JP4556738B2 - Driving skill evaluation device, driving burden efficiency notification device, driving skill evaluation method, and driving burden efficiency notification method - Google Patents

Description

  The present invention relates to an evaluation apparatus and an evaluation method for evaluating the driving skill of a driver who drives an automobile vehicle or a motorcycle, and to the driver who drives the vehicle, the efficiency of the driver's body burden in the driving operation of the vehicle. The present invention relates to a driving load efficiency notification device and a driving load effect notification method for notification.

  Currently, the evaluation of the characteristics of the driver driving the automobile, the evaluation of the driving stability of the automobile, and the operation support control that controls the behavior of the automobile by supporting the operation of the driver driving the automobile. For example, information on the vehicle being driven and biological information of the driver being driven are used.

In the following Patent Document 1, a driver's skill level (for example, skill level) is determined based on driving information (for example, engine speed or transmission input shaft speed obtained from the depressed state of an accelerator pedal or clutch pedal). A driving skill diagnosis layer device provided with a determination means for determining the degree or risk) is disclosed. In Patent Document 1, based on the driving information, the driving skill of the driver is classified into levels, and it is determined whether or not the driving skill is at a certain level. In Patent Document 1, for example, when the driving skill level of the driver is low or the driving risk level is high, it is possible to notify the driver of the vehicle traveling in the vicinity. Safe and smooth operation is possible.
Further, in Patent Document 2 below, a competitive value related to competition between muscles is calculated based on myoelectric potentials of a plurality of muscles related to the driving operation of the vehicle by the driver, and the magnitude of the driving burden on the driver is calculated based on the competitive values. A driving burden determination device for determining the above is disclosed. In Patent Document 2, as described above, for example, by measuring the myoelectric potentials of both arms, it is possible to determine the burden due to the difficulty of controlling the vehicle as expected by the driver (as expected for driving operation). Yes. And by applying such a determination result to a lane change system, an obstacle warning system, etc., it is considered that the driver's margin is small as the driving load increases, so that warning output and control intervention are easily performed. The control contents can be corrected as described above.
JP 2003-81040 A JP 2002-230699 A

  In Patent Document 1, as described above, the skill of the driver is based only on driving information (for example, engine speed or transmission input shaft speed obtained from the depressed state of the accelerator pedal or clutch pedal) related to the automobile vehicle. The level (for example, skill level or risk level) is determined. In such a driving skill diagnosis layer device described in Patent Document 1, for example, one driver out of different drivers is more concentrated in more tension, driving while receiving a lot of physical and mental burdens. The driving information when the operation is performed is similar to the driving information when the other driver performs the driving operation in a more relaxed state without much physical and mental burden (same car) When the vehicle is operated in the same manner), the skill levels of these different drivers are determined to be substantially equal. Even when a similar driving operation is performed, the higher the skill level of the driver, the more relaxed and the driving operation can be performed without much physical and mental burden. In the above-described example, a driver who has performed a driving operation in a more relaxed state without much physical and mental burden should be determined to be a driver with a higher technical level. As described above, the driving skill diagnosis apparatus described in Patent Document 1 has a problem that it is impossible to accurately determine the driving skill level in consideration of such a driver's state.

  Further, in Patent Document 2, the competitive value of the myoelectric potential of both arms is calculated by measuring the myoelectric potential of both arms, and the car is controlled as expected by the driver (as expected with respect to the driving operation) by this competitive value. The burden that comes from the difficulty of being unable to do so can be judged. However, the driving operation of the vehicle is to steer the vehicle by the movement of the muscles of the driver. If aggressive steering (complicated steering in a short time) is necessary, naturally the myoelectric potential of both arms competes. The value also increases. Even if the vehicle is controlled as the driver wants, if the vehicle is being actively steered, the burden comes from the difficulty of controlling the vehicle as expected by the driver (as expected for driving). Is determined to be large. When such judgment results are applied to lane change systems, obstacle warning systems, etc., it is judged that the driver's margin is small even though the actual driving burden is not so large. There was a problem of being done.

  Therefore, the present invention has been made in view of the above, and an evaluation device and an evaluation method for accurately evaluating the driving skill of a driver who drives an automobile vehicle or a motorcycle, and a driver who drives the vehicle. A body burden efficiency notifying device and a body burden efficiency notifying method for accurately reporting the efficiency of a driver's body burden in a driving operation of a vehicle are provided.

In order to solve the above-described problems, the present invention is an apparatus for evaluating the driving skill of a driver who drives a vehicle, which measures the physical burden of the driver in the driving operation of the vehicle. A driver burden measuring means, a driving operation amount measuring means for measuring a magnitude of a driving operation amount performed on the vehicle by the driver during the driving work, a magnitude of the physical burden on the driver, and the driving operation amount. by using a size of, have a evaluation means for evaluating the driving skill of the driver, the evaluation unit from the size of the size and the driving operation amount of physical burden of the driver of the vehicle An evaluation value representing the efficiency of the physical burden of the driver in the driving operation of the vehicle is calculated with respect to the amount of work performed by the driver on the vehicle in the driving operation, and the driver's driving is calculated using the evaluation value Level of workmanship Providing driving skill evaluation apparatus and judging.

  The evaluation means preferably compares the evaluation value with a predetermined reference value, and determines the level of the driving skill of the driver based on the comparison result.

  At this time, it is preferable that the predetermined reference value is a value set according to at least one of a vehicle driven by the driver or a running path on which the vehicle is driven by the driver.

  The driver burden measuring means includes a myoelectric potential detection unit that detects a myoelectric potential of the specific muscle of the driver involved in the driving operation, and the magnitude of the physical burden of the driver from the information on the myoelectric potential. It is preferable to provide a calculation unit for calculating.

  The driving operation amount measurement means includes a steering angle detector that detects the steering angle of the vehicle according to the driving operation of the driver, and the magnitude of the driving operation amount from information on the steering angle of the vehicle. It is preferable to include a calculation unit that calculates the height.

Further, the driving operation amount measuring means further includes a steering torque detecting unit that detects a steering torque around a steering shaft of the vehicle, and the steering angle detected by the steering angle detecting unit according to the driving operation of the driver. Based on the information on the angle and the information on the steering torque detected by the steering torque detector, the amount of work performed by the driver on the vehicle accompanying the driving operation of the driver is set as the driving operation amount. It is preferable to provide a work amount calculation unit for calculating.

  Furthermore, it comprises psychological burden measuring means for measuring the psychological burden associated with the driving operation of the driver who drives the vehicle, and the evaluating means includes the magnitude of the physical burden of the driver and the magnitude of the driving operation amount. In addition, it is preferable to evaluate the driving skill of the driver using the psychological burden.

The psychological burden measuring means is preferably means for detecting a muscle activity independent of the driving operation of the driver and detecting the psychological burden based on the muscle activity.

The vehicle further includes a travel locus deviation measuring means for measuring a deviation amount of the travel locus of the vehicle due to the driving operation of the driver with respect to a travel path on which the vehicle should travel, and the evaluation means is configured to reduce the physical burden of the driver. It is preferable that the driving skill of the driver is evaluated by using a deviation amount of the traveling locus of the vehicle in addition to the size and the magnitude of the driving operation amount.

  The evaluation unit corrects the evaluation result based on at least one of information indicating the state of the vehicle, information indicating the state of the running road, and information indicating the state of the surrounding environment of the vehicle. It is preferable.

  Moreover, it is preferable that the evaluation means outputs an evaluation result of the driving skill of the driver in association with the road surface condition of the running road.

  The present invention is also an apparatus for notifying a driver who drives a vehicle of the efficiency of the physical burden of the driver accompanying the driving operation of the vehicle, the driver relating to the driving operation of the vehicle. A driver burden measuring means for measuring the physical burden of the vehicle, a driving operation amount measuring means for measuring the amount of the driving operation performed on the vehicle by the driver during the driving operation, and the driver The physical burden of the driver in the driving operation of the vehicle with respect to the amount of the driving operation performed on the vehicle by the driver in the driving operation of the vehicle using the size of the physical burden of the vehicle and the magnitude of the driving operation amount A burden factor determination value calculating means for calculating a burden factor determination value representing the magnitude of the efficiency of the vehicle, and the driver's physical burden in the driving operation of the vehicle according to the burden factor determination value Notification of efficiency Providing together driving load efficiency informing apparatus characterized by having a that informing means.

