which shows the respiration signal at the time of starting on private land. It is a block diagram which shows the stress condition estimation process of 2nd Embodiment. It is a figure which shows the stress state according to the average respiration rate Xa. It is a flowchart which shows the stress condition estimation process of 2nd Embodiment. It is a schematic block diagram of the stress state estimation apparatus in 3rd Embodiment. It is a block diagram which shows the stress condition estimation process of 3rd Embodiment. It is a flowchart which shows the stress condition estimation process of 3rd Embodiment.
In the present embodiment, a driver's stress state is estimated.
FIG. 1 is a schematic configuration diagram of a stress state estimation apparatus.
The stress state estimation device is mounted on an automobile, and includes a body motion sensor 11, a brake switch 12, a vehicle speed sensor 13, a steering angle sensor 14, a blinker switch 15, a navigation system 16, and a controller 17. I have.
The body motion sensor 11 detects body motion that repeats with the driver's breathing motion as the driver's breathing information. This pressure sensor 11 is made of a piezoelectric element such as polyvinylidene fluoride (PVDF), and is provided between a stay that supports a buckle of a seat belt and a seat frame that supports the stay, for example. Then, when the seat belt is tensioned / relaxed according to the breathing motion of the driver, the stay displacement with respect to the seat frame is converted into a voltage signal and input to the controller 17. The controller 17 determines respiration information from the input voltage signal.
FIG. 2 is a diagram illustrating an installation example of the body motion sensor.
(A) in a figure has shown the wearing condition of a driver's seat belt, and (b) has shown arrow A.
The seat frame 31 is fixed on the floor surface, and the seat 32 is fixed on the seat frame 31. The lower portion of the substantially flat stay 33 is connected to the side surface of the seat frame 31 via a connecting shaft 34 in a rotatable state, and the buckle 35 is fixed to the upper portion of the stay 33. The three-point seat belt (webbing) 36 is attached to the buckle 35 by connecting the tongue 37 of the tip to the buckle 35, while restraining the wearer's chest diagonally from the shoulder to the waist and wearing the lap strap. Restrained to cross the waist of the person.
In the connecting shaft 34, a washer and a spring washer (not shown) are interposed between the seat frame 31 and the stay 33, thereby forming a minute gap d between the seat frame 31 and the stay 33. . The body motion sensor 11 is interposed in the minute gap d, and specifically, is attached to the stay 33 at a position away from the connecting shaft 34.
With the above configuration, when the seat belt 36 is tensioned / relaxed according to the breathing motion of the driver, a load in the vehicle width direction acts on the buckle 35 via the tongue 37. Since the stay 33 is in a cantilever state in which only one side is supported by the connecting shaft 34, the load acting on the buckle 35 becomes a bending load on the stay 33. Therefore, the stay 33 is bent due to a bending moment, so that the gap d between the stay 33 and the seat frame 31 changes on the side close to the buckle 35. That is, when the seat belt 36 is tensioned according to the driver's inspiration, the side of the stay 33 close to the buckle 35 approaches the seat frame 31 and the gap d is reduced. On the other hand, when the seat belt 36 relaxes in response to the exhalation movement of the driver, the side of the stay 33 close to the buckle 35 is separated from the seat frame 31 and the gap d is increased.
The body motion sensor 11 converts the deflection of the stay 33 that fluctuates according to the breathing motion of the driver into a voltage signal, and outputs this as a breathing signal α. It should be noted that the stay 33 has a lever principle that uses the connecting shaft 34 as a supporting point, the tongue 37 as a force point, and the body motion sensor 11 as an action point, so that a pressure change acting on the body motion sensor 11 can be detected with high sensitivity. can do.
FIG. 3 is a graph showing an example of the respiratory signal α output from the body motion sensor 11.
In this way, the respiratory signal α is output as a waveform that vibrates around the reference value (α = 0) through predetermined signal processing, and the size and length of each of the driver's inspiration and exhalation exercises. The waveform changes in response to.
In the present embodiment, the body motion sensor 11 is provided between the seat frame 31 and the stay 33 to indirectly detect the driver's breathing signal. However, the present invention is not limited to this, and wearable detection is performed. What is necessary is just to detect a driver | operator's respiratory signal by arbitrary methods also including doing.
The above is an explanation of the detection of respiratory information by the body motion sensor 11.
Returning to the description of the stress state estimation apparatus of FIG.
The brake switch 12 detects ON / OFF of the brake. The brake switch 12 inputs a voltage signal corresponding to ON / OFF of the brake to the controller 17 via, for example, a detection circuit of a normally closed contact. The controller 17 determines ON / OFF of the brake from the input voltage signal.
The vehicle speed sensor 13 detects a vehicle body speed (hereinafter referred to as a vehicle speed) V. The vehicle speed sensor 13 is provided, for example, in a driven gear on the output side of the transmission, detects the magnetic lines of force of the sensor rotor, converts the magnetic field change accompanying the rotation of the sensor rotor into a pulse signal, and inputs it to the controller 17. To do. The controller 17 determines the vehicle speed V from the input pulse signal.
The steering angle sensor 14 detects the steering angle θ of the steering shaft. The steering angle sensor 14 detects the rotation of a magnet built in a detection gear that rotates in synchronization with the steering shaft, for example, by two MR (ferro-magnetoresistance) elements, and detects the direction of the magnetic field accompanying the rotation of the steering shaft. The vector change is converted into an electric signal and input to the controller 17. The controller 17 determines the steering angle θ of the steering shaft from the input electric signal. The steering angle sensor 14 detects right turn as a positive value and detects left turn as a negative value.
