JP2009136117A - Driving operation analysis method, driving operation analysis device, and motion operation analysis program - Google Patents

Abstract

The present invention relates to a driving operation analysis method, a driving operation analysis device, and a motion operation analysis program for analyzing a driving operation of a vehicle by a driver, and a driving operation analysis method and driving capable of analyzing driving operation characteristics easily and accurately. An object is to provide an operation analysis device and a driving operation analysis program.
The present invention relates to a driving operation analysis method for analyzing a driving operation of a vehicle by a driver, acquiring current position information of the vehicle from position detecting means, and detecting current speed information of the vehicle as speed detecting means. Current information acquisition procedure for acquiring the current deceleration information of the vehicle from the acceleration detecting means, and the required deceleration information based on the current position information and the current speed information acquired in the current information acquisition procedure. A required deceleration calculation procedure to be calculated; and an analysis procedure for analyzing the driving operation based on the current deceleration information and the required deceleration information.
[Selection] Figure 9

Description

  The present invention relates to a driving operation analysis method, a driving operation analysis device, and a motion operation analysis program, and in particular, a driving operation analysis method, a driving operation analysis device, and a motion operation analysis program for analyzing a driving operation of a vehicle by a driver. About.

  In recent years, with the development of the railway network, it has been desired to secure and improve the safety of the railway. And, it is required to secure and improve safety more than ever for mechanical systems including railway vehicles.

  In response to such demands, railway vehicles have been studied to improve the safety of brake systems through research and development of advanced skid prevention control (see Non-Patent Document 1, for example).

  In particular, it has become necessary to consider and build a human-machine system that can ensure safety even in situations where humans are likely to make mistakes. Until now, in the field of railways, reports on human error recognition and human operation time required for driving have been shown (for example, see Non-Patent Documents 2 and 3).

  However, until now, no discussion has been made on safety as a human-machine system.

Therefore, it is necessary to ensure the safety of the vehicle by constructing a model of the entire control system as a human-machine system in consideration of the driver's dynamic characteristics and assisting the brake operation (for example, see Non-Patent Document 4). ).
Daisei Yamazaki, Takayoshi Kamada, Masao Nagai: Sliding control of railway vehicles based on sliding mode control theory, Proceedings of the Japan Fluid Power System Society, Vol. 37, No. 3, (2006.5), pp.8-14 Kunihe Hashimoto: Safety Ergonomics, Central Industrial Accident Prevention Association, (1988.3), pp.3-21, pp.25-36, pp.51-59 Yoshio Hayashi, Masakazu Iguchi: Design of Human-Machine System, Human and Technology, (1970), pp.48-64 Daisei Yamazaki: Current state of brake systems for railway vehicles and systems that should be in the future, Japan Fluid Power System Society Winter Seminar 2005 Safety of Mechanical Systems, p.30-41

  In order to ensure the safety of the vehicle, a system that can accurately analyze the characteristics of the driving operation is required. At this time, a system that can be installed as easily as possible is required.

  The present invention has been made in view of the above points, and an object thereof is to provide a driving operation analysis method, a driving operation analysis device, and a driving operation analysis program capable of analyzing driving operation characteristics easily and accurately. To do.

  The present invention is a driving operation analysis method for analyzing a driving operation of a vehicle by a driver, acquiring the current position information of the vehicle from a position detection unit, acquiring the current speed information of the vehicle from a speed detection unit, Current information acquisition procedure for acquiring the current deceleration information of the vehicle from the acceleration detection means, and required deceleration information for calculating the required deceleration information based on the current position information and the current speed information acquired in the current information acquisition procedure And a speed calculation procedure, and an analysis procedure for analyzing the driving operation based on the current deceleration information and the required deceleration information.

The required deceleration calculation procedure includes the required deceleration information α _r , the current speed information v (t), the target speed information v _t , the current location information x (t), and the target speed information. When the position information is x _t ,

により、前記所要減速度情報をα_rを算出することを特徴とする。

Then, α _r is calculated from the required deceleration information.

