JP4769158B2 - Driving simulation device for electric wheelchair - Google Patents

Description

The present invention relates to a driving simulation apparatus for an electric wheelchair , and more particularly to a driving simulation apparatus for a small electric vehicle or an electric wheelchair suitable for use by an elderly person.

As an example of a vehicle driving simulation apparatus, the technique described in Patent Document 1 below can be cited. This prior art relates to a simulation apparatus for learning driving a train.
JP2000-147997

  By the way, in recent years, various types of small electric vehicles or electric wheelchairs suitable for use by elderly people and the like that travel at an extremely low speed comparable to the speed at which a person walks have been proposed. Since the user of such a vehicle has decreased physical ability due to aging, it is desirable to determine the physical ability before actually driving in the sense of promoting traffic safety. However, since the above-described prior art is intended to acquire driving skills, the physical ability required for driving has not been determined.

  Accordingly, an object of the present invention is to provide a driving simulation apparatus that solves the above-described problems, determines the user's physical ability, and thus contributes to the promotion of traffic safety.

In order to solve the above object traveling, in the claim 1, comprising a simulated travel levers similar to travel levers for commanding traveling and stop of at least an electric wheelchair, indicated by the operation of the model pseudo travel lever -An operation unit that outputs a user instruction including at least a stop; a control unit that is connected to the operation unit and inputs the user instruction; and is connected to the control unit and is virtual according to a command from the control unit In the driving simulation device for an electric wheelchair comprising a monitor screen for displaying an image of the traveling road, the control unit displays a signboard with characters on the monitor screen , and describes the signboard and the signboard. with varied to become gradually larger in the character the monitor screen which is, when an instruction of the user corresponding to the character is output, the virtual It was constructed as determined vision of the physical ability of the user based on virtual distance between the Signs & vehicle on the path.

In the driving simulation device for an electric wheelchair according to claim 2, the control unit is further configured to be based on an instruction of the user with respect to the image on the monitor screen, when the motion response of the user's physical ability is delayed. It was configured to determine the interval .

In the driving simulation device for the electric wheelchair according to claim 3 , the control unit changes the image on the monitor screen and the time until the instruction corresponding to the change of the image is output from the time. It was comprised so that the operation | movement reaction delay time of a user's physical ability might be determined.

In claim 1, an operation unit that outputs a user instruction including at least a travel / stop indicated by an operation of a simulated travel lever similar to a travel lever that commands travel / stop of an electric wheelchair , and an operation Driving simulation device for an electric wheelchair comprising: a control unit connected to the unit for inputting a user instruction; and a monitor screen connected to the control unit and displaying an image formed of a virtual traveling path in response to a command from the control unit The control unit displays a signboard on which characters are written on the monitor screen, changes the signboard and the characters written on the signboard in a stepwise manner on the monitor screen, and changes the size of the user corresponding to the character. when an instruction is output, and configured as determining the visual acuity of the physical ability of the user on the basis of the virtual distance between the vehicle and the signboard in the travel path of the virtual In, before driving the vehicle actually, by keeping to determine the physical ability of the user, whether or suitability of use can also be determined, thus it can contribute to the promotion of traffic safety. In addition, the visual acuity can be easily determined.

  In addition, for elderly people, it is seriously measured by using a dedicated measuring instrument and being told that the physical ability is lowered, which greatly damages the pride, but as part of driving simulation, driving practice is called driving practice. Such an inconvenience does not occur because the judgment is naturally made in the sense of game. Moreover, based on the determination result, the elderly family can also give appropriate advice.

In the drive simulation apparatus for an electric wheelchair according to claim 2, further control unit, based on the user's instruction to the image on the monitor screen, determines operating time reaction delay of the physical ability of the user In addition to the effects described above, it is possible to more appropriately determine whether or not it can be used by determining the visual acuity or motion response delay time, which is particularly important in driving a small electric vehicle or an electric wheelchair among physical abilities. Can also contribute to the promotion of traffic safety.

In the driving simulation device for an electric wheelchair according to claim 3 , the control unit changes the image on the monitor screen and the physical ability of the user from the time until the instruction corresponding to the change of the image is output. In addition to the above effects, the operation reaction delay time can be easily determined.

The best mode for carrying out the driving simulation apparatus for an electric wheelchair according to the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a perspective view generally showing a driving simulation apparatus for an electric wheelchair according to an embodiment of the present invention, and FIG. 2 is a block diagram functionally showing it.