The blinker switch 15 detects the operating state of the direction indicator (winker). The blinker switch 15 inputs a voltage signal corresponding to ON / OFF of the left direction switch and ON / OFF of the right direction switch to the controller 17 through, for example, a normally open contact detection circuit. The controller 17 determines the operating state of the blinker switch 15 from the input voltage signal, that is, ON / OFF of the left switch and ON / OFF of the right switch.
The navigation system 16 recognizes the current position of the host vehicle and road map information at the current position. This navigation system 16 has a GPS receiver, and recognizes the position (latitude, longitude, altitude) of the host vehicle and the traveling direction based on the time difference between radio waves arriving from three or more GPS satellites. The controller refers to the road map information including the road type, road alignment, lane width, vehicle traffic direction, etc. stored in the DVD-ROM drive or hard disk drive, and recognizes the road map information at the current position of the host vehicle. 17 In addition, as a safe driving support system (DSSS: Driving Safety Support Systems), various data may be received from an infrastructure using two-way radio communication (DSRC: Dedicated Short Range Communication).
In addition, although the controller 17 inputs each detection signal directly from sensors, it is not limited to this. The controller 17 may be connected to another control unit to receive various data via, for example, CSMA / CA multiplex communication (CAN: Controller Area Network).
The controller 17 is composed of, for example, a microcomputer, and executes stress state estimation processing every predetermined time (for example, 10 msec).
FIG. 4 is a block diagram showing stress state estimation processing.
The stress state estimation process executed by the controller 17 includes a respiratory information detection unit 21, a prior detection unit 22, a respiratory pause time detection unit 23, and a stress state estimation unit 24.
The respiratory information detection unit 21 detects the respiratory information of the driver. Specifically, the respiratory signal detected by the body motion sensor 11 is recorded. The respiration information detection unit 21 stores and manages the respiration signal together with time information in a nonvolatile memory.
The prior detection unit 22 detects in advance that a predetermined driving event (event) has occurred in the host vehicle. This specific driving event is to start the host vehicle or to join or change lanes while traveling.
Here, the specific detection process of a specific driving event is demonstrated.
First, it is detected that the host vehicle is stopped according to the host vehicle speed V and the brake operating state, and the host vehicle is positioned outside the parking / stopping region according to the current position information of the host vehicle acquired by the navigation system 16. When it is detected that the vehicle has started, it is detected that the starting operation occurs in the host vehicle.
Further, when it is detected that there is a merging of driving lanes on the own vehicle path according to the current position information of the own vehicle acquired by the navigation system 16, it is detected that a merging operation occurs in the own vehicle.
Further, when it is detected that there are a plurality of driving lanes in the own vehicle route according to the current position information of the own vehicle acquired by the navigation system 16 and the turn signal switch 15 detects that the direction indicator is in an operating state. Detecting that a lane change operation occurs in the host vehicle.
The breathing pause time detection unit 23 detects the driver's breathing pause time Ts according to the breathing information detected by the breathing information detection unit 21 when the prior detection unit 22 detects that a specific driving event occurs in the host vehicle. To do.
Here, a specific detection process of the breathing pause time Ts will be described.
FIG. 5 is a diagram illustrating the detection of the breathing pause time Ts.
The breathing pause time Ts is a time during which a state where the absolute value of the breathing signal α is smaller than a predetermined threshold value α1 continues. Therefore, when a predetermined time (for example, a breathing half cycle) Tw has elapsed after the absolute value of the breathing signal α becomes smaller than the threshold value α1, it is determined that the driver's breathing motion is paused, and at that time And the elapsed time from when the absolute value of the respiratory signal α exceeds the threshold value α1 is detected as the respiratory pause time Ts. Note that it is desirable to set a threshold value α2 slightly larger than the threshold value α1 as a margin for the threshold value α1, and to detect the elapsed time until the absolute value of the respiratory signal α becomes larger than the threshold value α2 as the respiratory pause time Ts.
The stress state estimation unit 24 estimates the driver's stress state associated with the specific driving event according to the respiratory pause time Ts detected by the respiratory pause time detector 23.
Here, the specific estimation process of a stress state is demonstrated.
FIG. 6 is a diagram illustrating a stress state according to the breathing pause time Ts.
First, when the breathing pause time Ts is approximately 0, it is estimated that the driver's stress state associated with the driving specific event is relatively small. Then, a threshold value Tt (for example, 5 seconds) for the respiratory pause time Ts is set in advance, and when the respiratory pause time Ts is longer than 0 and shorter than the threshold value Tt, the stress state is not estimated. Further, when the breathing pause time Ts is equal to or greater than the threshold value Tt, it is estimated that the driver's stress state associated with the specific driving event is relatively large.
The threshold value Tt may be determined based on a statistical distribution of past breathing pause times Ts.
FIG. 7 is a diagram showing statistics of the breathing pause time Ts.
Here, for each same specific driving event, the breathing pause time Ts is recorded, and a representative value such as an average value or a median value is set as the threshold value Tt, or a standard deviation σ is calculated to be σ1 or σ3. The threshold value Tt is set accordingly. Of course, a general driver distribution may be obtained in advance, and the threshold value Tt may be set based on the distribution.
The above is description of the stress state estimation process based on the block diagram of FIG.
Next, the stress state estimation process will be described based on a flowchart.
FIG. 8 is a flowchart showing stress state estimation processing.
First, step S101 corresponds to the processing in the respiration information detection unit 21, and detects the respiration information of the driver.
In subsequent step S102, it is determined whether or not it has been detected by the process in the prior detection unit 22 that a predetermined driving event (event) has occurred in the host vehicle. Here, if it is not detected that a specific driving event occurs, the driver's stress state cannot be estimated, and the process returns to the predetermined main program as it is. On the other hand, when it is detected that a specific driving event occurs, the process proceeds to step S103.