  The analysis procedure may determine whether the driving operation is good or not, for example, an abnormal driving operation and a normal driving operation based on a deviation of the current deceleration information with respect to the required deceleration information.

  According to the present invention, the current position information, current speed information, and current deceleration information of the vehicle are acquired, and the required deceleration information is calculated based on the acquired current position information and current speed information. By analyzing the driving operation based on the deceleration information, the driving operation can be analyzed without detecting the driver's operation itself.

  Here, the driving operation analysis method of the present invention will be described using a train as an example.

  First, the driver's braking action when stopping the train at the target position will be described.

  When the driver stops the traveling train, the driver operates the brake handle of the cab to operate the brake of the vehicle and decelerate the vehicle. When the train is stopped at a predetermined position such as a station, it is necessary to apply an appropriate braking force to the vehicle. If the braking force is stronger than necessary, the vehicle stops before the target position. Conversely, if the braking force is weak, the vehicle stops past the target position.

  In order to smoothly stop the train at the target position, the driver adjusts the braking force by operating the brake handle according to the traveling speed of the vehicle that changes from time to time and the distance to the target position.

  Therefore, the driver's brake operation when the driver stops the train at a predetermined position such as a station is formulated.

  The driver's braking behavior can be considered as follows.

The average deceleration rate α _r (t) required for a vehicle traveling at the speed v (t) to stop from the position x (t) to the target position x _t is defined by the following equation (1).

なお、この平均の減速度α_r(t)を所要減速度と呼ぶことにする。

This average deceleration rate α _r (t) is referred to as required deceleration rate.

If the vehicle deceleration α (t) is greater than the average deceleration α _r (t) of the required deceleration (α> α _r ), this means that the vehicle stops before the target position x _t , and conversely , Α <α _r means that the target position x _t is exceeded, that is, overrun.

Therefore, it is considered that the driver corrects the braking force by operating the brake so that the vehicle deceleration α approaches the required deceleration α _r .

The above concept can be similarly applied to braking against speed limitation. In order to make it applicable even when there is a target speed such as speed limit, the expression (1) is expanded and the required deceleration rate α _r (t) is redefined by the following expression (2).

ここで、ｖ_tは目標位置ｘ_tにおける目標速度である。車両を停止させる場合は、目標速度ｖ_t＝０とする。

Here, v _t is a target speed at the target position x _t . When the vehicle is to be stopped, the target speed v _t = 0.

  Next, evaluation of driving operation by deceleration will be described.

FIG. 1 is a diagram for explaining the tendency of the required deceleration rate α _r .

Since the required deceleration rate α _r (t) is obtained from the travel speed v (t) of the vehicle and the position x (t), the required deceleration rate α _r (t) is a value that changes every moment and is classified into the tendency shown in FIG. The required deceleration rate α _r (t) is characterized by changing in a direction that increases the deviation from the deceleration rate α (t).

If there is a deviation between the deceleration α (t) and the required deceleration α _r (t), the deviation increases unless the deceleration α (t) is corrected. The driver needs to correct the brake so that the deceleration rate α (t) approaches the required deceleration rate α _r (t) before the deviation increases. For example, when some abnormality occurs in the driver and the correction of the brake is delayed or inappropriate, the deceleration α (t) does not converge to the required deceleration α _r (t).

From the above, it is considered that the movement of the deceleration α (t) with respect to the required deceleration α _r (t) is one of the methods for evaluating the driving behavior. Therefore, a method of drawing a locus and an α _r -α diagram on a plane having the required deceleration rate α _r (t) on the horizontal axis and the deceleration rate α (t) on the vertical axis can be considered. Thereby, the change of the deceleration α (t) with respect to the required deceleration α _r (t), that is, the feature of the brake correction operation can be clearly shown.

FIG. 2 is a diagram showing an example of an α _r -α diagram.