  As shown in the figure, a driving simulation apparatus (hereinafter referred to as “apparatus”) 10 includes a simulated handle 12 similar to a vehicle handle and a simulated travel lever (described later) for commanding running / stopping of the vehicle. An operation unit 14 that outputs a user instruction including at least the indicated traveling direction and the traveling / stop indicated by the operation of the simulated traveling lever, and a control unit 16 that is connected to the operation unit 14 and inputs the user instruction. The monitor screen 18 is connected to the control unit 16 and displays an image of a virtual traveling path in response to a command from the control unit 16.

  Speakers 20 are arranged on both sides of the monitor screen 18. The device 10 is placed on a desk 22, and a chair or the like (not shown) is placed in front of the device 10 so that a user (planned driver) can sit there and operate the simulated handle 12 or the like. .

  Before continuing description of FIG. 1 and FIG. 2, the vehicle which the apparatus 10 presupposes is demonstrated, FIG. 3 is the perspective view of the vehicle, FIG. 4 is the front view of the handle | steering_wheel of the vehicle.

  As shown in FIG. 3, the vehicle 26 is a single-seat four-wheeled small electric vehicle, more precisely an electric wheelchair, and an electric motor (not shown) is stored in the lower part of the seat 26a. The electric motor is supplied with power from a battery (not shown) and travels at an extremely low speed of 6 km / h or less in accordance with instructions from the driver (user).

  FIG. 4 is a front view showing the operation system of the vehicle 26. As shown in the figure, the operation system of the vehicle 26 is protruded left and right in the same manner as a handle 26c that protrudes from the dashboard 26b while looping left and right. Further, a travel lever 26d for a travel / stop command, a speed setting knob 26e disposed on the dashboard 26b and capable of setting the speed steplessly between 1 km / h and 6 km / h, and the traveling of the vehicle 26 It comprises a forward / reverse switching switch 26f for switching the direction back and forth, a horn switch 26g for operating a horn (not shown), and a power switch key 26h for turning on / off the energization from the battery (power source) to the electric motor.

  When traveling, the driver first turns on the power switch key 26h, selects the traveling direction with the forward / reverse switching switch 26f, and selects the traveling speed with the speed setting knob 26e. The travel lever 26d has a function similar to that of an accelerator and a brake, and the travel speed of the vehicle 26 is determined by the driver grasping the left or right (or both) travel lever 26d while gripping the handle 26c. When released, the vehicle 26 stops.

  Specifically, the travel lever 26d is rotatable between 0% and 100%, and the vehicle 26 is a value obtained by multiplying the speed set by the speed setting knob 26e by the rotation angle of the travel lever 26d. Drive on.

  More specifically, the vehicle 26 has a running speed of zero and remains stopped unless the driver touches the traveling lever 26d. When the driver holds the traveling lever 26d, the speed setting knob 26e is used. A value obtained by multiplying the set speed by the rotation angle, for example, when the speed setting knob 26e is set to 6 km / h, and the travel lever 26d is rotated 10% (if grasped), the speed Drive at 0.6 km / h. Hereinafter, the rotation angle of the travel lever 26d is referred to as an “accelerator angle”.

  The details of the vehicle 26 are described in the patent application previously filed in Japanese Patent Application No. 2005-307842 by the applicant of the present invention, and thus further explanation is omitted.

  Returning to the description of the apparatus 10 on the premise of the above, the apparatus 10 shown in FIG. 1 is installed, for example, in a store of the vehicle 26, and before the customer (user) visiting the store purchases the vehicle 26, the vehicle 26. It is used to determine or measure physical ability as will be described later.

  As shown in FIG. 2, the operation unit 14 includes a simulation member similar to the components of the operation system of the vehicle 26 in addition to the simulation handle 12 described above. That is, the operation unit 14 has functions similar to the simulated power switch key 14a having a function similar to the power switch key 26h, the simulated travel lever 14b having a function similar to the travel lever 26d, and the speed setting knob 26e. A simulated speed setting knob 14c, a simulated forward / reverse switching switch 14d having a function similar to the forward / reverse switching switch 26f, and a simulated horn switch 14e having a function similar to the horn switch 26g are provided.

  The user turns on the simulated power switch key 14a, selects the traveling direction with the simulated forward / reverse switching switch 14d, selects an appropriate speed with the simulated speed setting knob 14c, and then holds the simulated handle 12 and either The vehicle 26 is simulated by grasping the (or both) simulated traveling levers 14b and operating the accelerator angle, that is, the traveling speed.