In step S103, it is determined whether the breath pause flag is reset to fs = 0. In the initial setting, the breathing pause flag is reset to fs = 0. Here, when the breathing pause flag is reset to fs = 0, it is determined that the driver's breathing pause is not detected, and the process proceeds to step S104. On the other hand, when the breath pause flag is set to fs = 1, it is determined that the driver's breath pause has been detected, and the process proceeds to step S109.
In step S104, it is determined whether or not the absolute value | α | of the respiratory signal is smaller than a predetermined threshold value α1. Here, when the absolute value | α | of the respiratory signal is smaller than the threshold value α1, it is determined that there is a possibility that the driver's breathing motion is paused, and the process proceeds to step S105. On the other hand, when the absolute value | α | of the respiratory signal is equal to or greater than the threshold value α1, it is determined that the driver's respiratory motion is not paused, and the process proceeds to step S107.
In step S105, it is determined whether or not a predetermined time (for example, a respiratory half cycle) Tw has elapsed in a state where the absolute value | α | of the respiratory signal is smaller than the threshold value α1. Here, when the predetermined time Tw has elapsed, it is determined that the driver's breathing motion is paused, and the process proceeds to step S106. On the other hand, when the predetermined time Tw has not elapsed, the driver's breathing exercise is not necessarily paused, and the process proceeds to step S107.
In step S106, the breathing pause flag is set to fs = 1.
In step S107, it is determined whether a specific driving event has been started. That is, as for the start operation of the host vehicle, it is determined whether the host vehicle has started running according to the host vehicle speed V and the brake operating state. Further, regarding the merging operation of the host vehicle, it is determined whether or not the host vehicle has reached the merging position according to the current position information of the host vehicle. As for the lane change operation of the host vehicle, it is determined whether the host vehicle is changing the lane according to the steering angle θ. Here, when the specific driving event is started, it is determined that the driver's stress state can be estimated, and the process proceeds to step S108. On the other hand, when the specific driving event is not started, it is determined that the driver's stress state cannot be estimated, and the process directly returns to the predetermined main program.
In step S108, it is determined whether or not the breath pause flag is set to fs = 1. Here, when the breathing pause flag is set to fs = 1, it is determined that the driver's breathing pause has been detected, and the process proceeds to step S110. On the other hand, when the breath pause flag is reset to fs = 0, it is determined that the driver's breath pause has not been detected, and the process proceeds to step S111.
On the other hand, in step S109, it is determined whether or not the absolute value | α | of the respiratory signal is greater than or equal to a predetermined threshold value α2. Here, when the absolute value | α | of the respiratory signal is equal to or greater than the threshold value α2, it is determined that the driver's respiratory motion has been resumed from a paused state, and the process proceeds to step S110. On the other hand, when the absolute value | α | of the breathing signal is smaller than the threshold value α2, it is determined that the driver's breathing motion remains in a paused state, and the process proceeds to step S107.
In step S110, after calculating | requiring the breathing rest time Ts when a driver | operator's breathing has stopped, it transfers to step S112. Here, the time from when the driver's breathing motion is paused until the specific driving event is started, or the time from when the driver's breathing motion is paused until the driver resumes, is calculated as the breathing pause time Ts. . That is, when the driver's breathing motion is resumed before the specific driving event is started, the time from when the breathing motion is paused to when it is resumed is calculated as the breathing pause time Ts. On the other hand, when the specific driving event is started before the driver's breathing motion is resumed, the time from when the breathing motion is paused until the specific driving event is started is detected as a respiratory motion event.
In step S111, the breathing pause time is set to Ts = 0, and then the process proceeds to step S112.
Step S112 corresponds to the processing in the stress state estimation unit 24, and determines whether or not the breathing pause time Ts is longer than zero. Here, when the breathing pause time Ts is longer than 0, it is determined that the driver's stress state associated with the specific driving event is not small, and the process proceeds to step S113. On the other hand, when the breathing pause time Ts is 0, it is determined that the driver's stress state associated with the specific driving event is small, and the process proceeds to step S115.
Step S113 corresponds to the processing in the stress state estimation unit 24, and determines whether or not the breathing pause time Ts is equal to or greater than a predetermined threshold value Tt. Here, when the breathing pause time Ts is equal to or longer than the threshold value Tt, it is determined that the driver's stress state associated with the specific driving event is large, and the process proceeds to step S114. On the other hand, when the breathing pause time Ts is shorter than the threshold value Tt, it is determined that the driver's stress state associated with the specific driving event is unknown, and the process directly proceeds to step S116.
Step S114 corresponds to the processing in the stress state estimation unit 24, and records the estimation result that the driver's stress state before deceleration associated with the specific driving event is large, for example, as a history in a predetermined drive recorder, and then step S116. Migrate to
Step S115 corresponds to the processing in the stress state estimation unit 24, and records the estimation result that the driver's stress state before deceleration accompanying the specific driving event is small, for example, as a history on a predetermined drive recorder, and then step S116. Migrate to
In step S116, after resetting the breath pause flag fs, the process returns to the predetermined main program.
The above is description of the stress state estimation process based on the flowchart of FIG.
First, the respiration information of the driver is detected (step S101), and it is detected in advance that a specific driving event occurs in the host vehicle (step S102). In the present embodiment, attention is paid to the fact that, for example, when the vehicle is started, or in a scene where merging or lane changes are made during driving, the driver's tension temporarily increases and the driver unconsciously stops breathing. Then, it is observed how the driver's breathing motion changes when it is detected that a specific driving event occurs.
Here, an example when starting a vehicle as one of the specific driving events will be described.
FIG. 9 is a time chart showing a respiratory signal when starting at a complicated intersection.
When starting from a stopped state at a complicated intersection, the driver must pay attention to various directions, and generally the driver's tension tends to temporarily increase. In such a scene, a breathing pause of about 7 seconds was actually observed before starting.