  The driving burden efficiency notification device compares the burden ratio determination value calculated by the burden ratio determination value calculation means with a predetermined reference determination value, and based on the comparison result, the driving operation of the vehicle And determining means for determining the level of efficiency of the physical burden of the driver, wherein the notification means provides the driver with the efficiency of the physical burden of the driver in a notification form according to the determination result. It is preferable to notify.

  Moreover, it is preferable that the said alerting | reporting means alert | reports to the said driver | operator, when the said burden rate determination value is less than the predetermined | prescribed warning reference value in the said determination means.

The present invention is also a method for evaluating a driving skill of a driver who drives a vehicle, and a driver burden measuring step for measuring the physical burden of the driver in the driving operation of the vehicle, Using the driving operation amount measuring step for measuring the amount of driving operation performed on the vehicle by the driver during the driving operation, the physical burden of the driver, and the driving operation amount , possess an evaluation step of evaluating the driving skill of the driver, the evaluation step, from the size of the size and the driving operation amount of physical burden of the driver, the driver in the driving task of the vehicle Calculates an evaluation value representing the efficiency of the physical burden of the driver in the driving operation of the vehicle with respect to the driving operation amount performed on the vehicle by using the evaluation value, and the level of the driving skill of the driver using the evaluation value Driving skill evaluation method and judging also provide together.

  In the evaluation step, it is preferable that the evaluation value is compared with a predetermined reference value, and the level of the driving skill of the driver is determined based on the comparison result.
At this time, it is preferable that the predetermined reference value is a value set according to at least one of a vehicle driven by the driver or a running path on which the vehicle is driven by the driver.

  The present invention further provides a method for notifying a driver who drives a vehicle of the efficiency of the physical burden of the driver in the driving operation of the vehicle, A driver burden measuring step for measuring the magnitude of the physical burden, a driving operation amount measuring step for measuring the magnitude of the driving operation amount performed by the driver on the vehicle during the driving operation, and the driver's Using the magnitude of the physical burden and the magnitude of the driving operation amount, the physical burden of the driver in the driving operation of the vehicle with respect to the driving operation amount performed by the driver on the vehicle in the driving operation of the vehicle A burden efficiency judgment value calculating step for calculating a burden efficiency judgment value representing the magnitude of the efficiency, and the driver's body in the driving operation of the vehicle according to the burden efficiency judgment value It provided together also driving load efficiency notification method characterized by having a notifying step of notifying the efficiency of collateral.

  According to the present invention, for example, the driving skill of the driver driving the vehicle is accurately determined based on the physical burden of the driver who is driving and the amount of work the driver performs on the vehicle. Can be evaluated. For example, it is possible to qualitatively or quantitatively evaluate each level of the driving skill of the driver according to the state of the road on which the driver drives. It is also possible to accurately evaluate the operability of the vehicle driven by the driver. In addition, it is possible to accurately notify the driver who drives the vehicle of the efficiency of the driver's physical burden in the driving operation of the vehicle.

Hereinafter, the driver skill evaluation device, the driving skill evaluation method, the driving burden efficiency notification device, and the driving burden efficiency notification method of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
FIG. 1 is a schematic configuration diagram illustrating a vehicle 11 provided with both a driving skill evaluation device and a driving burden efficiency notification device according to the present invention. The vehicle 11 measures the physical burden of the driving operation of the driver 12 who operates the vehicle 11, and the driver 12 controls the operation system 14 of the vehicle during the driving operation. A driving skill evaluation apparatus 10 (hereinafter referred to as a skill evaluation apparatus 10) that measures the magnitude of an operation amount to be performed and evaluates the driving skill of the driver 12 by using the magnitude of the physical burden and the magnitude of the operation amount. Is provided. Further, the vehicle 11 uses the magnitude of the physical burden during the driving work of the driver 12 and the magnitude of the operation amount performed by the driver 12 to use the physical burden of the driver 12 in the driving work of the vehicle 11. The body burden efficiency notifying means 80 (hereinafter referred to as the burden efficiency notifying apparatus 80) for notifying the efficiency is also provided. In the vehicle 11, the skill evaluation device 10 and the burden efficiency notification device 80 have some means (specifically, physical burden measuring means 30 described later (the physical burden measuring means 30 is not shown in FIG. 1). ], The operation amount measuring means 20 and the monitor 52 are shared.

  The vehicle 11 is provided with a driving operation information acquisition sensor 13 for acquiring information on driving operation performed by the driver 12 in addition to the constituent members constituting the skill evaluation device 10 and the burden efficiency evaluation device 80. . The driving operation information acquisition sensor 13 includes a brake pressure sensor 13a for acquiring information related to the depression operation of the brake pedal of the driver 12, and a throttle sensor 13b for acquiring information related to the depression operation of the accelerator pedal of the driver 12. Etc. The vehicle 11 is also provided with a vehicle behavior information acquisition sensor 15 for acquiring behavior information of the vehicle 11 according to the operation of the driver 12. The vehicle behavior information acquisition sensor 15 includes a yaw rate sensor 15 a that detects the behavior of the vehicle 11 in the yaw direction, a vehicle speed sensor 15 b that detects the vehicle speed of the vehicle 11, a GPS sensor 15 c that detects the position of the vehicle 11, and the like. ing. The driving operation information acquired by the driving operation information acquisition sensor 13 and the vehicle behavior information acquired by the vehicle behavior information acquisition sensor 15 are obtained by driving skill evaluation by the driving skill evaluation device 10 described later and by the burden efficiency notification device 80. Used in burden efficiency notification.

First, the driver skill evaluation apparatus and the driving skill evaluation method of the present invention will be described.
FIG. 2 is a schematic configuration diagram illustrating the evaluation device 10 provided in the vehicle 11 as an example of the driving skill evaluation device of the present invention. The evaluation device 10 measures the physical burden of the driving operation work of the driver 12 who drives the vehicle, and the amount of operation performed by the driver 12 on the operation system 14 of the vehicle during the driving operation work. Is a device for evaluating the driving skill of the driver 12 using the physical burden and the manipulated variable. The skill evaluation device 10 includes an operation amount measuring unit 20, a physical burden measuring unit (a burden measuring unit) 30, and a data processing unit 40.

  The operation amount measuring means 20 detects the rotation angle of the steering wheel 16 pivotally supported on the steering shaft 18 by the driver 12, so that the driver 12 operates around the axis of the steering shaft 18 of the steering wheel 16. A steering angle sensor 22 for acquiring the rotation angle (steering angle) data, a torque sensor 24 for detecting the torque around the axis of the steering shaft 18 generated by the driving operation of the driver 12 (rotating operation of the steering wheel), And an operation amount information calculation unit 26 that processes time-series waveforms of the detected steering angle and torque, and obtains information on time-series driving operation amounts performed by the driver 12 on the vehicle 11.

  The steering angle sensor 22 may be a known rotation angle detection means, and the torque sensor 24 may be a known torque sensor. The time series data of the steering angle acquired by the steering angle sensor 22 and the time series data of the torque acquired by the torque sensor 24 are respectively sent to the operation amount information calculation unit 26. The operation amount information calculation unit 26 generates a steering angle waveform and a torque waveform by sampling the time-series data of the steering angle and the time-series data of the torque, and the operation amount information is generated using the steering angle waveform and the torque waveform. It is a part which calculates.

