Controller, shaking system, control method, and control program

Abstract

To detect a predictive of drunkenness using a physiological index associated with an occurrence situation of drunkenness of a person in a shaking state to control shaking so that the degree of the drunkenness is mitigated.SOLUTION: A controller 10 is configured to: acquire heart behavior data indicating an activity situation of the heart of a user in a shaking state; measure, from the acquired heart behavior data, inter-beat alternation variation in a diastole, and analyze an activity situation of an autonomous nerve of the user from a measurement result of the inter-beat alternation variation; determine, by using a result of the analysis of the activity situation of the autonomous nerve of the user, whether or not abnormality is recognized in an activity of the autonomous nerve of the user; and performs, when abnormality is recognized in the activity of the autonomous nerve of the user, control of changing shaking applied to the user.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a control device, an oscillation system, a control method, and a control program. [Background technology]

[0002] The repeated shaking can cause motion sickness in some people, so a method has been proposed to detect mental and physical abnormalities using biometric information.

[0003] Patent Document 1 discloses an electrocardiogram information analysis device that performs time-frequency conversion on an electrocardiogram waveform representing the behavior of a subject's heart for each frame having a predetermined time length, calculates the frequency spectrum of the electrocardiogram waveform for each frame, detects at least two of the same type of peak interval and different types of peak interval in the electrocardiogram waveform for each frame, and inputs the frequency spectrum and the at least two peak intervals to a classifier to determine abnormalities in the behavior of the subject's heart.

[0004] Patent Document 2 discloses a driving force control device that includes a controller that controls at least one of the driving force and braking force of a vehicle, compares an individual difference index value that indexes the susceptibility of an occupant to getting sick with an evaluation index value set based on the acceleration of the head, and reduces the upper limit value of the rate of change of at least one of the driving force and braking force of the vehicle if the evaluation index value is greater than the individual difference index value.

[0005] Patent Document 3 discloses a sickness reduction method in which, when a virtual space image in response to the user's operation is presented to the user, the stimulation intensity of the presented virtual space image is reduced according to the user's subjective input of visually-induced sickness or the result of the user's visually-induced sickness assessment based on physiological index measurement. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2022-30468 A [Patent Document 2] JP 2023-64953 A [Patent Document 3] JP 2000-339490 A Summary of the Invention [Problem to be solved by the invention]

[0007] Taking motion sickness medication has traditionally been used to suppress motion sickness symptoms caused by swaying. However, people sometimes forget to take motion sickness medication, and they are not always available when needed. Moreover, it has been reported that even if people take motion sickness medication, it only works for about 30% of people.

[0008] Therefore, measures are being considered to determine whether or not a person is feeling sick from their biological information, and to suppress shaking if sickness is present.

[0009] However, even if abnormalities in the behavior of the subject's heart are determined from the frequency spectrum of the electrocardiogram waveform and the peak intervals of the heartbeats, as in Patent Document 1, it is not possible to determine whether a person is suffering from motion sickness from the frequency spectrum of the electrocardiogram waveform and the peak intervals of the heartbeats.

[0010] In addition, although the acceleration applied to the head can be one of the causes of sickness, even if the same acceleration is applied to the head of the same person as the acceleration when sickness occurred the previous time, sickness does not necessarily occur depending on the physical condition of the person on that day. Therefore, even if the acceleration applied to the head is used as an evaluation index value to determine the occurrence of sickness as in Patent Document 2, a correct determination result is not necessarily obtained. In other words, it is not appropriate to use the acceleration applied to the head as a determination index value for the occurrence of sickness.

[0011] Furthermore, Patent Document 3 discloses that the measured values ​​of physiological indices are used to determine whether a user has visually induced motion sickness, but does not disclose what physiological indices are used and how the occurrence of visually induced motion sickness is determined.

[0012] Physiological indices used to date for determining intoxication include heart rate intervals, frequency spectrum of electrocardiograms, electrogastrograms, sweating, and skin potential. However, some people have faster heart rate intervals than others when they are intoxicated, and intoxication cannot be determined by this alone. In addition, the frequency spectrum of electrocardiograms takes time to analyze, is vulnerable to body movement noise, and like the heart rate interval, there are individual differences in how it is modulated by intoxication. Since sweating and skin potential change due to the activity of the sympathetic nervous system, it is difficult to use these physiological indices for determining intoxication, just like the heart rate interval. The electrogastrogram can be an indicator of the onset of intoxication because it shows vomiting movements, but vomiting does not occur until intoxication becomes severe, so it is not suitable for detecting signs of intoxication.