FIG. 10 is a time chart showing a respiratory signal when starting on private land.
In a situation where there is no other vehicle such as private land, generally, the degree of tension as described above is small when starting from a stopped state. In such a scene, no breathing pause was actually observed before starting.
Thus, before a specific driving event occurs, the driver may concentrate on driving to capture a lot of external stimuli such as visual information and auditory information, and may temporarily stop breathing unconsciously. . Therefore, when the vehicle is started, or when it is detected that a specific driving event such as merging or lane change occurs during driving, the driver's breathing pause time Ts is calculated, and the calculated breathing pause time Ts is calculated. Accordingly, the driver's stress state associated with the specific driving event is estimated.
First, when the absolute value | α | of the respiration signal is smaller than the threshold value α1 and a predetermined time Tw has elapsed (the determinations in steps S104 and S105 are both “Yes”), the driver's respiration motion is The time of rest. Thereafter, when the absolute value | α | of the respiration signal becomes equal to or greater than the threshold value α2 (determination in step S109 is “Yes”), it is assumed that the respiration movement of the driver is resumed. Thus, the time from when the breathing exercise is paused to when it is resumed is defined as a breathing pause time Ts (step S110). When a specific driving event is started before the driver's driver's breathing motion resumes, the time from when the breathing motion is paused until the specific driving event is started is referred to as a breath pause time Ts ( Step S110). Further, if the state where the absolute value | α | of the respiratory signal is smaller than the threshold value α1 is not continued (determination of either one of steps S104 and S105 is “No”), the driver's respiratory motion is not paused. Therefore, the breathing pause time Ts becomes zero.
When the breathing pause time Ts is 0 (“No” in step S112), it is estimated that the driver's stress state associated with the driving specific event is relatively small (step S115). On the other hand, when the breathing pause time Ts is equal to or greater than the threshold Tt (“Yes” in step S113), it is estimated that the driver's stress state associated with the specific driving event is relatively large (step S114). Note that a threshold value Tt for the respiratory pause time Ts is set in advance, and when the respiratory pause time Ts is greater than 0 (determination in step S112 is “Yes”) and smaller than the threshold Tt (determination in step S113 is “No”). The driver's stress state associated with the specific driving event is not estimated as unknown.
Thus, when it is detected in advance that a specific driving event occurs in the host vehicle, the driver's stress state is estimated according to the driver's breathing pause time Ts, so that the estimation accuracy can be improved. That is, the driver's stress state in a scene where the driver's tension temporarily increases and unconsciously stops breathing, for example, when starting the vehicle or when merging or changing lanes while driving Can be estimated with high accuracy.
In addition, regarding the start of the own vehicle, which is one of the specific driving events, the configuration is merely to detect that the own vehicle is in a stopped state and to detect that the own vehicle is located outside the parking and stopping area. It can be easily and accurately detected that the starting operation occurs. In addition, the merging during traveling is a configuration that only detects the merging of the traveling lane on the own vehicle path, so that it can be easily and accurately detected that the merging operation occurs in the own vehicle. it can. In addition, when changing lanes while driving, it is configured to detect that there are multiple driving lanes in the vehicle's own course and that the direction indicator is in an operating state, so the lane change to the own vehicle. It is possible to easily and accurately detect the occurrence of movement.
As described above, the process in step S101 which is the process in the body motion sensor 11 and the respiration information detection unit 21 corresponds to the “respiration information detection unit”, and the process in step S102 which is the process in the prior detection unit 22 is “pre-detection”. Corresponds to “means”. In addition, the processing in steps S103 to S111 which is processing in the breathing pause time calculation unit 23 corresponds to “respiration time calculation means”, and the processing in steps S112 to S115 which is processing in the stress state estimation unit 24 is “stress state”. Corresponds to "estimating means". Further, the threshold value Tt corresponds to a “resting time threshold value”. The vehicle speed sensor 13 corresponds to “vehicle speed detection means”, the navigation system 16 corresponds to “current position information acquisition means”, and the blinker switch 15 corresponds to “operation state detection means”.
(1) The stress state estimation device according to the present embodiment detects the driver's breathing information by the processing in the breathing information detection unit 21, and the specific driving predetermined for the host vehicle by the processing in the prior detection unit 22. Detect in advance that an event will occur. Then, when it is detected that a specific driving event occurs in the own vehicle by the processing in the breathing pause time detection unit 23, the breathing pause time Ts of the driver is detected according to the breathing information, and the stress state estimation unit 24 By this process, the stress state of the driver accompanying the specific driving event is estimated according to the breathing pause time Ts.
(2) In the stress state estimation device according to the present embodiment, the stress state of the driver accompanying the driving specific event is relatively small and the breathing pause is performed when there is no breathing pause time Ts due to the processing in the stress state estimation unit 24. When the time Ts is longer than the threshold value Tt, it is estimated that the driver's stress state associated with the specific driving event is relatively large.
As described above, since the driver's stress state associated with the specific driving event is estimated according to the length of the breathing pause time Ts, the driver's stress state can be easily estimated.
(3) The stress state estimation device according to the present embodiment detects that the host vehicle is in a stopped state according to the host vehicle speed V by the process in the prior detection unit 22, and responds to the current position information of the host vehicle. When it is detected that the host vehicle is located outside the parking / stopping region, it is detected that a start operation occurs in the host vehicle as a specific driving event.
Thus, since it is the structure which only detects that the own vehicle is in a stationary state and detects that it is located outside the parking and stopping area, it can easily and accurately detect that the starting operation occurs in the own vehicle. Can do.
(4) The stress state estimation device according to the present embodiment is specified when the pre-detection unit 22 detects that the driving lane is merged in the own vehicle route according to the current position information of the own vehicle. It is detected that a merging operation occurs in the host vehicle as a driving event.