  FIG. 3A shows an example of the steering angle waveform generated by the operation amount information calculation unit 26. Specifically, the manipulated variable measuring device 20 samples the steering angle data and the torque data, performs full wave rectification, and then smooths each using a smoothing filter (low-pass filter). A signal waveform (steering waveform) and a torque signal waveform (torque waveform) are generated. A steering angle waveform is generated by time differentiation of the steering waveform. Then, a value obtained by multiplying the value of the steering angle waveform and the value of the torque waveform by the value at the same time (per unit time) is calculated, and this multiplied value is calculated as a work rate that the driver 12 performs on the vehicle 12. Generate as a waveform. Further, an RMS (Root Mean Square) value of the power factor waveform is calculated as the operation amount information. The RMS value is a square root of the sum of squares of the deviation of the waveform from the average value (simple addition average value) of the waveform of the power factor during a predetermined period. The predetermined period is, for example, 0.5 seconds to 10 seconds, and preferably about 3.0 seconds. This predetermined period is a value selected in consideration of the frequency of correction steering (steering to keep the traveling direction of the vehicle traveling straight ahead) frequently performed by a general driver while driving the vehicle. is there. The manipulated variable information (the RMS value of the work rate waveform) is sent to the data processing means 40. Note that the operation amount information is not limited to the RMS value, and may simply be an integral value of the waveform of the power during a predetermined period.

  In the driving skill evaluation method of the present invention, the operation amount information may be a value representing the magnitude of the driving operation amount performed by the driver on the vehicle, and is not limited to a value using the waveform of the power. For example, a value using only a steering angle waveform may be used. However, when the work rate is used, it is possible to more accurately evaluate the driving skill in consideration of the work performed by the driver on the vehicle. In order to evaluate the driving skill more accurately, it is preferable to use a waveform of the work rate in calculating the operation amount information. When it is desired to configure the driver skill evaluation apparatus with a simpler configuration and at a lower cost, the operation amount information may be calculated using only the steering angle waveform described above.

  The physical burden measuring means 30 includes detection sensors 32 and 34 that detect myoelectric potentials of the left and right deltoid muscles of the driver 12, electrodes 36, an amplifier 38 that amplifies myoelectric potentials from the detection sensors 32 and 34, and amplification. A body burden information calculation unit 39 for processing time series waveforms of the myoelectric potentials of the left and right deltoid muscles and obtaining time series body burden information representing the time series body burden of the driver 12 in the driving operation work. Configured.

The detection sensor 32 is a sensor for detecting myoelectric potential of the deltoid muscle of the left shoulder of the driver, and is configured by a pair of Ag / AgCL dish-shaped electrodes, and the pair of dish-shaped electrodes are arranged at a predetermined interval, several mm, For example, it is affixed to the surface of the left shoulder where the deltoid muscle is located 5 mm apart.
The detection sensor 34 is a sensor that detects the myoelectric potential of the deltoid muscle of the right shoulder of the driver. Like the detection sensor 22, the detection sensor 34 is composed of a pair of Ag / AgCL dish-shaped electrodes. Is affixed to the surface of the left shoulder where the deltoid muscle is located at a predetermined interval of several mm, for example, 5 mm.
The electrodes of the detection sensors 32 and 34 are not limited to Ag / AgCL, and may be made of other materials such as Ag and stainless steel.
Here, the attachment of the driver to the skin surface is carried out using an electrode paste by rubbing with a scrub, removing dirt with alcohol. At that time, the dirt is removed until the electric resistance is 30 kΩ or less (preferably 5 kΩ). The two electrodes are attached to the muscle belly of the muscle to be measured, parallel to the muscle fibers. As shown in FIG. 4, the affixing position is affixed at a predetermined interval to a position Y that is three fingers away from the outer end portion X of the clavicle, in the arm longitudinal direction.

On the other hand, the electrode 36 is a ground electrode that is affixed to the driver's earlobe, which is in an electrically inactive position in order to keep the driver's potential constant, and is provided to accurately perform the measurement by the detection sensors 32 and 34. It is done. The electrode 36 connected to the amplifier 38 is grounded via the amplifier 38.
The amplifier 38 is a known operational amplifier that is connected to the detection sensors 32 and 34 by lead wires and amplifies the myoelectric potential detected by the detection sensors 32 and 34.
The myoelectric potential detected and amplified by the detection sensors 32 and 34 is sent to the physical burden information calculation unit 39.

  The body burden information calculation unit 39 generates a myoelectric waveform by sampling time series data of myoelectric potentials of two deltoid muscles, and uses this myoelectric waveform to calculate time series body burden information. It is. In the physical burden information calculation unit 39, the myoelectric potential detected by the detection sensors 32 and 34 is sampled, subjected to full wave rectification, and then smoothed using a smoothing filter (low-pass filter). A myoelectric potential waveform) is generated for each of the left and right deltoid muscles. 3 (b) and 3 (c) show the myoelectric potential waveforms of the left and right deltoid muscles corresponding to the steering angle waveform shown in FIG. 3 (a) (the waveforms before smoothing). is there). 3 (a) to 3 (c), it can be seen that the steering angle of the steering wheel 16 of the vehicle 11 varies in accordance with the activity of each of the deltoid muscles of the driver 12. In other words, the physical burden on the driver 12 varies according to the operation amount of the driver 12. The driver skill evaluation apparatus according to the present invention evaluates the degree of the magnitude of the myoelectric potential with respect to these operation amounts, and the driver's 12 other than the burden necessary for the driving operation of the vehicle 11 in the driving operation work of the vehicle 11. The driver's driving skill is evaluated by evaluating the size of the extra physical burden. Note that the magnitude of the physical burden on the driver 12 is not limited to the measurement of the myoelectric potential, but for example, muscle sound information directly representing muscle vibration associated with the driving operation work may be measured.

  The myoelectric potential signal before smoothing as shown in FIG. 3B and FIG. 3C is a signal having a high-frequency component that is originally generated when the muscle contracts. However, as shown in FIG. 3A, the waveform of the steering angle of the steering wheel 16 by the driver 12 does not have a high frequency component (the same applies to the waveform of the power). For this reason, smoothing is performed after full-wave rectification so that the myoelectric potential waveform corresponds to the force generated by muscle contraction.

  Then, the physical burden information calculation unit 39 calculates an RMS (Root Mean Square) value for each of the left and right myoelectric potential waveforms from each of these myoelectric potential waveforms, and a value obtained by geometrically averaging the RMS values of the left and right deltoid muscles. Is calculated as the physical burden information indicating the physical burden of the driver 12 in the driving operation of the vehicle 11. The RMS value is the square root of the sum of squares of the deviation of the waveform from the average value (simple addition average value) during a predetermined period. This predetermined period is the same as the predetermined period in the calculation of the operation amount information. Further, the averaging process is performed for each RMS value for each predetermined period (that is, body burden information for each predetermined period is calculated). The averaging process is not limited to the geometric averaging process, and a normal averaging (simple addition averaging) process may be performed. Preferably, the geometric averaging process is preferably used in terms of accuracy. The calculated physical burden information for each predetermined period is supplied to the data processing means 40.

  The data processing means 40 includes an evaluation value calculation unit 42, a driving skill level determination unit 44, a memory 46, and a CPU 48. The data processing means 40 is a computer in which each unit functions when the CPU 48 executes a program stored in the memory 46. Both the physical burden information sent from the burden measuring device 20 and the manipulation amount information sent from the manipulation amount measuring means 30 are stored in the memory 46 of the data processing means 40. Note that an input device (not shown) is connected to the data processing means 40, and an operator can operate this input device to change an evaluation time range and an evaluation reference value, which will be described later.