[0013] The present disclosure aims to provide a control device, a rocking system, a control method, and a control program that can detect signs of sickness using physiological indicators related to the onset of sickness in a person in a swaying state, and control the rocking so as to reduce the level of sickness. [Means for solving the problem]

[0014] The control device of the first embodiment includes an acquisition unit that acquires cardiac behavior data indicating the activity status of the heart of a user in a shaking state, an analysis unit that measures beat-to-beat alternans during diastole from the cardiac behavior data acquired by the acquisition unit and analyzes the activity status of the autonomic nerves of the user from the measurement results of the beat-to-beat alternans, a judgment unit that uses the analysis results of the analysis unit to judge whether or not abnormality is found in the activity of the autonomic nerves of the user, and a control unit that performs control to change the shaking applied to the user when abnormality is found in the activity of the autonomic nerves of the user by the judgment unit.

[0015] The control device of the second aspect is the control device of the first aspect, wherein the analysis unit repeatedly executes a process of measuring, for each of a predetermined number of adjacent heart beats, a potential difference between potentials representing the cardiac activity status of the user between points that have the same elapsed time from the start of diastole as the beat-to-beat alternans from the cardiac behavior data at a plurality of points over a predetermined period from the start of diastole, and calculates a degree of fluctuation for each of the predetermined number of heart beats in a standard deviation of a distribution of the beat-to-beat alternans obtained for each of the predetermined number of heart beats, thereby analyzing the activity status of the autonomic nerves of the user.

[0016] The control device of the third aspect is the control device of the second aspect, wherein the judgment unit judges that an abnormality has been found in the autonomic nervous activity of the user when the magnitude of the standard deviation is equal to or greater than a threshold value, or judges that an abnormality has been found in the autonomic nervous activity of the user when the positive slope of the curve representing the fluctuation of the standard deviation is equal to or greater than a threshold value.

[0017] The control device of the fourth aspect is the control device of the third aspect, in which the judgment unit uses a swaying characteristic indicating the degree of susceptibility of the user to motion sickness in response to swaying in addition to the analysis result of the analysis unit to judge whether any abnormality is found in the activity of the autonomic nerves of the user.

[0018] The control device of the fifth aspect is the control device of the fourth aspect, in which, when abnormality is no longer found in the autonomic nervous activity of the user that was found to be abnormal, the control unit performs control to reduce the amount of control for changing the swaying applied to the user compared to the amount of control when abnormality was found in the autonomic nervous activity of the user.

[0019] The control device of the sixth aspect is the control device of the fifth aspect, further comprising a pattern analysis unit that analyzes a physical quantity representing the degree of shaking of the user's head and identifies a shaking pattern representing the way the user's head is shaking, and when the control unit performs control to reduce a control amount for changing the shaking applied to the user below the control amount that would be used if abnormality had been found in the user's autonomic nervous activity, the control unit performs control to change the shaking applied to the user by reducing the control amount so that the shaking pattern that occurred before the judgment unit determined that abnormality was found in the autonomic nervous activity does not occur in the user's head.

[0020] In the seventh aspect of the control device, in the control device of the sixth aspect, when the same shaking is applied to a plurality of users, the control unit performs control to instruct each of the users to adopt a posture such that the shaking caused to the head of each of the users results in the shaking pattern that is least likely to cause sickness for each of the users, or the acquisition unit acquires the cardiac behavior data of the user among the plurality of users who has the shaking characteristics that indicate that the user is most likely to become sick due to shaking.

[0021] A rocking system according to an eighth aspect includes the control device according to any one of the first to seventh aspects, and a controlled device that changes the rocking caused to the user according to an instruction from the control device.

[0022] The control method of the ninth aspect involves a computer executing a process to acquire cardiac behavior data representing the activity status of a user's heart in a shaking state, measure beat-to-beat alternating current during diastole from the acquired cardiac behavior data, analyze the activity status of the user's autonomic nerves from the measurement results of the beat-to-beat alternating current, determine whether or not there is any abnormality in the activity of the user's autonomic nerves using the analysis results of the activity status of the user's autonomic nerves, and if there is any abnormality in the activity of the user's autonomic nerves, perform control to change the shaking applied to the user.