  The user's instruction including at least the operation performed by the user via the simulated power switch key 14a and the like in the operation unit 14 and the traveling / stopping indicated by the user operating the simulated traveling lever 14b is a control board It is converted to USB via 28 and output to the control unit 16.

  The control unit 16 is composed of a microcomputer, inputs a user instruction, and operates to determine physical ability with respect to visual acuity and motion response delay time as described later, and outputs a command value. A monitor screen 18 is connected to the control unit 16, and the monitor screen 18 displays an image formed of a virtual traveling path in response to a command from the control unit 16.

  A speaker 20 is also connected to the control unit 16, and when the user turns on the simulated horn switch 14e, the control unit 16 outputs a command value via a drive circuit (not shown) and operates the speaker 20 to generate a warning sound. Output.

  FIG. 5 is a flowchart showing visual acuity determination in the operation of the control unit 16.

  Prior to the processing of the flow chart of FIG. 5, the user is given an explanation of the operating system such as the handle 26c and the travel lever 26d of the vehicle 26, and the user can run and stop while operating the simulated travel lever 14b. After the explanation, the program shown in the figure is started by interrupt processing. Once the program shown in the figure is activated, it is activated by a timer interrupt every 33 msec thereafter.

  In addition, before performing the processing of FIG. 5, the distance between the user's eyes and the monitor screen 18 is set to a predetermined value, for example, 1 m in advance.

  In the following description, first, the bit of the visual acuity measurement continuation flag is turned on in S10, and the process proceeds to S12 to display a signboard on the monitor screen 18.

  FIGS. 6A, 6B, and 6C are explanatory diagrams showing the display screen of the signboard. When the program of FIG. 5 is started for the first time, a screen as shown in FIG. 5 (a) is displayed in S12, and a female instructor appears, “Running toward the front signboard and performing the action written on the signboard. Please go. " The phrase is also displayed on the monitor screen 18 as shown in FIG. Note that the signboard is located very far away on the screen of FIG. 6 (a), and therefore the characters described there are also displayed small.

  Next, in S14, the distance between the own vehicle (vehicle 26) and the signboard displayed in S12 (more precisely, the virtual distance between the own vehicle on the virtual travel path and the signboard displayed in S12) is calculated. This is done by reading a preset distance.

  It should be noted that the screen displayed in S12 is changed sequentially from, for example, FIG. 6B when the program of FIG. 5 is activated next time, and to FIG. The screen is changed so that the characters written therein are enlarged step by step. In S14, the distance between the vehicle and the displayed signboard is calculated each time.

  However, FIG. 6A, FIG. 6B, and FIG. 6C are examples, and as shown in FIG. 7, the signboard and the characters described therein are about 1.3 mm (in actual size on the monitor screen 18) each. Many large screens are prepared. Therefore, every time the program of FIG. 5 is started, the screen does not change in the order of FIGS. 6A, 6B, and 6C, but actually, FIGS. 6A, 6B, and 6B are used. ) And (c), there are several screens.

  Returning to the description of the flow chart of FIG. 5, the process then proceeds to S16, where the accelerator angle is less than 5% (specifically, whether the user is not holding the simulated travel lever 14b, more specifically, the vehicle is stopped or substantially stopped). Whether the vehicle is parked) or whether the vehicle crosses the signboard.

  That is, if the user can read the characters on the signboard, it should be described as “Please stop there”, so that the simulated travel lever 14b is operated so that its rotation angle should be less than 5%. is there. The reason that the accelerator angle is set to less than 5% instead of zero is to absorb an error caused by the bounce. Moreover, even if the user reaches the signboard, if the characters written on the signboard cannot be read, the user travels as it is and passes the signboard.

  When the result in S16 is negative, the user cannot read the signboard character and has not reached the signboard, so the subsequent processing is skipped. When the result in S16 is positive, the process proceeds to S18 to calculate the eyesight test value. .

  FIG. 8 is a subroutine flowchart showing the processing.

  First, in S100, it is determined whether or not the distance between the vehicle and the signboard, that is, the distance calculated in S14 exceeds 70 m. If the result is affirmative, the process proceeds to S102, and the user's visual acuity test value is determined to be 2.0. .

  On the other hand, if the result in S100 is negative, the process proceeds to S104, and the calculated distance is 70 m or less, but it is determined whether or not it exceeds 65 m. If the result is affirmative, the process proceeds to S106 and the visual acuity test value is 1.2. judge.

  If the result in S104 is negative, the process proceeds to S108, and the calculated distance is 65 m or less, but it is determined whether or not it exceeds 60 m. If the result is affirmative, the process proceeds to S110, and the visual acuity test value result is 1.1. judge.