Thus, since it is the structure which only detects that the driving | running | working lane merges on the own vehicle track, it can detect easily and correctly that merging operation | movement arises in the own vehicle.
(5) The stress state estimation device according to the present embodiment detects that there are a plurality of driving lanes in the own vehicle course according to the current position information of the own vehicle, and instructs the direction by the processing in the prior detection unit 22. When the vehicle is detected to be in an operating state, it is detected that a lane change operation occurs in the host vehicle as a specific driving event.
As described above, since it is only configured to detect that there are a plurality of driving lanes on the own vehicle course and to detect that the direction indicator is in an operating state, it is easy and accurate that the lane change operation occurs in the own vehicle. Can be detected.
(6) The stress state estimation method according to the present embodiment detects the driver's breathing information, and when it is detected in advance that a predetermined driving event occurs in the host vehicle, the driver according to the breathing information. Respiratory pause time Ts is detected. And a driver | operator's stress state accompanying a specific driving | operation event is estimated according to the breathing rest time Ts.
In the present embodiment, the driver's stress state is estimated according to the average respiration rate associated with the specific driving event.
Here, a different point from 1st Embodiment mentioned above is demonstrated, and description is abbreviate | omitted about the same location.
Hereinafter, the stress state estimation process executed by the controller 17 will be described.
FIG. 11 is a block diagram illustrating stress state estimation processing according to the second embodiment.
Here, a new pre-respiration rate calculation unit 25, an in-process respiration rate calculation unit 26, and an average respiration rate calculation unit 27 are added, and the process in the stress state estimation unit 24 described above is changed. Since the other processes are the same as those in the first embodiment described above, description thereof will be omitted.
The pre-respiration rate calculation unit 25 defines a period from when the pre-detection hand unit 22 detects the occurrence of the specific driving event until the specific driving event is actually started as the pre-period Tb, and the respiration information detection unit 21 In accordance with the respiration information detected in step 1, the respiration rate per unit time of the driver in the period (Tb−Ts) obtained by removing the respiration pause time Ts from the pre-period Tb is calculated as the pre-respiration number Xb.
The intra-respiratory rate calculation unit 26 defines a period from the actual start of the specific driving event to the end as the inter-period Tm, and according to the respiratory information detected by the respiratory information detection unit 21, The respiration rate per unit time of the driver at Tm is calculated as the respiration rate Xm.
The average respiration rate calculation unit 27 uses the average respiration rate Xb calculated by the prerespiration rate calculation unit 25 and the average respiration rate Xm calculated by the in-process respiration rate calculation unit 26 as an average respiration associated with a specific driving event. Calculated as a number Xa.
The stress state estimation unit 24 estimates the driver's stress state associated with the specific driving event according to the average respiration rate Xa calculated by the average respiration rate calculation unit 27.
FIG. 12 is a diagram showing a stress state according to the average respiration rate Xa.
First, a threshold value X1 for the average respiration rate Xa and a threshold value X2 larger than the threshold value X1 are set in advance. When the average respiratory rate Xa is smaller than the threshold value X1, it is estimated that the driver's stress state associated with the driving specific event is relatively small. When the average respiration rate Xa is not less than the threshold value X1 and not more than the threshold value X2, the stress state is not estimated. When the average respiratory rate Xa is greater than the threshold value X2, it is estimated that the driver's stress state associated with the specific driving event is relatively large.
FIG. 13 is a flowchart illustrating stress state estimation processing according to the second embodiment.
Here, the processes of steps S112 to S116 described above are deleted and the processes of new steps S201 to S217 are added, and the description of the parts common to the first embodiment described above is omitted.
Step S201 is a process executed after detecting the breathing information of the driver in Step S101 described above, and determines whether or not the incident flag is reset to fm = 0. In the initial setting, the incident flag is reset to fm = 0. Here, when the event flag is reset to fm = 0, it is determined that the specific driving event has not yet occurred, and the process proceeds to step S102 described above. On the other hand, when the event flag is set to fm = 1, it is determined that the specific driving event has already occurred, and the process proceeds to step S210.
Step S202 is a process executed when it is determined in step S107 that the specific driving event has started. The incident flag is set to fm = 1, and then the process proceeds to step S108 described above.
Step S203 is a process executed when it is determined in step S103 described above that the breathing pause flag is fs = 1, and it is determined whether or not the pause time calculation flag is reset to ft = 0. In the initial setting, the pause time flag is reset to ft = 0. Here, when the rest time calculation flag is reset to ft = 0, it is determined that the breath rest time Ts has not yet been calculated, and the process proceeds to step S109 described above. On the other hand, when the rest time calculation flag is set to ft = 1, it is determined that the breath rest time Ts has already been calculated, and the process proceeds to step S208.
Step S204 is a process to be executed after calculating the breathing pause time Ts in step S110 or S111 described above, and sets the pause time calculation flag to ft = 1.
In a succeeding step S205, it is determined whether or not the incident flag is set to fm = 1. Here, when the event flag is set to fm = 1, it is determined that the specific driving event has already occurred, and the process proceeds to step S206. On the other hand, when the event flag is reset to fm = 0, it is determined that the specific operation event has not yet occurred, and the process returns to the predetermined main program as it is.
Step S206 corresponds to the processing in the pre-respiration rate calculation unit 25, and according to the respiration information, the respiration per unit time of the driver in the period (Tb−Ts) obtained by excluding the respiration pause time Ts from the pre-period Tb. The number is calculated as the pre-respiration rate Xb.
In step S207, after resetting the breath pause flag fs and the pause time calculation flag ft, the process returns to a predetermined main program.