[0023] The control program of the tenth aspect causes a computer to execute a process of acquiring cardiac behavior data representing the activity status of a user's heart in a shaking state, measuring beat-to-beat alternating current during diastole from the acquired cardiac behavior data, analyzing the activity status of the user's autonomic nerves from the measurement results of the beat-to-beat alternating current, determining whether or not abnormality has been found in the activity of the user's autonomic nerves using the analysis results of the activity status of the user's autonomic nerves, and, if abnormality has been found in the activity of the user's autonomic nerves, performing control to change the shaking applied to the user. Effect of the Invention

[0024] According to the present disclosure, it is possible to detect signs of sickness using physiological indicators related to the onset of sickness in a person in a swaying state, and to control the swaying so as to reduce the level of sickness. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 shows an example electrocardiogram. [Diagram 2] FIG. 1 illustrates an example of a rocking system. [Diagram 3] FIG. 2 is a diagram illustrating an example of a functional configuration of a control device. [Figure 4] FIG. 2 is a diagram illustrating an example of the configuration of a main part of an electrical system in the control device. [Diagram 5] 13 is a flowchart showing an example of the flow of a shaking control process. [Figure 6] FIG. 13 shows an example of measurement of beat-to-beat alternation. [Figure 7] FIG. 13 is a diagram showing an example distribution of beat-to-beat alternation. [Figure 8] FIG. 13 is a diagram showing an example of a neural activity abnormality graph. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, the present embodiment will be described with reference to the drawings. Note that the same components and processes are given the same reference numerals throughout the drawings, and duplicated explanations will be omitted. The dimensional ratios in the drawings are exaggerated for the convenience of explanation, and may differ from the actual ratios.

[0027] <Indicators of drunkenness> It is known that acceleration input to the head temporarily activates the sympathetic nervous system. As a result, the heart rate increases and blood pressure rises. However, continuous and repeated acceleration input to the head activates the parasympathetic nervous system, causing a drop in blood pressure and motion sickness symptoms accompanied by headache and vomiting due to a decrease in blood flow to the brain. It has also been confirmed that such reactions disappear when autonomic ganglion blockers, which suppress the activation of the sympathetic and parasympathetic nervous systems, are administered.

[0028] Meanwhile, in a rocking experiment in which a person was rocked using a rocking system 1, which will be described later with reference to Fig. 2, and the onset of motion sickness due to rocking was measured, an increase in beat-to-beat alternans during diastole was observed before the person complained of being drunk. Beat-to-beat alternans during diastole refers to a change in cardiac activity obtained from cardiac behavior data corresponding to the diastole between adjacent heartbeats, among cardiac behavior data that represent cardiac activity caused by activation and inhibition of the parasympathetic nerves.

[0029] An example of an electrocardiogram for one beat, which is an example of cardiac behavior data, is shown in Figure 1. In the electrocardiogram in Figure 1, the horizontal axis represents the passage of time, and the vertical axis represents the electrical potential (also called "stroke output") generated by cardiac activity.

[0030] For convenience of explanation, the electrocardiogram waveform (referred to as "electrocardiogram waveform") shown in FIG. 1 is labeled with the symbols Q, R, S, T, J, and U for each position of the electrocardiogram waveform. Among these, the convex waveform represented by Q, R, and S is called the "QRS wave". The QRS wave is an electrocardiogram waveform that appears due to the contraction of both the left and right ventricular muscles of the heart. The convex waveform with the apex at the position of T that appears after the QRS wave is called the "T wave". The T wave is an electrocardiogram waveform that appears in the process of the contraction of both the left and right ventricular muscles of the heart disappearing. The J point is a point about 0.1 seconds after the apex of the T wave appears, and represents an inflection point where the potential of the electrocardiogram changes from a negative slope to a positive slope. The convex waveform with the apex at the position of U that appears after the T wave is called the "U wave". The U wave is an electrocardiogram waveform that appears during diastole. In this disclosure, the J point is the start point of diastole, but the apex of the T wave may also be the start point of diastole.

[0031] The U wave does not necessarily appear with every heartbeat, and does not appear when the activation level of the sympathetic nerves is above a threshold level due to exercise, for example. On the other hand, it has been reported that the amplitude of the U wave fluctuates with exercise in some patients with arrhythmia. In other words, the appearance of the U wave is thought to represent a kind of abnormality in autonomic nerve activity in situations where the parasympathetic nerves are active. In addition, the prevailing theory is that beat-to-beat alternating fluctuations such as the U wave cannot be realized by the response speed of the sympathetic nerves, and are oscillatory activity caused by the parasympathetic nerves.