The evaluation value calculation unit 42 calls the physical burden information and the operation amount information stored in the memory 46, and calculates an evaluation value in a predetermined time range (evaluation time range) during driving based on these information. The evaluation value calculated here corresponds to the amount of operation in the predetermined time range (the amount of operation performed by the driver 12) of the driver 12 in the predetermined time range in the driving operation work performed by the driver 12. This value represents the efficiency of physical burden. As described above, the memory 46 stores the physical burden information for each predetermined period (information on the RMS value of the myoelectric potential) and the operation amount information (the RMS value of the work rate) for each predetermined period (for example, 3 seconds). Information) is stored. The evaluation value calculation unit 42 uses these pieces of information to calculate an evaluation value in a predetermined time range (for example, 15 seconds). The physical burden of the driver 12 in a predetermined time range is calculated by, for example, calculating an integrated value (burden integrated value) of the physical burden information in the predetermined time range and performing the operation in the predetermined time range. The integrated value (operation integrated value) of the quantity information is calculated. Then, the ratio of the operation integrated value to the load integrated value (physical burden efficiency) is calculated. This physical burden efficiency represents an operation amount per unit amount of the physical burden of the driver 12, and is a value representing the efficiency of the physical burden of the driver 12 in a predetermined time range. The evaluation value calculation unit 42 calculates this physical burden efficiency as an evaluation value.
In the present invention, the evaluation value is not limited to obtaining the physical burden efficiency. For example, a value obtained by subtracting the burden integrated value from the operation integrated value may be used as the evaluation value. Good. In this case as well, the evaluation value represents the degree of the magnitude of the operation integrated value with respect to the burden integrated value (represented as a difference). The evaluation value in the present invention is not particularly limited as long as it is a value representing the efficiency of the physical burden on the driver with respect to the operation amount performed by the driver in the driving operation work performed by the driver.

  The driving skill level determination unit 44 determines the driving skill level of the driver 12 by comparing the evaluation value calculated by the evaluation value calculation unit 42 with a preset evaluation reference value. The evaluation reference value is preset by, for example, the above-described input device (not shown). For example, when it is desired to determine the level of the driving skill of the driver 12 when the vehicle 11 is driven to travel on a specific road, a predetermined driver having a standard driving skill operates the vehicle 11. Then, the evaluation value when traveling on the specific running road is set as the reference evaluation value. By calculating the evaluation value when the driver 12 drives the vehicle 11 and travels on the specific road, and comparing it with the above-described reference evaluation value, the level of the driving skill of the driver 12 can be determined. In this case, the predetermined time range described above may be set for the entire time during which the vehicle is traveling on the specific road. For example, when the evaluation value of the driver 12 is lower than the evaluation value of a predetermined driver having a standard driving skill, the driving skill of the driver 12 may be determined to be an immature level. Further, when the evaluation value of the driver 12 is higher than the evaluation value of a predetermined driver having a standard driving skill, the driving skill of the driver 12 may be determined to be an advanced level. There may be a plurality of these reference evaluation values, and the levels to be determined are not limited to, for example, the immature level, the intermediate level, the advanced level, the highest level, and the level level. Such a determination result may be displayed on the monitor 52 connected to the data processing means 40. For example, as shown in FIG. 1, the monitor 52 is provided in the vehicle 11 at a position where the driver 12 can check during driving, and the driver 12 can check his / her driving skill as necessary. It has become.

Note that the driving skill evaluation device of the present invention does not necessarily have to have a driving skill level determination unit.
For example, when it is desired to evaluate the driving skill according to the state of the driving road of the driver 12, a standard evaluation value when the driver 12 drives the vehicle 11 and travels on a predetermined standard driving road is calculated in advance. . The standard track may be a straight pavement on a dry road surface that can be easily driven by any driver without stress, regardless of the level of driving skill. Then, when the driver 12 drives the vehicle 11 and travels on different road conditions such as a mountain road where a corner continues, an urban area with a lot of traffic, and a road surface with a lot of unevenness, the respective evaluation values are calculated. For each evaluation value, an index with respect to the standard evaluation value may be calculated. In this case, what is necessary is just to set the above-mentioned predetermined time range to each time which is drive | working the track of each road surface state. This index represents the degree of change of the driving skill of the driver 12 in each running road state with respect to the driving skill of the driver 12 when driving on a predetermined running road. In the driving skill evaluation device of the present invention, the driving skill of the driver may be evaluated by outputting such an index.
In this way, in the driving skill evaluation device of the present invention, the driving skill of the driver 12 corresponding to various states can be qualitatively evaluated by variously changing the evaluation value serving as the evaluation reference.

In the driving skill evaluation device of the present invention, it is not always necessary to calculate the evaluation value. For example, a scatter diagram creating means (not shown) is provided in the data processing unit 40, and in this scatter diagram creating means, the operation integrated value and the burden integrated value are used as axes, respectively, and the scatter diagram representing the correspondence relationship between the operation integrated value and the burden integrated value. The driving skill of the driver 12 may be evaluated by creating a diagram.
For example, when it is desired to evaluate the driving skill according to the state of the driving path of the driver 12, as described above, the accumulated load value when the driver 12 drives the vehicle 11 in advance and travels on a predetermined standard driving path, and Calculate the operation integrated value. Then, when the driver 12 drives the vehicle 11 and travels on different road conditions such as a mountain road where a corner continues, an urban area with a lot of traffic, or a road surface with a lot of unevenness, The operation integrated value is calculated. And the scatter diagram showing the correspondence of the operation integrated value and burden integrated value for every track condition is created. Further, on this scatter diagram, when the vehicle travels on a predetermined standard road, points (standard points) representing the correspondence relationship between the operation integrated value and the burden integrated value are plotted, and this scatter diagram may be output. .

FIG. 5 is an example of a scatter diagram showing the correspondence relationship between the operation integrated value and the burden integrated value of the driver 12 created in the driving skill evaluation apparatus of the present invention. A point P ₀ shown in FIG. 5 is a point (standard point) representing a correspondence relationship between the operation integrated value and the load integrated value when the driver 12 drives the vehicle 11 and travels on a predetermined standard road. Also, P _a point shown in FIG. 5, for example, the driver 12 and the driving operation of the vehicle 11, at the time of traveling on a mountain road, a point representing the correspondence between the operation integrated value and load integrated value. Also, P _b point shown in FIG. 5, for example, the driver 12 and the driving operation of the vehicle 11, when the vehicle travels in an urban area, a point representing the correspondence between the operation integrated value and load integrated value. In the scatter diagram shown in FIG. 5, the physical burden efficiency is worse as the point is in the direction indicated by arrow A shown in FIG. 5 (for example, the operation integrated value / burden integrated value is lower), and is in the direction indicated by arrow B. The more efficient the physical burden, the higher the operation integrated value / the integrated load value. In the example shown in FIG. 5, the driving skill of the driver 12 is the highest when the vehicle travels on the predetermined standard road shown by the point P ₀ . Then, when the vehicle travels in an urban area as shown in the point P _b, high driving skill, it is most driving skill decreases, it can be seen that the case of traveling on a mountain road in the case shown in the point P _a. From such a scatter diagram, it is possible to visually grasp the qualitative driving skill of the driver under various circumstances.

  In the driving skill evaluation device of the present invention, not only the operation information and the physical burden information, but also the psychological quantity representing the psychological state of the driver 12 during driving is used together with the driving skill of the driver. You may evaluate. In this case, for example, the activity information of the masseter muscle of the driver 12 may be acquired by the masseter potential measuring means 60 as shown in FIG. The masseter muscle potential measuring means 60 is composed of electrodes 62 and 63 arranged approximately 5 mm apart from each other, and a ground electrode 64 taking a reference potential, similarly to the above-described myoelectric potential sensor. The electrodes 62 and 63 are affixed to the skin above the masseter muscle X (broken line) of the face F, and the ground electrode 64 is affixed to the earlobe to acquire the potential of the masseter muscle during driving of the driver 12. Here, the masseter muscle is a large muscle on the side of the face and is called a masticatory muscle together with the temporal muscle, and acts on a jaw closing operation, for example, an operation of mastication or speech. For this reason, the masseter muscles are not normally active during operations such as driving a car using muscles such as arms and legs. However, when the driver 12 is stressed and force is applied to the whole body, “force” is also generated in the masseter muscle. The myoelectric signal of the masseter muscle when this stress is occurring can be measured, and the stress (psychological burden) occurring on the driver 12 can be measured. In the driver skill evaluation device of the present invention, for example, the masseter potential measured in this way is processed in the same manner as the potential of the deltoid muscle described above to calculate the RMS value in a predetermined period, and the RMS value in a predetermined time May be calculated, and the driving skill of the driver 12 may be evaluated using this psychological burden integrated value. For example, the psychological integrated value itself may be used as an evaluation value to determine the level of driving skill in each situation of the driver 12 as described above, or the driving skill in each situation may be represented by an index. The psychological amount calculation means is not limited to the measurement of the masseter muscle potential. For example, the heart rate, sweating, cerebral blood flow, facial temperature, etc. of the driver 12 are measured. A psychological value may be calculated.