  Hereinafter, although illustration is omitted, the visual acuity test value is determined by comparing the calculated distance with the distance corresponding to the character size when the vehicle is stopped according to the table shown in FIG. In FIG. 7, the distance between the host vehicle and the signboard on the virtual traveling road, the characters, and the corresponding visual acuity assume that the distance between the user's eyes and the monitor screen 18 is 1 m. Needless to say, it is obtained through experiments in advance. Therefore, when the distance between the user's eyes and the monitor screen 18 is changed, the numerical values shown in FIG. 7 are changed.

  Returning to the description of the flow chart of FIG. 5, the process then proceeds to S20, the obtained visual acuity test value is displayed, and the process proceeds to S22, in which the bit of the visual acuity measurement continuation flag is turned off and the process ends.

  Next, the operation reaction delay time determination in the operation of the control unit 16 will be described.

  FIG. 9 is a flowchart showing the processing. The process shown in FIG. 9 is started when the vehicle is running. 9 may be performed subsequent to the process of FIG. 5, or may be performed prior to the process of FIG. 5 after explanation of the operation system. The illustrated program is also started by a timer interrupt every 33 msec.

Before entering the explanation of FIG. 9 flow chart, describing a method of determining the dynamic response delay time with reference to FIG. 10, monitor screen 18 is changed as shown in FIG. 10, appeared female instructor, "signal When it turns red, stop. "

  The process of FIG. 9 starts when the user is traveling, and in S200, it is determined whether the scenario continuation flag is ON. Since this flag is set to OFF in the initial state, the determination in S200 is generally denied and the process proceeds to S202, and a signal is displayed on the monitor screen 18 to switch from blue to red.

  More specifically, the monitor screen 18 changes as shown in FIG. 10 while the user is running, and a female instructor appears, utters “Please stop when the signal turns red,” and The words are also displayed on the screen, and a signal is displayed on the monitor screen 18 to switch from blue to red as shown in FIG.

  In step S204, the scenario continuation flag is turned on and the number of screen updates is reset to zero. As described above, the scenario continuation flag means that the signal has changed (time measurement is possible as described later).

  Next, in S206, it is determined whether or not the accelerator angle is less than 5% (that is, whether the vehicle is stopped or substantially stopped) or if the signal position is exceeded. The reason that the accelerator angle is set to less than 5% without setting it to zero is to absorb an error due to the rebound as in the process of FIG.

  When the result in S206 is negative, the program proceeds to S208, in which the above-mentioned screen update count is incremented by 1, and the program is temporarily terminated.

  When the program is started again after the next 33 msec, the determination in S200 is affirmed and the process proceeds to S206, where it is determined whether the accelerator angle is less than 5% or the signal position is exceeded. When the determination is affirmative, the process proceeds to S210 to calculate an operation response delay time. This is calculated by multiplying the program activation interval 33 msec by the number of screen updates.

  Next, the process proceeds to S212, the calculated operation response delay time is displayed, and the process proceeds to S214. Since the scenario continuation flag is no longer necessary, it is turned OFF and the program is terminated.

  In the flow chart of FIG. 9, the signal is switched from blue to red in S202, the stop is determined in S206, and the time until then is measured in S208, but the signal is switched from red to blue in S202. The start of traveling may be determined in S206, and the time until then may be measured in S208.

This embodiment as described above, at least an electric wheelchair (vehicle) 26 simulated driving lever 14b similar to the travel lever 26d for instructing the traveling and stopping of the model running and stopping indicated by the operation of the pseudo-travel lever 14b Including an operation unit 14 that outputs a user instruction, a control unit 16 that is connected to the operation unit and inputs the user instruction, and is connected to the control unit, and is operated according to a command from the control unit. In the driving simulation apparatus for an electric wheelchair comprising the monitor screen 18 for displaying an image of the traveling road, the control unit displays a signboard on which characters are written on the monitor screen, and displays the signboard and the signboard on the signboard and the signboard. The written characters are changed in a stepwise manner on the monitor screen, and the user's instructions corresponding to the characters are output. Since the visual acuity of the user's physical ability is determined based on a virtual distance between the vehicle and the signboard on the virtual traveling road (S10 to S22, S100 to S110 ) , By determining the user's physical ability before actually driving the vehicle 26, it is possible to determine whether or not the vehicle 26 can be used or not, thereby contributing to the promotion of traffic safety. In addition, the visual acuity can be easily determined.