[0032] Based on these findings, it is believed that when motion sickness occurs, an increase in pulsatile output due to activation of the sympathetic nervous system triggers an oscillatory cycle of activation and inhibition of the parasympathetic nervous system, resulting in the observation of beat-to-beat alternating fluctuations during diastole.

[0033] Therefore, the standard deviation σ obtained from the distribution of beat-to-beat alternans during diastole can be used as a physiological index indicating abnormality in the activity of the autonomic nerves of a person to whom an acceleration input is continuously and repeatedly applied, that is, a sign of intoxication. In the present disclosure, the standard deviation σ is also used as a sign index indicating a sign of intoxication. Note that no changes common to the occurrence of intoxication were observed in the data obtained from the heartbeat interval and the behavior of the heart during systole.

[0034] For ease of explanation, in the following description, when "beat-to-beat alternans" is mentioned, it refers to beat-to-beat alternans during diastole.

[0035] <Oscillation system> FIG. 2 is a diagram showing an example of a rocking system 1 that detects a sign of sickness occurring in a user who is in a rocking state, and reduces the level of sickness when the sign of sickness is detected.

[0036] The rocking system 1 comprises a chassis 2 having wheels 6 attached, a seat 3 on which a user sits, a rocking sensor 4 that measures the degree of rocking applied to the user's head, a drive unit 5 that drives the wheels 6, an operation panel 7 that provides an interface between the rocking system 1 and the user sitting in the seat 3, an electrocardiograph 8 that measures cardiac behavior data of the user, and a control device 10 that detects signs of sickness in the user sitting in the seat 3 and controls the rocking applied to the user.

[0037] In the example of FIG. 2, the vibration sensor 4 is attached to the seat 3, but there is no restriction on the mounting position of the vibration sensor 4 as long as it can measure the degree of vibration applied to the user's head. For example, the vibration sensor 4 may be embedded inside the headrest of the seat 3, or the vibration sensor 4 may be attached to the user's head using a headband or glasses with a built-in vibration sensor 4. The vibration sensor 4 measures the degree of vibration applied to the user's head by measuring acceleration. Note that the vibration sensor 4 may measure the degree of vibration applied to the user's head by a physical quantity other than acceleration. For example, the vibration sensor 4 may measure the degree of vibration applied to the user's head by measuring the amount of vibration. The acceleration and the amount of vibration are examples of physical quantities that indicate the degree of vibration in the user's head.

[0038] The electrocardiograph 8 measures the user's electrocardiogram waveform as cardiac behavior data, and notifies the control device 10 of the measured electrocardiogram waveform. Instead of the electrocardiograph 8, an ultrasonic sensor may be used to measure cardiac activity. In this case, the ultrasonic sensor acquires cardiac movement as a displacement, and a displacement waveform representing cardiac displacement over time is obtained. The displacement waveform is also an example of cardiac behavior data, since it represents cardiac activity caused by activation and inhibition of the parasympathetic nerves.

[0039] Although the vibration sensor 4 and the electrocardiograph 8 may be connected to the control device 10 by wires, wireless connection is preferable since the connection wires may restrict the user's actions.

[0040] The driving device 5 changes the sway of the chassis 2 by changing the rotation speed and the direction of the wheels 6 according to instructions from the control device 10. In other words, the driving device 5 is an example of a controlled device that operates according to control from the control device 10 and changes the sway experienced by the user.

[0041] Note that the controlled device that changes the sway of the chassis 2 in accordance with the control of the control device 10 is not limited to the drive device 5. For example, a device (not shown) that changes the elastic coefficient of an elastic body such as a spring or rubber material included in the seat 3 in accordance with the control of the control device 10 is also an example of a controlled device that changes the sway experienced by the user. In addition, a vibration isolation damper (not shown) that is attached under the seat 3 and absorbs the sway of the user sitting on the seat 3 in accordance with the control of the control device 10 is also an example of a controlled device that changes the sway experienced by the user.