Due to the nature shown in FIG. 1, the brake is operated so as to shift to the left when positioned above the line of α = α _r , and the brake is operated to shift to the right when positioned below the line of α = α _r. The operation is performed.

When the trajectory crosses the line α = α _r , a circle is drawn counterclockwise.

Meanwhile, the deceleration α (t) has a maximum value that can be generated depending on the braking performance of the vehicle. The maximum deceleration changes depending on conditions such as the coefficient of friction and the slope of the track. Here, when the maximum deceleration is defined as a constant value of α _max , when the required deceleration α _r (t) exceeds the maximum deceleration α _max , that is, when α _r (t)> α _max , the driver vehicle regardless of the brake action of the overshoot the target position x _t, so-called, overrun is determined. This means that the required deceleration rate α _r (t) not only evaluates the driver's braking behavior, but can also be an indicator of the risk of physical overrun.

  Next, an analysis example will be described.

  Here, the result of the simulation experiment using the train operation simulator is compared between a case where a load is given to the subject and a case where no load is given. In addition, the load given to a test subject shall give a mental arithmetic task to a test subject.

  FIG. 3 is a diagram showing a change in speed with respect to a distance when the vehicle stops.

  Both no load and load are stopped normally at the stop position. It is difficult to determine the difference due to the load from the change in speed.

  FIG. 4 is a diagram showing changes in required deceleration and deceleration with respect to distance.

The difference between the solid line and the wavy line indicates the deviation between the required deceleration rate α _r (t) and the deceleration rate α (t). It can be confirmed that the brake correcting operation is performed when a certain degree of deviation occurs.

  When there is a load, when the distance to the stop position target is 50 m or less, the brake correction amount becomes larger than necessary, and a reverse deviation tends to occur. As a result, the deviation is large.

FIG. 5 shows an α _r -α diagram. In the figure, the arrows indicate temporal trajectory movements.

  As shown in FIG. 5, when there is a load, the correction amount of the brake is larger than necessary, so a counterclockwise circle is drawn. By evaluating this characteristic trajectory, there is a possibility that abnormal operation can be determined.

FIG. 6 is a diagram for explaining a driving operation analysis method using an α _r -α diagram.

  Here, a case will be described in which driving operations are classified into normal operations and abnormal operations, and evaluation for detecting abnormal operations is performed.

As shown in FIG. 6, a method of setting the normal operation area A0 and the abnormal operation areas A1 and A2 in the α _r -α diagram can be considered. For example, when the trajectory enters the abnormal areas A1 and A2 from the normal area A0, it is determined as abnormal. The abnormal area A1 indicates an area where the locus does not change in a normal state. The abnormal region A2 indicates a region where overrun is determined when the maximum deceleration rate α _max = 4 [km / h / s], and can be said to be a region having a higher degree of risk than the abnormal region A1.

Here, although the evaluation of the driving operation is simply classified into normal operation and abnormal operation, it may be classified into a plurality of stages depending on the extent of the trajectory. Alternatively, an α _r -α diagram may be simply presented and the evaluation may be performed based on the trajectory.

  Next, a driving operation analysis device for realizing the driving operation analysis method will be described.

  First, the configuration of the driving operation analysis apparatus 100 will be described.

  FIG. 7 is a block diagram of an embodiment of the driving operation analysis apparatus according to the present invention, and FIG. 8 is a diagram for explaining an example of installation of the driving operation analysis apparatus 100.

  The driving operation analysis apparatus 100 according to the present embodiment includes a processing system 110, a position detection apparatus 120, a speed detection apparatus 130, and an acceleration detection apparatus 140.

  The processing system 110 is configured by, for example, a notebook personal computer, and collects data from the position detection device 120, the speed detection device 130, and the acceleration detection device 140 based on a driving operation analysis processing program installed in advance. Executes driving operation analysis processing.

  The position detection device 120 is, for example, a GPS, is attached to the outside or the inside of the vehicle, and detects the traveling position of the vehicle 150. The position detection device 120 is not limited to the GPS, and may be any system that can detect the position of the vehicle.