Further, in the driving skill evaluation device of the present invention, for example, the driving skill of the driver may be evaluated by using the traveling state amount representing the traveling state of the vehicle 11 that the driver 12 drives. For example, as shown in FIG. 7, when the vehicle 11 operated by the driver 12 is driven on a predetermined traveling course (target locus), the traveling locus of the vehicle 11 operated by the actual driver 12 ( The deviation value of the actual trajectory) with respect to the target trajectory may be used as the running state quantity. Such a deviation can be easily calculated from the actual trajectory measured by the GPS sensor 15c provided in the vehicle 11 and a predetermined target trajectory. For example, using the running state quantity itself as an evaluation value, the level of the driving skill in each situation of the driver 12 may be determined as described above, or the driving skill in each situation may be represented by an index.
These psychological quantities and running state quantities described above may be treated independently as evaluation values. In addition, the driving skill of the driver 12 may be comprehensively evaluated using a total score obtained by adding the indices obtained from the body burden information and the operation burden information and the indices of the psychological amount and the running state amount.

  Further, in the data processing unit 40, the above-described evaluation result may be corrected by, for example, the surrounding environment when the vehicle 11 is traveling. For example, weather (sunny, light rain, heavy rain, fog, snow, etc.), road surface conditions (dry, wet, ice burn, etc.), traffic conditions (congestion, smooth flow, etc.) and speed (high speed running, You may correct | amend according to low-speed driving | running | working. For example, in the case of rain or snow, the actual evaluation result may be corrected so that the driving skill level is evaluated higher. These correction amounts may be performed, for example, according to a correction amount database stored in the memory 46 of the data processing unit 40 for each surrounding environment. In addition, the correction amount for each surrounding environment is for each evaluation value (evaluation value obtained from physical burden information and operation burden information, evaluation value obtained from psychological amount, and evaluation value obtained from running state amount). Is preferably set.

  In general, a driver having a higher driving skill has a smoother driving operation and behavior of the vehicle corresponding to the driving operation. In the driver skill evaluation apparatus of the present invention, the data processing means 40 detects the smoothness of the driving action of the driver 12 and the smoothness of the behavior of the vehicle 11, and evaluates the driving skill according to the smoothness values. The result may be corrected. The smoothness of the driving operation of the driver 12 is obtained from data of each operation operation of the driver detected by a driving operation information acquisition sensor such as a brake pressure sensor 13a and a throttle sensor 13b provided in the vehicle 11. Can do. Further, the smoothness of the behavior of the vehicle 11 can be obtained from the data of each behavior of the vehicle 15 detected by the yaw rate sensor 15a, the vehicle speed sensor 15b, and the GPS sensor 15c provided in the vehicle 11. The data processing unit 40 may correct the evaluation result so that the higher the smoothness value, the higher the driver's driving skill is evaluated.

  A method for evaluating the driving skill of the driver 12 according to the present invention performed using the driving skill evaluation apparatus 10 will be described. Hereinafter, a case where the level of the driving skill of the driver 12 when the vehicle 11 is driven to travel on a specific road is described. First, in the memory 46 of the data processing means 40, an evaluation value obtained when a predetermined driver having a standard driving skill drives the vehicle 11 and travels on the specific running road as a reference evaluation value in advance. Is set. In addition, the detection sensors 32 and 34 and the electrode 36 described above are pasted on the shoulder surface of the driver 12 where the deltoid muscle is located. FIG. 8 is a flowchart of such a driving skill evaluation method.

  When the driving skill determination of the driver 12 is started, the physical burden detection device 30 starts detecting time-series myoelectric potential data of the left and right deltoid muscles of the driver 12 as described above (step S102). The time series data of the myoelectric potentials of the left and right deltoid muscles are sampled by the physical burden information calculation unit 39 to generate an electromyogram, and the physical burden information calculation unit 39 uses this myoelectric waveform to generate a time series (predetermined). Physical burden information for each period is calculated (step S104). When the driving skill determination of the driver 12 is started simultaneously with the start of detection of the myoelectric potential of the deltoid muscle, the operation amount measuring means 20 performs the time-series steering angle data and the time-series torque data as described above. Is detected (step S106). The time-series steering angle data and the time-series torque data are sampled by the body burden information calculation unit 39 to generate a steering angle waveform and a torque waveform. In the body burden information 39, the steering angle waveform and the torque waveform are used. Thus, the above-described time-series (each predetermined period) driving operation amount information is calculated (step S108). The physical burden information and the operation information for each predetermined period are stored in the memory 42 of the data processing unit 40. Acquisition and storage of the physical burden information and driving operation information for each predetermined period are continuously performed over at least the time range in which the vehicle 11 is traveling on the above-described specific running path.

  When the vehicle 11 finishes traveling on the specific track, the data processing unit 40 performs data processing on the physical burden information and the operation amount information in this time range. First, the evaluation value calculation unit 42 calculates an evaluation value in a predetermined time range during driving (a time range corresponding to a time during which the vehicle has traveled on a specific road) as described above (step S110). Then, in the driving skill level determination unit 44, this evaluation value is compared with the above-described predetermined reference evaluation value, and as described above, when the vehicle 11 is operated to run on the specific road, The level of the driving skill of the driver 12 is determined (step S112). Then, this determination result is displayed and output on the monitor 52 (step S114). The driving skill evaluation method of the present invention is performed in this way.

FIG. 9 and FIG. 10 are examples of evaluation results obtained by the driving skill evaluation method of the present invention that are output from the driving skill evaluation apparatus of the present invention. The diagram shown in FIG. 9 shows, for each driver, the fluctuations in the driving skill according to the road condition when the plurality of drivers D _{1 to} D ₄ drive the same vehicle and travel on the same road. FIG. In FIG. 9, when each of the plurality of drivers D _{1 to} D ₄ drives the same vehicle and travels on the same road divided into a plurality of sections, the driving skill of each driver is represented for each section. ing. In Figure 9, the driving skill of each section of each driver, each driver D ₁ to D ₄ is operated operating the same vehicle, the evaluation of each section which is calculated by running the same runway Each value is represented by its index. In FIG. 9, as the evaluation value, the ratio of the operation integrated value to the load integrated value (physical burden efficiency) is used. Specifically, (can run also easily without stress in any driver, straight paved road of the dried road surface) another course driver D ₁ is above same vehicle the evaluation value calculated upon traveling and 100, each operating The evaluation value for each section is expressed as an index.

The total length of the same runway in FIG. 9 is 16 km, the road from the starting point (0 km) to the 8 km point is a city road with a relatively large traffic volume, and the traffic volume is relatively small from the 8 km point to the 16 km point. It is a mountain road with continuous corners. The same runway is divided into a plurality of (eight) sections every 2 km. In FIG. 9, for each driver D _{1 to} D ₄ , the above-described evaluation value is calculated for each time range in which each of the plurality of sections is traveling, and each evaluation value is represented as an index. From FIG. 9, it is possible to grasp for each driver the fluctuation of the driving skill according to the road condition when each driver D _{1 to} D ₄ drives the same vehicle and travels on the same road. it can. For example, the driver D ₁ can be also mountain road a city, it can be determined that the driving skill is not changed, and a driver having a general high skill. In addition, the driver D2 can determine that the driver has a high skill for traveling in the city, but has a relatively low skill for traveling on a mountain road, and is a driver with an immature driving skill on a mountain road. Further, the driver D ₃ have a high skill for the running of the mountain road, has only low ability for city driving, it is possible to urban driving skill is judged to be immature driver. Further, the driver D ₄ may be the travel both of city driving and mountain road the traveling skill is judged to be immature driver. According to the driving skill evaluation method of the present invention, it is possible to qualitatively evaluate the fluctuation of the driving skill of the driver due to the difference in the road condition.