[0042] Before the chassis 2 starts to shake, the user inputs a rocking characteristic representing the degree of the user's susceptibility to motion sickness from the rocking from the operation panel 7. The rocking characteristic input by the user is notified to the control device 10. The rocking characteristic of the user is represented by an integer from 1 to 10, for example, where 1 represents a state where the user has never been motion sick from the rocking, and as the value of the rocking characteristic increases, the user is in a state where the user is susceptible to motion sickness. Note that inputting the rocking characteristic using the operation panel 7 is one example of a method of inputting the rocking characteristic of the user, and is not limited to the above example as long as the degree of the user's susceptibility to motion sickness can be input. For example, the user may input the rocking characteristic by voice. In this case, the voice representing the rocking characteristic is converted into voice data by a microphone (not shown) connected to the control device 10, and the control device 10 recognizes the content of the rocking characteristic uttered by the user from the voice data using a known voice recognition method.

[0043] The control device 10 acquires cardiac behavior data and measures beat-to-beat alternation from the cardiac behavior data. The control device 10 calculates a standard deviation σ representing the degree of variation in beat-to-beat alternation from the measurement result of the beat-to-beat alternation, and determines whether or not the user has a sign of intoxication from the time transition of the standard deviation σ, that is, the fluctuation state of the standard deviation σ. If the user has a sign of intoxication, the control device 10 adjusts the amount of control applied to the controlled device to change the sway applied to the user, thereby reducing the degree of intoxication. The sway characteristic and the acceleration applied to the user's head (hereinafter referred to as "head acceleration") are used as auxiliary means for determining the sign of intoxication and for setting the amount of control applied to the controlled device when the user has a sign of intoxication. Therefore, the control device 10 does not necessarily need to acquire the sway characteristic and the head acceleration, but the control device 10 of the present disclosure will be described as acquiring the sway characteristic and the head acceleration in addition to the cardiac behavior data.

[0044] If the user recognizes discomfort due to sickness after the chassis 2 starts shaking, the user inputs the discomfort into the operation panel 7. In response to the user's self-report of the onset of sickness, the control device 10 performs control to stop the shaking of the chassis 2.

[0045] 2, the control device 10 is attached to the chassis 2, but the control device 10 may be installed in a location different from the chassis 2, such as inside a building. The control device 10 may also be constructed using cloud computing.

[0046] Although the example of the rocking system 1 shown in FIG. 2 has the form of a vehicle, the specific form of the rocking system 1 is not limited to a vehicle as long as the rocking system 1 is an object that rocks and has a controlled device that changes the rocking caused to the user according to the control of the control device 10. The rocking system 1 may take the form of a moving object such as a ship or an airplane, a bed, a rocking chair, a building, or the like. When the rocking system 1 takes the form of a bed, a spring that supports the user's body is an example of a controlled device. When the rocking system 1 takes the form of a rocking chair, a stopping device that stops the rocking is an example of a controlled device. When the rocking system 1 takes the form of a building, a vibration damper that absorbs the rocking of the building is an example of a controlled device.

[0047] In this disclosure, the control device 10 will be described taking as an example a case in which the rocking system 1 takes the form of a vehicle.

[0048] <Control device functions> 3 shows an example of a functional configuration of the control device 10. The control device 10 includes functional units, namely, a cardiac behavior data acquisition unit 11, a cardiac behavior analysis unit 12, a fluctuation characteristic acquisition unit 13, an abnormality determination unit 14, a pattern analysis unit 15, a storage unit 16, and a control unit 17.

[0049] The cardiac behavior data acquiring unit 11 acquires an electrocardiogram waveform of the user measured by, for example, the electrocardiograph 8. That is, the cardiac behavior data acquiring unit 11 is an example of an acquiring unit that acquires cardiac behavior data representing the activity state of the user's heart in a shaking state. The cardiac behavior data acquiring unit 11 notifies the cardiac behavior analyzing unit 12 of the acquired electrocardiogram waveform.

[0050] The cardiac behavior analysis unit 12 measures the beat-to-beat alternation from the electrocardiogram waveform received from the cardiac behavior data acquisition unit 11, and calculates the fluctuation status of the standard deviation σ obtained from the distribution of the beat-to-beat alternation using the measurement result of the beat-to-beat alternation. That is, the cardiac behavior analysis unit 12 is an example of an analysis unit. The cardiac behavior analysis unit 12 notifies the abnormality determination unit 14 of the calculated fluctuation status of the standard deviation σ. Note that the details of the method of measuring the beat-to-beat alternation and the method of calculating the standard deviation σ will be explained later. Hereinafter, a graph showing the fluctuation status of the standard deviation σ obtained from the distribution of the beat-to-beat alternation will be referred to as a "nerve activity abnormality graph." The nerve activity abnormality graph is a curve showing the fluctuation of the standard deviation σ, and shows the activity status of the autonomic nerves of the user.