  The speed detection device 130 is, for example, a speed generator and is attached to a carriage or the like, and detects the speed of the vehicle 150. The speed detection device 130 is not limited to a speed generator and may be any apparatus that can detect the traveling speed of the vehicle.

  The acceleration detection device 140 is, for example, an acceleration sensor, and is provided in a vehicle interior to detect acceleration applied to the vehicle 150.

  Since the three physical quantities of position, velocity, and acceleration are in a differential / integral relationship, the three physical quantities are obtained from any one of the position detection device 120, the velocity detection device 130, and the acceleration detection device 140 by the processing device. Can be calculated. Therefore, you may comprise in any one detection apparatus of each detection apparatus.

  If the position detection device 120, the speed detection device 130, and the acceleration detection device 140 are configured so as to be installed in the interior of the vehicle 150, carrying becomes easy. In order to reduce the error, it is preferable to provide a plurality of position detection devices 120, velocity detection devices 130, and acceleration detection devices 140 each.

  The input device 111 operates an abnormal operation detection program.

  The storage device 112 stores an abnormal operation detection program and route data such as a station, a speed limit position, and a speed limit.

  The processing device 113 performs abnormal operation detection processing using an abnormal operation detection program stored in the storage device. A numerical value acquired from each detection device or a numerical value calculated by the abnormal operation detection process is recorded in a storage device so that the operation state can be analyzed after the operation.

  The output device 114 is, for example, a display monitor or a speaker, and issues a warning indicating the result of the driving operation analysis process or abnormal driving. The alarm is, for example, by sound or light.

  Next, the processing of the driving operation analysis processing program by the processing system 110 will be described with reference to the drawings.

  FIG. 9 shows a flowchart of the driving operation analysis processing program.

  In step S <b> 1-1, the processing system 110 acquires current vehicle position information, travel speed, and acceleration from the position detection device 120, the speed detection device 130, and the acceleration detection device 140. In step S1-2, the processing system 110 performs various digital processes such as a digital filter process, and corrects errors in the acquired position information, travel speed, and acceleration.

  Next, the processing system 110 calculates deceleration in step S1-3. The deceleration is obtained by reversing the sign of acceleration.

  The processing system 110 reads out target position information and target speed information from the storage device 112 in step S1-4.

In step S1-5, the processing system 110 uses the target position information, the target speed information read from the storage device 112, the position information detected by the position detection device 120, and the speed information detected by the speed detection device 130 using the formula (2 ), The required deceleration rate α _r (t) is calculated.

In step S1-6, the processing system 110 plots the calculated required deceleration rate α _r (t) on the α _r -α diagram.

In step S1-7, the processing system 110 determines whether or not the plot position of the α _r -α diagram is within the abnormal areas A1 and A2.

  If the locus is within the abnormal areas A1 and A2, the processing system 110 outputs an alarm from the output device 114 in step S1-8.

  The processing system 110 records the plot position in the storage device 112 in step S1-9. If there is no input for termination from the input device 111 in step S1-10, the processing system 110 repeats step S1-1 to step S1-9. Further, when there is an end input from the input device 111 in step S1-10, the driving operation analysis process is ended.

The processing system 110 generates a trajectory by connecting the plot positions of the α _r -α diagram stored in the storage device 112 in time series in accordance with a command by the operation of the input device 111 after the driving operation is completed. And displayed on a display or the like constituting the output device 114. By referring to this α _r -α diagram, it is possible to determine whether the driving operation is good or bad.

  According to the present embodiment, it is possible to analyze the driving operation of the vehicle by detecting the current position information, the current speed information, and the current deceleration information of the vehicle, and to detect the operation of the driver such as the brake operation itself. Since it is not necessary, it can be easily mounted on an actual vehicle and the driving operation can be easily analyzed.