In step S208, it is determined whether a specific driving event has been started. That is, as for the start operation of the host vehicle, it is determined whether the host vehicle has started running according to the host vehicle speed V and the brake operating state. Further, regarding the merging operation of the host vehicle, it is determined whether or not the host vehicle has reached the merging position according to the current position information of the host vehicle. As for the lane change operation of the host vehicle, it is determined whether the host vehicle is changing the lane according to the steering angle θ. Here, when the specific driving event is started, the process proceeds to step S209. On the other hand, when the specific operation event is not started, the process returns to the predetermined main program as it is.
In step S209, the event flag is set to fm = 1, and then the process returns to the predetermined main program.
In step S210, it is determined whether the specific driving event has ended. That is, for the starting operation of the host vehicle, it is determined whether or not the traveling vehicle speed has increased to a predetermined vehicle speed according to the host vehicle speed V. Moreover, about the joining operation | movement of the own vehicle, it is determined whether the own vehicle passed the joining position according to the present position information of the own vehicle. As for the lane change operation of the host vehicle, it is determined whether or not the lane change of the host vehicle is completed according to the operating state of the direction indicator and the steering angle θ. Here, when the specific driving event has ended, the process proceeds to step S212. On the other hand, when the specific operation event has not ended, the process returns to the predetermined main program as it is.
Step S211 corresponds to the process in the intra-particulate respiratory rate calculation unit 26, and calculates the respiratory rate per unit time of the driver during the inter-part period Tm as the intra-particulate respiratory rate Xm according to the respiratory information.
The subsequent step S212 corresponds to the processing in the average respiratory rate calculation unit 27, and calculates the average value of the prior respiratory rate Xb and the intra-respiratory rate Xm as the average respiratory rate Xa per unit time associated with the specific driving event.
The subsequent step S213 corresponds to the processing in the stress state estimation unit 24, and determines whether or not the average respiration rate Xa is equal to or greater than a predetermined threshold value X1. Here, when the average respiratory rate Xa is equal to or greater than the threshold value X1, it is determined that the driver's stress state associated with the specific driving event is not small, and the process proceeds to step S214. On the other hand, when the average respiratory rate Xa is smaller than the threshold value X1, it is determined that the driver's stress state associated with the specific driving event is small, and the process proceeds to step S115.
In step S214, it is determined whether or not the average respiration rate Xa is greater than a predetermined threshold value X2 corresponding to the processing in the stress state estimation unit 24. The threshold values X1 and X2 have a relationship of X1 <X2. Here, when the average respiratory rate Xa is greater than the threshold value X2, it is determined that the driver's stress state associated with the specific driving event is large, and the process proceeds to step S215. On the other hand, when the average respiratory rate Xa is equal to or less than the threshold value X2, it is determined that the driver's stress state associated with the specific driving event is unknown, and the process proceeds to step S217 as it is.
Step S215 corresponds to the processing in the stress state estimation unit 24, and after recording the estimation result that the driver's stress state before deceleration associated with the specific driving event is large as a history, for example, in a predetermined drive recorder, step S217 is performed. Migrate to
Step S216 corresponds to the processing in the stress state estimation unit 24, and records the estimation result that the driver's stress state before deceleration associated with the specific driving event is small, for example, as a history in a predetermined drive recorder, and then step S217. Migrate to
In step S217, the in-progress flag fm is reset and then the process returns to a predetermined main program.
In the present embodiment, the period during which the specific driving event is actually started and ended after the occurrence of the specific driving event is detected, that is, the period during which the driver does not pause the breathing movement, that is, the breathing pause time The average respiratory rate Xa of the driver in a period excluding Ts is calculated, and the driver's stress state associated with the specific driving event is estimated according to the average respiratory rate Xa.
First, before the driving specific event occurs (determination in step S201 is “Yes”), the breathing pause time Ts of the driver is calculated (steps S110 and S111), and when the driving specific event is started (step If the determination of either S107 or S208 is “Yes”), the driver's preliminary respiratory rate Xb in the period (Tb−Ts) obtained by removing the respiratory pause time Ts from the preliminary period Tb is calculated (step S206). In addition, when the specific driving event ends (the determination in step S210 is “Yes”), the driver's mid-term respiratory rate Xm in the mid-term Tm is calculated (step S211). Then, an average respiratory rate Xa between the prior respiratory rate Xb and the intra-respiratory rate Xm is calculated (step S212).
When the average respiratory rate Xa is smaller than the threshold value X1 (the determination in step S213 is “No”), it is estimated that the driver's stress state associated with the driving specific event is relatively small (step S216). On the other hand, when the average respiratory rate Xa is larger than the threshold value X2 (“Yes” in step S214), it is estimated that the driver's stress state associated with the specific driving event is relatively large (step S215). Note that when the average respiratory rate Xa is equal to or greater than the threshold value X1 (the determination in step S213 is “Yes”) and equal to or less than the threshold value X2 (the determination in step S214 is “No”), the driver's stress state associated with the specific driving event Does not estimate as unknown.
Thus, the average breathing of the driver during the period from when the specific driving event is detected until the specific driving event is actually started and ended until the driver does not pause the breathing movement. Since the driver's stress state is estimated according to the number Xa, the estimation accuracy can be improved. That is, the driver's stress state in a scene where the driver's tension temporarily increases and unconsciously stops breathing, for example, when starting the vehicle or when merging or changing lanes while driving Can be estimated with high accuracy.
As described above, the process in step S206 which is the process in the pre-respiration rate calculating unit 25 corresponds to the “pre-respiration rate calculating unit”, and the process in step S211 which is the process in the intra-respiratory rate calculating unit 26 is “in-process respiration” Corresponds to “number calculation means”. Further, the process of step S212 which is the process in the average respiratory rate calculation unit 27 corresponds to the “average respiratory rate calculation means”, and the process of steps S213 to S216 which is the process in the stress state estimation unit 24 is “stress state estimation”. Corresponds to “means”. Further, the threshold value X1 corresponds to the “first respiratory rate threshold value”, and the threshold value X2 corresponds to the “second respiratory rate threshold value”.