  In addition, for elderly people, it is seriously measured by using a dedicated measuring instrument and being told that the physical ability is lowered, which greatly damages the pride, but as part of driving simulation, driving practice is called driving practice. Such an inconvenience does not occur because the judgment is naturally made in the sense of game. Moreover, based on the determination result, the elderly family can also give appropriate advice.

Further, the control unit 16, based on said instruction of said user with respect to the image on the monitor screen 18, since it is configured as determined operating time reaction delay of the physical ability of the user, in addition to the effects mentioned above, By determining the visual acuity or motion response delay time that is particularly important in driving the vehicle 26 among the physical abilities, it is possible to more appropriately determine whether or not it can be used, and to further contribute to the promotion of traffic safety. I can . The control unit 16 may be configured to determine the user's physical ability based on either the visual acuity or the motion response delay time based on the user's instruction for the image on the monitor screen 18 .

Further, the control unit 16 changes the image on the monitor screen 18 and determines an operation response delay time in the physical ability of the user from a time until an instruction corresponding to the change of the image is output. (S200 to S214, particularly S202), the operation reaction delay time can be easily determined in addition to the above-described effects.

  In the above, the apparatus 10 is simply configured as shown in FIG. 1, but as shown in FIG. 12, an actual vehicle 26 is prepared, the handle 26c is diverted to the simulated handle 12, and the operation system is operated. The unit 14 may be connected to the control unit 16 by a cable or the like.

  In the above description, the determination result is displayed on the screen in S20 or S212. However, the measurement result and the result may not be notified to the person.

  In the above description, the instructor appears on the screen to utter and the spoken words are displayed. However, the utterance may be displayed through the speaker 20 without being displayed on the monitor screen. In addition, the displayed phrase on the monitor screen may be omitted.

1 is a perspective view generally showing a driving simulation apparatus for an electric wheelchair according to an embodiment of the present invention. It is a block diagram which shows the apparatus shown in FIG. 1 functionally. It is a perspective view of the vehicle on which the apparatus shown in FIG. 1 is a premise. FIG. 4 is a front view of the vehicle handle shown in FIG. 3. It is a flowchart which shows the visual acuity determination in operation | movement of the apparatus shown in FIG. 5 is an explanatory diagram showing the display of the signboard on the monitor screen used in the processing of the flow chart. 5 is a table showing the relationship between the characters and the like described on the signboard on the monitor screen used in the processing of the flow chart and visual acuity. 5 is a sub-routine flow chart showing the eyesight test value calculation processing of the flow chart. It is a flowchart which shows operation | movement reaction delay time determination in operation | movement of the apparatus shown in FIG. 9 is an explanatory diagram showing a first monitor screen in the processing of the flow chart. 9 is an explanatory diagram showing a monitor screen after FIG. 10 in the processing of the flow chart. FIG. 2 is a perspective view showing another example of the apparatus shown in FIG. 1, similar to FIG. 1.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Driving simulation apparatus, 12 Simulated handle, 14 Operation part, 14a Simulated power switch key, 14b Simulated traveling lever, 14c Simulated speed setting knob, 14d Simulated forward / reverse selector switch, 14e Simulated horn switch, 16 control part, 18 Monitor screen 20 Speaker 26 Vehicle 26c Handle 26d Travel lever 28 Control board

Claims (3)

At least comprising a simulated travel levers similar traveling and stop of the electric wheelchair travel levers for commanding, said model including at least a travel-stop indicated by the operation of the pseudo-travel lever, operation section for outputting an instruction of the user, the For an electric wheelchair comprising: a control unit connected to an operation unit for inputting an instruction of the user; and a monitor screen connected to the control unit and displaying an image composed of a virtual traveling path in response to a command from the control unit In the driving simulation apparatus, the control unit displays a signboard on which characters are written on the monitor screen, and the signboard and the characters written on the signboard change in a stepwise manner on the monitor screen. together is, when an instruction of the user corresponding to the character is outputted, the virtual distance between the vehicle and the billboard in the travel path of the virtual Zui and drive simulation apparatus for an electric wheelchair, characterized in that to determine the visual acuity of the physical ability of the user. Further, the control unit, based on said instruction of said user with respect to the image on the monitor screen, electric wheelchair according to claim 1, wherein determining the operating time reaction delay of the physical ability of the user driving simulation device. The control unit changes an image on the monitor screen and determines an operation response delay time of the physical ability of the user from a time until an instruction corresponding to the change of the image is output. The driving simulation apparatus for an electric wheelchair according to claim 2.

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