Also, the view shown in FIG. 10, by operating the driver the driver D ₅ the same vehicle, when the vehicle travels Repeat same track, the variation of the driving skill corresponding to the number of repetitions, representing every number of iterations Figure It is. 10, driving skill of each repetition count of each driver, the driver D ₅ by driving operation of the same vehicle, the evaluation value for each section calculated by running the same runway, 9 It is expressed with the same index. As shown in FIG. 10, driving skill of the driver D ₅ is, with the increase in the number of repetitions of the operation, it has risen. When the same vehicle repeatedly travels on the same road, it is natural that the driving skill increases, and it can be confirmed that the driving skill evaluation method of the present invention can suitably evaluate the driver's driving skill. According to the driving skill evaluation method of the present invention, it is possible to qualitatively and quantitatively evaluate the driving skill of the individual driver.

  If the driving skill evaluation device of the present invention is used, for example, the driver himself can grasp his / her driving skill for each driving condition as an evaluation value. Etc.), and the types of vehicles that are not good at driving (small cars such as mini cars and large cars such as RV cars). In addition, the driving skill for each driving condition can be evaluated qualitatively and quantitatively, and by using it for driving training of the driver, it is possible to accurately determine the result and achievement of driving training. For example, driving training for people who cannot afford driving, such as paper drivers, driving training for people with two licenses such as buses and taxis, driving training under bad conditions such as snowy roads and frozen roads, driving for beginners, etc. It can be suitably used for driving training for people unaccustomed to driving, practice for motor sports, and training for test drivers.

  By the way, it can be said that the driving | running | working condition where a predetermined driver | operator is evaluated that a driver | operator's skill is high is a condition where the driver | operator performed driving operation work easily. That is, the efficiency of the driver's physical burden with respect to the amount of operation performed by the driver in the driving operation work performed by the driver under a predetermined situation represents the ease of the driving operation work under this situation. It can be said that there is. For example, using the driving skill evaluation device, if the same driver drives and operates each of a plurality of different vehicles, and the above evaluation values are calculated for each of the cases where each vehicle travels on the same specific track, Using this evaluation value, the ease of driving operation (driving operability) of each of a plurality of different vehicles can be evaluated. These evaluation methods may be performed in the same manner as the determination of the driving skill. The driving skill evaluation device of the present invention also functions as a vehicle maneuverability evaluation device.

  Next, the driving burden efficiency notification device of the present invention will be described. FIG. 11 is a schematic configuration diagram illustrating a burden efficiency notification device 80 provided in the vehicle 11, which is an example of the driver burden notification device of the present invention. The burden efficiency notification device 80 has a part of the same configuration as the driver skill evaluation device 10. Specifically, the burden efficiency notification device 80 includes the operation amount measurement unit 20, the burden measurement unit 30, a data processing unit 70, and a notification unit 50. The burden efficiency notification device 80 uses the operation amount measurement unit 20, the load measurement unit 30, and the monitor 52 of the notification unit 50 in combination with the driver skill evaluation device 10. Detailed description of the manipulated variable measuring means 20 and the burden measuring device 30 will be omitted.

As described above, the operation amount measuring unit 20 obtains information on time-series driving operation amounts performed by the driver 12 on the vehicle 11 and outputs the information to the data processing unit 70. As the information on the driving operation amount, the RMS value of the above-described waveform of the power is mentioned. As described above, the burden measuring unit 30 obtains time series physical burden information representing the time series physical burden of the driver 12 in the driving operation work, and outputs the time series physical burden information to the data processing unit 70. The physical burden information includes a value obtained by performing geometric average processing on an RMS (Root Mean Square) value for each of the above left and right myoelectric potential waveforms.
The information on the operation amount and the physical burden information are obtained for each predetermined period corresponding to each RMS value when the RMS value is calculated, and are sequentially output to the data processing means 70.

  The data processing means 70 includes a burden efficiency calculation unit 72, a burden efficiency level determination unit 74, a memory 76, and a CPU 78. The data processing means 70 is a computer in which each unit functions when the CPU 78 executes a program stored in the memory 76. The physical burden information sent from the burden measuring means 30 and the manipulation amount information sent from the manipulation amount measuring means 20 are sequentially sent to the burden efficiency calculating unit 72. Note that an input device (not shown) is connected to the data processing means 70, and an operator can operate this input device to change an evaluation time range and an evaluation reference value described later.

  The burden efficiency calculation unit 72 receives the physical burden information sent from the burden measuring means 30 and the operation amount information sent from the operation amount measuring means 20, and based on these information, a predetermined period (in the above example, 3 seconds) ) Calculate the burden efficiency judgment value for each. The burden efficiency determination value calculated here is the body of the driver 12 in the predetermined period with respect to the operation amount in the predetermined period (the operation amount performed by the driver 12) in the driving operation work performed by the driver 12. It is a value that represents the efficiency of social burden. For example, the ratio of the operation amount for each corresponding predetermined period to the physical burden information for each predetermined period is calculated. This burden efficiency determination value represents the efficiency of the physical burden of the driver 12 in a predetermined period. In the present invention, for example, a value obtained by subtracting the value of the burden integrated value from the value of the operation integrated value may be used as the burden efficiency determination value. The burden efficiency determination value in the present invention is not particularly limited as long as it is a value representing the efficiency of the driver's physical burden with respect to the operation amount performed by the driver in the driving operation work performed by the driver.

  The burden efficiency level determination unit 74 compares the burden efficiency determination value calculated by the burden efficiency calculation unit 72 with a preset determination reference value, and the burden efficiency determination value of the driver 12 falls below this determination criterion. It is determined whether or not. For example, the determination reference value is set in advance by the above-described input device (not shown). For example, when a predetermined driver having a standard driving skill drives the vehicle 11 and travels on a specific road, the predetermined driving in a state where the vehicle 11 is likely to deviate from a predetermined course. The burden efficiency determination value of the person is set as the determination reference value. The efficiency of the driver's physical burden corresponds to the skill of the driver as described above. In a situation where the efficiency of the driver's physical burden decreases (that is, in a situation where the driver's physical burden increases in relation to the driving operation), the driver can exhibit only a low skill. In such a case, the operation of the vehicle becomes difficult and the vehicle cannot be operated as the driver thinks. In the burden efficiency level determination unit 74, while the driver 12 is driving the vehicle 11, the burden efficiency determination value sequentially calculated and the above-described reference evaluation value are sequentially compared to determine the physical burden on the driver 12. However, it is sequentially determined whether or not it is difficult to operate the vehicle.

The burden efficiency level determination unit 74 controls the operation of the monitor 52 and the speaker 54 of the notification unit 50, and notifies the driver 12 of the determination result by the notification unit 50 in a notification mode according to the determination result described above. For example, when the burden efficiency determination value of the driver 12 is equal to or greater than the determination criterion, the burden efficiency level determination unit 74 sends the burden efficiency determination value to the monitor 52 and causes the load efficiency determination value to be displayed on the screen of the monitor 52. Then, the current physical burden efficiency of the driver 12 is notified. On the other hand, when the burden efficiency determination value of the driver 12 falls below the determination criterion, the burden efficiency level determination unit 74 sends the burden efficiency determination value to the monitor 52 and blinks the burden efficiency determination value on the screen of the monitor 52. Display in a different display form, such as display (display in alarm mode). At the same time, a warning sound is generated from the speaker 54 to inform the driver 12 that the current physical burden efficiency is such that it is difficult to operate the vehicle.
As in the case of the driving skill evaluation device 10 described above, the determination result is corrected and the determination criteria are changed using the psychological amount, the running state amount, the surrounding environment, the driving operation and the smoothness of the vehicle behavior. Also good.