(1) The stress state estimation device according to the present embodiment preliminarily sets a period until the specific driving event is actually started after the specific driving event is detected by the processing in the pre-respiration rate calculating unit 25. The period is defined as a period Tb, and the respiratory rate per unit time of the driver in the period (Tb−Ts) obtained by removing the respiratory pause time Ts from the preliminary period Tb is calculated as the preliminary respiratory rate Xb according to the respiratory information. In addition, the period from the actual start of the specific driving event to the end by the process in the intra-event respiratory rate calculation unit 26 is defined as the inter-period Tm, and the driving in the inter-period Tm is determined according to the respiratory information. The respiration rate per unit time of the person is calculated as the respiration rate Xm. And the average respiration rate Xa accompanying a specific driving | operation event is calculated according to the prior respiration rate Xb and the intra-event respiration rate Xm by the process in the average respiration rate calculation part 27. When the average breathing rate Xa is smaller than the threshold value X1 by the processing in the stress state estimation unit 24, the driver's stress state associated with the driving specific event is relatively small, and the average breathing rate Xa is larger than the threshold value X2. Sometimes, it is estimated that the driver's stress state associated with the specific driving event is relatively large.
Thus, the average breathing of the driver during the period from when the specific driving event is detected until the specific driving event is actually started and ended until the driver does not pause the breathing movement. Since the driver's stress state is estimated according to the number Xa, the estimation accuracy can be improved.
In the present embodiment, when the driver's speech is detected, the estimation of the stress state is stopped.
FIG. 14 is a schematic configuration diagram of a stress state estimation device according to the third embodiment.
In this embodiment, the microphone 18 is provided.
The microphone 18 converts the driver's voice into an electrical signal. The microphone 18 is, for example, a moving coil type microphone in which a permanent magnet and a movable coil are combined. When the movable coil fixed to a diaphragm (diaphragm) is vibrated by receiving a sound wave, the movable coil is changed by a change in magnetic flux. Is input to the controller 17 as an audio signal. The microphone 18 has unidirectionality with high sensitivity to the front, and is provided near the dashboard, for example, in order to pick up the driver's voice.
Other device configurations are the same as those of the first embodiment described above.
FIG. 15 is a block diagram illustrating stress state estimation processing according to the third embodiment.
Here, the utterance detection unit 28 is newly added, and the other processes are the same as those in the first embodiment described above, and thus the description thereof is omitted.
The utterance detection unit 28 detects the driver's utterance. Specifically, the presence or absence of an utterance is recognized based on the audio signal detected by the microphone 18.
In the present embodiment, the presence or absence of an utterance is detected based on an audio signal detected by the microphone 18, but the present invention is not limited to this. In short, since it is only necessary to detect the presence or absence of utterances, for example, the driver's face may be captured by a camera, and the utterance may be detected by recognizing the movement of the driver's lips based on the captured image data. .
The stress state estimation unit 24 determines whether to stop estimating the driver's stress state according to the presence or absence of the utterance detected by the utterance detection unit 28. Specifically, when the driver's utterance is detected and the breathing pause time Ts is 0, there is a possibility that the accurate breathing pause time Ts due to the utterance may not be calculated, so that the stress state is estimated. Discontinue. In addition, when the respiratory pause time Ts is longer than 0 and shorter than the threshold Tt, the stress state estimation is stopped.
FIG. 16 is a flowchart illustrating a stress state estimation process according to the third embodiment.
Here, processing of new steps S301 to S304 is added, and description of portions common to the first embodiment described above is omitted.
Step S301 is a process executed when it is determined that the specific driving event has been detected in step S102 described above, and it is determined whether or not the utterance of the driver is detected by the utterance detection unit 28. Here, when the driver's speech is detected, the process proceeds to step S302. On the other hand, when the driver's speech is not detected, the process proceeds to step S303.
In step S302, the speech flag is set to fv = 1, and then the process proceeds to step S103 described above. In the initial setting, the utterance flag is reset to fv = 0.
In step S303, the speech flag is reset to fv = 0, and then the process proceeds to step S103 described above.
Step S304 is a process executed when it is determined in step S112 described above that the breathing pause time Ts is 0, and it is determined whether or not the speech flag is reset to fv = 0. Here, when the utterance flag is reset to fv = 0, it is determined that there is no influence by the driver's utterance in calculating the breathing pause time Ts, and the process proceeds to step S115 described above. On the other hand, when the utterance flag is set to fv = 1, it is determined that there is an influence due to the utterance of the driver when calculating the breathing pause time Ts, and in order to stop the estimation of the stress state, the above-described step S116 is performed as it is. Migrate to
In a state where the driver is speaking, there is a possibility that the breathing pause time Ts cannot be accurately calculated. For example, when the driver's stress state associated with a specific driving event is really large, but the breathing pause time Ts becomes 0 due to the influence of the driver's utterance, it is erroneously estimated that the stress state is small.
Therefore, in the present embodiment, when the driver's speech is detected (determination in step S304 is “No”) and the breathing pause time Ts is 0 (determination in step S112 is “No”), the utterance Since there is a possibility that the accurate breathing pause time Ts cannot be calculated, the estimation of the stress state is stopped. As described above, in a situation where the respiratory pause time Ts cannot be accurately calculated, it is possible to suppress a decrease in accuracy of the estimation result by stopping the estimation of the stress state. On the other hand, when the driver's speech is not detected ("Yes" in step S304), the driver's stress state is estimated as it is.
As described above, the processes in steps S301 to S303 which are the processes in the utterance detection unit 28 correspond to the “utterance detection means”, and the processes in steps S112 to S115 and S304 which are the processes in the stress state estimation unit 24 are “stress state estimation”. Corresponds to “means”.