[0051] The swing characteristic acquisition unit 13 acquires the swing characteristic of the user inputted, for example, to the operation panel 7. The swing characteristic acquisition unit 13 notifies the abnormality determination unit 14 of the acquired swing characteristic.

[0052] The abnormality determination unit 14 uses the nerve activity abnormality graph received from the cardiac behavior analysis unit 12 to determine whether or not an abnormality is found in the activity of the autonomic nerves of the user, that is, whether or not the user has a sign of sickness. In this case, the abnormality determination unit 14 may determine whether or not the user has a sign of sickness by using the nerve activity abnormality graph and the fluctuation characteristics of the user from which the nerve activity abnormality graph was obtained, in determining whether or not the user has a sign of sickness. The abnormality determination unit 14 refers to a threshold value related to the nerve activity abnormality graph stored in the storage unit 16, and determines that the user has a sign of sickness when the value obtained from the nerve activity abnormality graph is equal to or greater than the threshold value. Details of the method of determining whether or not the user has a sign of sickness in the abnormality determination unit 14 will be described later. The abnormality determination unit 14 notifies the control unit 17 of the determination result of whether or not the user has a sign of sickness.

[0053] The pattern analysis unit 15 acquires the user's head acceleration measured by the shaking sensor 4, for example. The pattern analysis unit 15 analyzes the acquired user's head acceleration to identify a shaking pattern that represents the manner in which the user's head is shaking. The shaking pattern is information that represents the characteristics of the shaking applied to the user, and is used to classify the shaking applied to the user. There are no restrictions on the method of expressing the shaking pattern, and the characteristics of the shaking may be expressed by any pattern expression as long as the pattern expression allows classification of the shaking.

[0054] For example, the frequency components of the shaking caused by fluctuations in head acceleration and the frequency spectrum representing the intensity of the shaking at each frequency, and the time progression of the amount of fluctuation in head acceleration represented by the difference between head acceleration at adjacent times are examples of ways to express the shaking pattern.

[0055] The pattern analysis unit 15 identifies a shaking pattern every time it acquires the head acceleration of a user, and stores the identified shaking pattern for each user in time series from the start to the end of the shaking in the storage unit 16. That is, the storage unit 16 stores a history of shaking patterns that have been applied to the user up to now.

[0056] The storage unit 16 stores the history of the shaking patterns for each user, and also stores a threshold value related to the nerve activity abnormality graph that the abnormality determination unit 14 refers to.

[0057] When the abnormality determination unit 14 determines that the user is showing signs of intoxication, the control unit 17 adjusts the amount of control on the controlled device to change the shaking applied to the user so as to reduce the level of intoxication of the user. Note that the reduction in the level of intoxication of the user means that the value obtained from the nerve activity abnormality graph becomes less than the threshold value related to the nerve activity abnormality graph.

[0058] In addition, when the abnormality determination unit 14 determines that the user is showing signs of sickness, the control unit 17 adds information indicating which shaking pattern was occurring when the signs of sickness were observed to the history of the shaking patterns of the user who was shown to be showing signs of sickness.

[0059] In addition, the control unit 17 may set the amount of control for the controlled device using the history of the shaking patterns for each user stored in the memory unit 16, but details of how the control unit 17 sets the amount of control for the controlled device will be described later.

[0060] The control device 10 is configured using a computer 20, for example.

[0061] <Control device configuration> FIG. 4 is a diagram showing an example of the configuration of a main part of an electrical system in the control device 10 using the computer 20. As shown in FIG.

[0062] The computer 20 includes a CPU (Central Processing Unit) 20A, which is an example of a processor responsible for executing each functional unit of the control device 10 shown in Fig. 3, a RAM (Random Access Memory) 20B used as a temporary work area for the CPU 20A, a non-volatile memory 20C that stores a control program that causes the computer 20 to function as the control device 10, and an input / output interface (referred to as "I / O") 20D. The CPU 20A, RAM 20B, non-volatile memory 20C, and I / O 20D are each connected via a bus 20E.

[0063] The non-volatile memory 20C is an example of a storage device that maintains stored information even if the power supplied to the non-volatile memory 20C is cut off, and may be, for example, a semiconductor memory or a hard disk. Data that would be inconvenient to be erased every time the computer 20 is shut down, such as the history of the shaking pattern for each user and the threshold value related to the nerve activity abnormality graph, is stored in the non-volatile memory 20C. The non-volatile memory 20C does not necessarily need to be built into the computer 20, and may be a portable storage device that is detachable from the computer 20, such as a memory card. The computer 20 may also use a file server connected by a communication unit 21, which will be described later, as the non-volatile memory 20C.