  A method for notifying the driving burden efficiency of the driver 12 who is driving the vehicle 11, which is performed using the burden efficiency notifying apparatus 80, will be described. FIG. 12 is a flowchart of an example of the driving skill evaluation method of the present invention performed using the burden efficiency notification device 80. In the memory 76 of the data processing unit 70 of the present invention, when a predetermined driver having a standard driving skill drives the vehicle 11 and travels on a specific runway in advance, the vehicle 11 starts from a predetermined course. The burden efficiency determination value of the predetermined driver in a state where it is likely to deviate is set as the determination reference value. In addition, the detection sensors 32 and 34 and the electrode 36 described above are pasted on the shoulder surface of the driver 12 where the deltoid muscle is located.

  When the notification of the driving burden efficiency of the driver 12 is started, the physical burden detecting device 30 starts to detect time-series myoelectric potential data of the left and right deltoid muscles of the driver 12 as described above (step S202). ). The time series data of the myoelectric potentials of the left and right deltoid muscles are sampled by the physical burden information calculation unit 39 to generate an electromyogram waveform. In the physical burden information 39, the physical burden for each predetermined period is used. Information is calculated (step S204). When the driving skill determination of the driver 12 is started simultaneously with the start of detection of the myoelectric potential of the deltoid muscle, the operation amount measuring means 20 performs the time-series steering angle data and the time-series torque data as described above. Is detected (step S206). The time-series steering angle data and the time-series torque data are sampled by the body burden information calculation unit 39 to generate a steering angle waveform and a torque waveform. In the body burden information 39, the steering angle waveform and the torque waveform are used. Thus, the driving operation amount information for each predetermined period is calculated (step S208).

  When the body burden information and the driving operation amount information for each predetermined period are sequentially calculated, the burden efficiency calculation unit 72 sequentially calculates the body burden efficiency value for each predetermined period (step S210). Then, the burden efficiency level determination unit 74 sequentially compares the physical burden efficiency value with the above-described determination reference value, and the burden efficiency of the driver 12 who operates the vehicle 11 as described above. It is determined whether or not the determination value is below this determination criterion (step S212). The burden efficiency level determination unit 74 notifies the driver 12 of the determination result by the notification means 50 in a notification form corresponding to the determination result. For example, when the physical burden efficiency value is equal to or greater than the determination reference value, the physical burden determination value is displayed on the monitor 52 in a normal notification form (step S214). When the physical burden efficiency value is less than the determination reference value, the physical burden determination value is displayed on the monitor 52 in a warning notification form, and a warning sound is generated from the speaker 54 (step S216). These burden efficiency determinations (step S212) and notifications (step S214 or step S216) are performed each time the physical burden efficiency value for each predetermined period is calculated until the driving operation of the vehicle 11 by the driver 12 is completed. Are performed sequentially. When the driving operation of the vehicle 11 by the driver 12 ends (when the determination in step S218 is YES), the notification of the driving burden efficiency ends.

  FIG. 13A is an example of time-series steering angle data of the vehicle 11 acquired by the operation amount measuring unit 20 in step S206. FIGS. 13B and 13C show the left and right triangles acquired by the physical burden detection device 30 in step S202 when the time-series steering angle data shown in FIG. 13A is acquired. It is an example of the myoelectric potential data of the time series of a muscle. In the example shown in FIGS. 13B and 13C, the physical burden on the driver 12 is temporarily increased (the deltoid muscle is active) about 39 seconds after the start of traveling. On the other hand, in the time-series steering angle data shown in FIG. 13A, the steering angle is not particularly changed even after about 39 seconds from the start of traveling. About 39 seconds after the start of the travel, for example, the vehicle was picked up by a wheel on the road surface, and the driver had to hold the steering wheel against this disturbance (to keep it from rotating). It is considered that some event that the physical burden on the driver 12 temporarily increases has occurred. In the driver burden notification device 80, time series myoelectric potential data, time series steering angle data, and time series torque data are continuously acquired, and body burden information and driving operation amount information for each predetermined period are obtained. It is calculated sequentially.

  14 shows time series myoelectric potential data of the left and right deltoid muscles of the driver 12 shown in FIGS. 13B and 13C, and the time series steering angle of the vehicle 11 shown in FIG. 13A. The physical burden efficiency value for each predetermined period calculated using the data is shown. As described above, the physical burden on the driver 12 temporarily increases approximately 39 seconds after the start of traveling, whereas the steering angle does not particularly vary even approximately 39 seconds after the start of traveling. Therefore, about 39 seconds after the start of traveling, the physical burden efficiency value is greatly reduced and is lower than the reference determination value. The burden efficiency notification device 80 notifies the driver 12 that the physical burden efficiency is reduced by performing a warning notification by the notification means 50 when this determination result is output.

  The driver 12 uses the burden efficiency notification device 80 as described above to determine whether or not the physical burden efficiency of the driver 12 itself is reduced during the driving operation of the vehicle, and only a low skill can be exhibited. Can be recognized in real time. As a result, when the efficiency of the physical burden of the driver 12 is reduced, it is possible to take measures in real time such as switching to a more careful and careful driving. In addition, it is possible to recognize a driving situation in which the efficiency of the physical burden of the user is reduced, and to grasp the characteristics of the driver's own driving. In addition, it is possible to accurately recognize under what circumstances the driving skill should be increased in order to increase its own driving skill, and by performing driving training based on such information, the driving skill Can be increased efficiently.

  According to the driver burden notification device of the present invention, for example, the driver himself / herself can grasp his / her driving skill in each of various driving conditions and is not good at driving, as with the driving skill evaluation device described above. (Urban areas, mountain roads, etc.) and vehicles that are not good at driving (small cars such as mini cars or large cars such as RV cars) can be grasped. In addition, the physical burden efficiency for each driving condition can be evaluated qualitatively and quantitatively, and the results and achievements of driving training can be judged accurately by using it for driver driving training. . For example, driving training for people who cannot afford driving, such as paper drivers, driving training for people with two licenses such as buses and taxis, driving training under bad conditions such as snowy roads and frozen roads, driving for beginners, etc. It can be suitably used for driving training for people unaccustomed to driving, practice for motor sports, and training for test drivers.

  As described above, the driving skill evaluation device, the driving burden efficiency notification device, the driving skill evaluation method, and the driving burden efficiency notification method of the present invention have been described in detail. However, the present invention is not limited to the above embodiments, and the gist of the present invention. It goes without saying that various improvements and modifications may be made without departing from the scope of the invention.

It is a schematic block diagram explaining the vehicle provided with both the driving skill evaluation apparatus of this invention and the driving burden efficiency alerting | reporting apparatus. It is a schematic block diagram explaining an example of the driving skill evaluation apparatus of this invention. (A) is a graph which shows an example of the steering angle waveform produced | generated in the operation amount information calculation part of the driving skill evaluation apparatus shown in FIG. 2, (b) and (c) are the steering angles shown in (a). It is a graph which shows the myoelectric potential waveform of the left and right deltoid muscles corresponding to a waveform, respectively. It is a figure explaining the sticking position to the driver | operator of the physical burden measuring means of the driving skill evaluation apparatus shown in FIG. It is an example of the scatter diagram showing the correspondence of a driver | operator integrated operation value and a burden integrated value created in the driving skill evaluation apparatus shown in FIG. It is a figure explaining the masseter muscle electric potential measurement means for measuring the psychological quantity of the driver | operator during driving | operation used in the other example of the driving skill evaluation apparatus of this invention. The figure explaining the value of the deviation with respect to the target locus | trajectory of the driving | running | working track | truck of a vehicle which is an example of the driving | running | working state quantity showing the driving | running | working state of the vehicle which a driver | operator performs driving operation used in the other example of the driving skill evaluation apparatus of this invention It is. It is a flowchart figure of an example of the driving skill evaluation method of this invention. It is an example of the evaluation result by the driving skill evaluation method of this invention output in the driving skill evaluation apparatus of this invention. It is another example of the evaluation result by the driving skill evaluation method of this invention output in the driving skill evaluation apparatus of this invention. It is a schematic block diagram explaining an example of the driver | operator burden alerting | reporting apparatus of this invention. It is a flowchart figure of an example of the driving skill evaluation method of this invention. (A) is a graph which shows an example of the time series steering angle produced | generated in the operation amount information calculation part of the driving skill evaluation apparatus shown in FIG. 11, (b) and (c) are shown to (a). It is a graph which respectively shows the time series myoelectric potential of the left and right deltoid muscles corresponding to a steering angle waveform. Predetermined by using the time-series myoelectric potential data of the left and right deltoid muscles of the driver shown in FIGS. 13B and 13C and the time-series steering angle data shown in FIG. The physical burden efficiency value for each period is shown.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Driving skill evaluation apparatus 11 Vehicle 12 Driver 13 Driving operation information acquisition sensor 13a Brake pressure sensor 13
13b Throttle sensor 14 Operation system 15 Vehicle behavior information acquisition sensor 15a Yaw rate sensor 15b Vehicle speed sensor 15c GPS sensor 16 Steering wheel 18 Steering shaft 22 Steering angle sensor 24 Torque sensor 26 Operation amount information calculation unit 30 Physical burden measuring means 32, 34 detection Sensor 36 Electrode 38 Amplifier 39 Body burden information calculation unit 40, 70 Data processing means 42 Evaluation value calculation unit 44 Driving skill level determination unit 46 Memory 48 CPU
52 monitor 60 masseter potential measurement means 62, 63 electrode 64 ground electrode 72 burden efficiency calculation section 74 burden efficiency level determination section 80 body burden efficiency notification means