  It should be noted that the processing system 110, the position detection device 120, and the acceleration detection device 140 are housed in a single housing, and the speed detection device 130 is replaced with a speed detection device that is previously attached to the vehicle or the like. A speed signal may be introduced from the detection device to the processing system 110 to perform speed detection. By adopting such a configuration, the housing containing the processing system 110, the position detection device 120, and the acceleration detection device 140 is brought into the driver's seat, and the cable connected to the speed detection device is simply connected to the processing system 110. Thus, it is possible to easily perform a driving operation analysis.

  Further, in this embodiment, the driving operation analysis method has been described by taking a train as an example. However, the present invention is not limited to a train, and it goes without saying that it can be applied to general vehicles such as buses and passenger cars.

  In addition, this invention is not limited to the said Example, It cannot be overemphasized that a various modified example can be considered in the range which does not deviate from the summary of this invention.

It is a figure for demonstrating the tendency of a required deceleration. It is a figure which shows an example of an (alpha) _{r- (} alpha) diagram. It is a figure which shows the change of the speed with respect to the distance when a vehicle stops. It is a figure which shows the change of the required deceleration with respect to distance, and deceleration. It is an α _r -α diagram. It is a figure for demonstrating the driving | running operation analysis method using the (alpha) _{r- (} alpha) diagram. It is a block block diagram of one Example of this invention. 4 is a diagram for explaining an example of installation of a driving operation analysis apparatus 100. FIG. It is a flowchart of a driving operation analysis processing program.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Driving operation analysis processing apparatus 110 Processing system, 111 Input apparatus, 112 Storage apparatus, 113 Processing apparatus 114 Output apparatus 120 Position detection apparatus, 130 Speed detection apparatus, 140 Acceleration detection apparatus 150 Vehicle, 160 cart

Claims (8)

A driving operation analysis method for analyzing a driving operation of a vehicle by a driver,
A current information acquisition procedure for acquiring current position information of the vehicle from position detection means, acquiring current speed information of the vehicle from speed detection means, and acquiring current deceleration information of the vehicle from acceleration detection means;
A required deceleration calculation procedure for calculating required deceleration information based on the current position information and the current speed information acquired in the current information acquisition procedure;
A driving operation analysis method including an analysis procedure for analyzing the driving operation based on the current deceleration information and the required deceleration information. The required deceleration calculation procedure includes the required deceleration information α _r , the current speed information v (t), the target speed information v _t , the current position information x (t), and the target position information x _t

The driving operation analysis method according to claim 1, wherein α _r is calculated from the required deceleration information. The driving operation analysis method according to claim 1, wherein the analysis procedure determines whether the driving operation is good or not based on a deviation of the current deceleration information with respect to the required deceleration information. A driving operation analysis device for analyzing a driving operation of a vehicle by a driver,
Current information acquisition means for acquiring current position information of the vehicle, current speed information of the vehicle, and current deceleration information of the vehicle;
Required deceleration calculation means for calculating required deceleration information based on the current position information and the current speed information acquired by the current information acquisition means;
A driving operation analysis apparatus comprising: an analysis unit that analyzes the driving operation based on the current deceleration information and the required deceleration information. Position detecting means for detecting the current position information;
The driving operation analysis device according to claim 4, further comprising acceleration detection means for detecting the current deceleration information. The driving operation analysis device according to claim 4 or 5, wherein the driving operation analysis device is housed in one housing. On the computer,
Current position information acquisition procedure for acquiring current position information of the vehicle from position detection means, acquiring current speed information of the vehicle from speed detection means, and acquiring current deceleration information of the vehicle from acceleration detection means;
A required deceleration calculation procedure for calculating required deceleration information based on the current position information and the current speed information acquired in the current information acquisition procedure;
A computer-readable driving operation analysis program for executing an analysis procedure for analyzing the driving operation based on the current deceleration information and the required deceleration information. The required deceleration calculation procedure includes the required deceleration information α _r , the current speed information v (t), the target speed information v _t , the current position information x (t), and the target position information. X _t

The driving operation analysis program according to claim 8, wherein α _r is calculated from the required deceleration information.

Images