[0064] On the other hand, for example, a communication unit 21 and an operation unit 22 are connected to the I / O 20D.

[0065] The communication unit 21 is connected to a communication line (not shown) and has a communication protocol for performing data communication with an external device, such as a file server, connected to the communication line.

[0066] The operation unit 22 is a device that receives instructions from a user, notifies the CPU 20A of the instructions, and displays information processed by the CPU 20A. There are no restrictions on the type of input device that receives the user's instructions, and for example, a button, a touch panel, a keyboard, a pointing device, a mouse, etc. are used. When receiving instructions by voice, a microphone is also included in the input device. In addition, any type of display device may be used to display information, and for example, a liquid crystal display, an organic EL (Electro Luminescence) display, etc. are used. The operation panel 7 shown in FIG. 2 may also be used as the operation unit 22.

[0067] The communication unit 21 and the operation unit 22 do not necessarily need to be connected to the computer 20, and only the necessary units are selectively connected to the computer 20 depending on the configuration of the oscillation system 1.

[0068] When the computer 20 is configured using cloud computing, the computer 20 is remotely controlled from an external terminal via a communication line.

[0069] <Control device action> 5 is a flowchart showing an example of the flow of shaking control processing executed by the CPU 20A of the control device 10 when receiving the user's electrocardiogram waveform from the electrocardiograph 8. The control device 10 may receive the user's electrocardiogram waveform in a shaking state from the electrocardiograph 8 in real time, or may later receive the user's electrocardiogram waveform that has been temporarily stored in the electrocardiograph 8, for example.

[0070] A control program that defines the vibration control process is stored in advance, for example, in the non-volatile memory 20C of the computer 20 shown in Fig. 4. The CPU 20A of the control device 10 reads the control program stored in the non-volatile memory 20C and executes the vibration control process.

[0071] It is assumed that the rocking system 1 has started running under the control of the CPU 20A, and the user is in a rocking state.

[0072] First, in step S10, the CPU 20A acquires the user's electrocardiogram waveform from the electrocardiograph 8 and stores it in the RAM 20B.

[0073] In step S20, the CPU 20A uses the electrocardiogram waveform acquired by the process of step S10 to identify the start point of the diastole for each heartbeat. Specifically, the CPU 20A identifies the inflection point at which the potential of the electrocardiogram waveform changes from a negative slope to a positive slope after the positive peak of the T wave appears, i.e., point J, as the start point of the diastole. The CPU 20A may determine the start point of the diastole to be a point 0.1 seconds after the positive peak of the T wave appears, regardless of the inflection point of the electrocardiogram waveform.

[0074] In step S30, the CPU 20A determines whether or not an electrocardiogram waveform of a prescribed beat rate has been acquired from the electrocardiograph 8. The prescribed beat rate is a predetermined heart rate required to calculate a standard deviation σ in the distribution of beat-to-beat alternation. The prescribed beat rate is a value that can be changed by the user, and is stored in advance in, for example, the non-volatile memory 20C. In the present disclosure, the prescribed beat rate is set to 30 beats as an example.

[0075] If the electrocardiogram waveform has not yet been acquired for the specified number of beats, the process proceeds to step S10, and the processes of steps S10 to S30 are repeated until the number of beats of the acquired electrocardiogram waveform reaches the specified number of beats. If it is determined by the determination process of step S30 that the electrocardiogram waveform has been acquired for the specified number of beats, the process proceeds to step S40.

[0076] In step S40, the CPU 20A calculates a cardiac cycle, which indicates the length of a cycle of cardiac contraction and expansion corresponding to one beat, from the acquired electrocardiographic waveform for the specified number of beats.

[0077] In step S50, the CPU 20A refers to the electrocardiogram waveforms of two adjacent beats in time series, starting from the electrocardiogram waveform corresponding to the first beat, for the electrocardiogram waveforms of the acquired specified number of beats, and measures beat-to-beat alternation for each of the adjacent electrocardiogram waveforms in time series.

[0078] Specifically, the CPU 20A repeatedly executes a process of measuring the potential difference between the potentials of each electrocardiogram waveform at points that have the same elapsed time from the J point as beat-to-beat alternans for adjacent electrocardiogram waveforms every time a predetermined time (hereinafter referred to as the "prescribed time") has elapsed from the J point of each electrocardiogram waveform, over a predetermined period (hereinafter referred to as the "prescribed period") from the J point.