(1) The stress state estimation device according to the present embodiment detects the driver's utterance with the utterance detection unit 28 after detecting that the specific driving event occurs by the processing in the stress state estimation unit 24, and breathes. When the rest time Ts cannot be detected or when the breath rest time Ts is shorter than a predetermined time, the estimation of the stress state is stopped.
Thus, it can suppress that the precision of an estimation result falls by deciding whether to cancel estimation of a driver | operator's stress state according to the presence or absence of a driver | operator's utterance.
DESCRIPTION OF SYMBOLS 11 Body motion sensor 12 Brake switch 13 Vehicle speed sensor 14 Steering angle sensor 15 Winker switch 16 Navigation system 17 Controller 18 Microphone 21 Respiration information detection part 22 Prior detection part 23 Respiration rest time calculation part 24 Stress state estimation part 25 Prerespiration rate calculation part 26 intra-event respiratory rate calculation unit 27 average respiratory rate calculation unit 28 utterance detection unit
Respiration information detection means for detecting the respiration information of the driver;
A prior detection means for detecting in advance that a predetermined driving event occurs in advance in the own vehicle;
A breathing pause detection unit for detecting a breathing pause time of the driver according to the breathing information detected by the breathing information detector when the prior detection unit detects that a specific driving event occurs in the host vehicle;
A stress state estimation device comprising: a stress state estimation unit that estimates a driver's stress state associated with the specific driving event according to the breathing pause time detected by the breathing pause time detection unit.
The stress state estimating means includes
A pause time threshold for the breath pause time is set in advance, and when there is no breath pause time, the driver's stress state associated with the driving specific event is relatively small, and the breath pause time is less than the pause time threshold. 2. The stress state estimation device according to claim 1, wherein when it is too long, the stress state of the driver accompanying the specific driving event is estimated to be relatively large.
The period from when the specific driving event is detected by the prior detection means to when the specific driving event is actually started is defined as a prior period, and is determined according to the respiratory information detected by the respiratory information detection means. A pre-respiration rate calculating means for calculating, as a pre-respiration rate, a respiration rate per unit time of the driver in a period excluding the respiration pause time from the pre-period;
The period from when the specific driving event is actually started to the end is defined as a mid-period, and according to the respiration information detected by the respiration information detecting means, the driver per unit time in the mid-period An intra-respiratory rate calculating means for calculating the respiratory rate as an intra-respiratory rate,
Mean breathing rate calculating means for calculating an average breathing rate associated with the specific driving event according to the prior breathing rate calculated by the prior breathing rate calculating unit and the interstitial breathing rate calculated by the interstitial breathing rate calculating unit. And comprising
A first respiratory rate threshold value with respect to the average respiratory rate calculated by the average respiratory rate calculating means, and a second respiratory rate threshold value that is larger than the first respiratory rate threshold value are set in advance, and the average respiratory rate is When it is less than the first respiratory rate threshold, the driver's stress state associated with the driving specific event is relatively small, and when the average respiratory rate is greater than the second respiratory rate threshold, the specific driving The stress state estimation apparatus according to claim 1, wherein the stress state of the driver accompanying the event is estimated to be relatively large.
Provided with an utterance detection means for detecting the utterance of the driver,
After detecting that the specific driving event occurs in the prior detection means, when the speech detection means detects the driver's speech, and the respiratory pause time detection means cannot detect the respiratory pause time, or The stress state estimation device according to any one of claims 1 to 3, wherein the estimation of the stress state is stopped when a breathing pause time is shorter than a predetermined time.
Vehicle speed detecting means for detecting the own vehicle speed;
Current position information acquisition means for acquiring current position information of the host vehicle,
The prior detection means includes
It is detected that the host vehicle is in a stopped state according to the host vehicle speed detected by the vehicle speed detecting unit, and the host vehicle is outside the parking / stopping region according to the current position information of the host vehicle acquired by the current position information acquiring unit. The stress state estimation device according to any one of claims 1 to 4, wherein when the vehicle is detected as a specific driving event, a start operation is detected as the specific driving event.
Provided with current position information acquisition means for acquiring current position information of the host vehicle,
When it is detected that there is a merging of driving lanes in the own vehicle route according to the current position information of the own vehicle acquired by the current position information acquiring means, it is detected that a merging operation occurs in the own vehicle as the specific driving event. The stress state estimation device according to any one of claims 1 to 5, wherein
Current position information acquisition means for acquiring current position information of the host vehicle;
An operation state detecting means for detecting an operation state of the direction indicator in the host vehicle,
According to the current position information of the host vehicle acquired by the current position information acquiring means, it is detected that there are a plurality of driving lanes in the own vehicle route, and the direction indicator is in the operating state by the operating state detecting means. The stress state estimation device according to any one of claims 1 to 6, wherein when the vehicle is detected, it is detected that a lane change operation occurs in the host vehicle as the specific driving event.
Detect driver's breathing information,
When it is detected in advance that a specific driving event predetermined in the host vehicle occurs, the breathing pause time of the driver is detected according to the breathing information,
A stress state estimation method characterized by estimating a driver's stress state associated with the specific driving event according to the breathing pause time.
JP2012144219A 2012-06-27 2012-06-27 Stress state estimation device and stress state estimation method Pending JP2014008070A (en)
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JP2014008070A true JP2014008070A (en) 2014-01-20
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JP2012144219A Pending JP2014008070A (en) 2012-06-27 2012-06-27 Stress state estimation device and stress state estimation method
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2012-06-27 JP JP2012144219A patent/JP2014008070A/en active Pending
CN103144587B (en) 2016-04-27 The output-controlling device of on-vehicle image display unit