Claims (18)

An apparatus for evaluating a driving skill of a driver who drives a vehicle,
A driver burden measuring means for measuring the physical burden of the driver in the driving operation of the vehicle;
Driving operation amount measuring means for measuring the amount of driving operation amount performed by the driver on the vehicle during the driving operation;
Using the magnitude of the size and the driving operation amount of physical burden of the driver, we have a evaluation means for evaluating the driving skill of the driver,
The evaluation means determines the amount of work performed by the driver for the vehicle in the driving operation of the vehicle from the size of the physical burden of the driver and the size of the driving operation amount. A driving skill evaluation apparatus characterized by calculating an evaluation value representing the efficiency of a physical burden on a driver and determining the level of the driving skill of the driver using the evaluation value . 2. The driving skill evaluation according to claim 1, wherein the evaluation means compares the evaluation value with a predetermined reference value, and determines the level of the driving skill of the driver based on the comparison result. apparatus. The predetermined reference value is a value set in accordance with at least one of a vehicle driven by the driver or a runway on which the vehicle is driven by the driver's driving. 2. Driving skill evaluation apparatus according to 2.   The driver burden measuring means detects a myoelectric potential of a specific muscle of the driver involved in the driving operation, and calculates a physical burden of the driver from information on the myoelectric potential. The driving skill evaluation device according to claim 1, further comprising a calculation unit. The driving operation amount measurement means includes a steering angle detection unit that detects the steering angle of the vehicle according to the driving operation of the driver, and the magnitude of the driving operation amount from information on the steering angle of the vehicle. The driving skill evaluation apparatus according to claim 1, further comprising a calculation unit that calculates the driving skill. The driving operation amount measuring means further includes a steering torque detecting unit that detects a steering torque around the steering shaft of the vehicle, and a steering angle detected by the steering angle detecting unit in accordance with the driving operation of the driver. Based on the information and the information on the steering torque detected by the steering torque detector, the amount of work performed by the driver on the vehicle according to the driving operation of the driver is calculated as the driving operation amount. The driving skill evaluation device according to claim 5, further comprising a work amount calculation unit. Furthermore, a psychological burden measuring means for measuring the psychological burden associated with the driving operation of the driver who drives the vehicle is provided,
  The evaluation means evaluates the driving skill of the driver using the psychological burden amount in addition to the physical burden amount and the driving operation amount of the driver. The driving skill evaluation apparatus according to any one of? 6. 8. The psychological burden measuring means is means for detecting a muscle activity independent of the driving operation of the driver and detecting the psychological burden based on the muscle activity. The driving skill evaluation device described. The vehicle further comprises a travel locus deviation measuring means for measuring a deviation amount of the travel locus of the vehicle due to the driving operation of the driver with respect to a travel path on which the vehicle is to travel,
  The evaluation means evaluates the driving skill of the driver by using a shift amount of a travel locus of the vehicle in addition to the physical burden of the driver and the driving operation amount. The driving skill evaluation apparatus according to any one of claims 1 to 8. The evaluation means corrects the evaluation result based on at least one of information representing the state of the vehicle, information representing the state of the running road, and information representing the state of the surrounding environment of the vehicle. The driving skill evaluation apparatus according to any one of claims 1 to 9, wherein the driving skill evaluation apparatus is any one of claims 1 to 9. 11. The driving skill evaluation apparatus according to claim 1, wherein the evaluation unit outputs an evaluation result of the driving skill of the driver in association with a road surface condition of the running road. A device for informing the driver of the vehicle of the efficiency of the physical burden of the driver accompanying the driving operation of the vehicle,
  A driver burden measuring means for measuring the physical burden of the driver related to the driving operation of the vehicle;
  Driving operation amount measuring means for measuring the amount of driving operation amount performed by the driver on the vehicle during the driving operation;
  Using the size of the driver's physical burden and the amount of the driving operation amount, the driver's driving operation amount of the driver with respect to the driving operation amount performed by the driver with respect to the vehicle in the driving operation of the vehicle. A burden rate judgment value calculating means for calculating a burden rate judgment value representing the magnitude of the physical burden efficiency;
  A driving burden efficiency notifying device comprising notifying means for notifying the driver of the efficiency of the physical burden of the driver in the driving operation of the vehicle according to the burden rate determination value. Further, the burden rate determination value calculated by the load rate determination value calculation means is compared with a predetermined reference determination value, and based on the comparison result, the driver's body in the driving operation of the vehicle A determination means for determining the efficiency level of the burden
  13. The driving burden efficiency notifying apparatus according to claim 12, wherein the notifying means notifies the driver of the efficiency of the physical burden of the driver in a notification form corresponding to the determination result. 14. The driving burden efficiency notifying device according to claim 13, wherein the notifying means issues a warning to the driver when the burden ratio determining value falls below a predetermined warning reference value in the determining means. .   A method for evaluating the driving skill of a driver driving a vehicle,
  A driver burden measuring step for measuring the physical burden of the driver in the driving operation of the vehicle;
  A driving operation amount measuring step for measuring the amount of driving operation performed on the vehicle by the driver during the driving operation;
  Using the magnitude of the physical burden of the driver and the magnitude of the driving operation amount, and an evaluation step for evaluating the driving skill of the driver,
  In the driving operation of the vehicle, the evaluation step is based on the amount of the driver's physical burden and the amount of the driving operation amount with respect to the driving operation amount that the driver performs on the vehicle in the driving operation of the vehicle. A driving skill evaluation method characterized by calculating an evaluation value representing the efficiency of the physical burden on the driver and determining the level of the driving skill of the driver using the evaluation value.   16. The driving skill evaluation according to claim 15, wherein the evaluation step compares the evaluation value with a predetermined reference value, and determines the level of the driving skill of the driver based on the comparison result. Method.   The predetermined reference value is a value set in accordance with at least one of a vehicle driven by the driver or a runway on which the vehicle is driven by the driver's driving. 16. Driving skill evaluation method according to 16.   A method of notifying a driver who drives a vehicle of the efficiency of the physical burden of the driver in the driving operation of the vehicle,
  A driver burden measuring step for measuring a magnitude of the physical burden of the driver related to the driving operation of the vehicle;
  A driving operation amount measuring step for measuring the amount of driving operation performed on the vehicle by the driver during the driving operation;
  Using the magnitude of the driver's physical burden and the magnitude of the driving operation amount, the driver's driving operation performed on the vehicle with respect to the driving operation amount performed by the driver on the vehicle in the driving operation of the vehicle. A burden efficiency determination value calculating step for calculating a burden efficiency determination value representing the magnitude of the physical burden efficiency;
  And a notification step of notifying the driver of the efficiency of the physical burden of the driver in the driving operation of the vehicle according to the burden efficiency determination value.

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