[0079] The specified period for measuring the beat-to-beat alternation is a value that can be changed by the user, and is stored in advance in the non-volatile memory 20C, for example. In the present disclosure, as an example, the specified period is set to a period that is 0.2 times the cardiac cycle acquired by the process of step S40. In addition, the specified time for determining the point for measuring the beat-to-beat alternation from adjacent electrocardiogram waveforms is also a value that can be changed by the user, and is stored in advance in the non-volatile memory 20C, for example. In the present disclosure, as an example, the specified period is set to a time that allows 10 beat-to-beat alternations to be acquired in the specified period.

[0080] Thus, the CPU 20A acquires beat-to-beat alternans at a point where a prescribed time has elapsed from point J of the electrocardiogram waveform over a prescribed period of time.

[0081] 6 is a diagram showing an example of measurement of beat-to-beat alternans, in which the horizontal axis represents the passage of time and the vertical axis represents the potential of the electrocardiogram waveform.

[0082] 6 are both electrocardiogram waveforms of the same user, but electrocardiogram waveform 31A is an example of an electrocardiogram waveform when the user is not intoxicated (hereinafter referred to as "normal"), and electrocardiogram waveform 31B is an example of an electrocardiogram waveform just before the user shows signs of intoxication. The potential difference between each point of adjacent beats indicated by each auxiliary line 30 is the beat-to-beat alternation. Each point on the electrocardiogram waveform where the beat-to-beat alternation is measured is also called a "sampling point."

[0083] In step S60 of FIG. 5, the CPU 20A generates a distribution of inter-beat alternation using each inter-beat alternation measured by the process of step S50.

[0084] 7 is a diagram showing an example of distribution of beat-to-beat alternation obtained from a specified beat frequency. The horizontal axis of FIG. 7 represents the potential difference of the beat-to-beat alternation, and the vertical axis represents the frequency of occurrence of each potential difference.

[0085] The distributions 32A, 32B, and 32C in FIG. 7 are all distribution examples of the beat-to-beat alternation of the same user as the user having the beat-to-beat alternation shown in FIG. 6. Among them, the distribution 32A is a distribution example of the beat-to-beat alternation in a normal state, and the distributions 32B and 32C are distribution examples of the beat-to-beat alternation generated from the beat-to-beat alternation immediately before the user shows signs of intoxication. The display 9B shows the distribution of the beat-to-beat alternation immediately after the user is rocked by the rocking system 1, that is, the distribution of the beat-to-beat alternation of the user in a normal state, and the display 9A shows the distribution of the beat-to-beat alternation immediately before the user shows signs of intoxication. The display 9C shows an overlapping portion of the distribution of the beat-to-beat alternation represented by the display 9A and the distribution of the beat-to-beat alternation represented by the display 9B.

[0086] The CPU 20A calculates the degree of distribution variation from the distribution of the beat-to-beat alternation variation as shown in Fig. 7. Any type of index may be used as the index indicating the degree of distribution variation. Examples of the index indicating the degree of distribution variation include variance and coefficient of variation, and in the present disclosure, as an example, the standard deviation σ of the distribution of the beat-to-beat alternation variation is calculated.

[0087] 7, the length of the arrow 25A represents the magnitude of the standard deviation σ in a normal state, and the length of the arrow 25B represents the magnitude of the standard deviation σ immediately before a sign of sickness is recognized. As can be seen from the lengths of the arrows 25A and 25B, the standard deviation σ immediately before a sign of sickness is recognized tends to be larger than the standard deviation σ in a normal state.

[0088] In this way, after calculating the standard deviation σ using the distribution of each beat-to-beat alternation obtained from the electrocardiogram waveform with the specified beat rate, the CPU 20A determines whether or not the standard deviation σ has been calculated a specified number of times in step S70 of Fig. 5. The specified number of standard deviations σ is a value that can be changed by the user and is stored in advance in, for example, the non-volatile memory 20C.

[0089] If the number of calculations of the standard deviation σ is less than the specified number, the process proceeds to step S10, and the CPU 20A repeatedly executes the processes of steps S10 to S70. That is, the CPU 20A repeatedly executes the processes of measuring the beat-to-beat alternation from the electrocardiogram waveform for the next specified number of beats that has not yet been acquired and calculating the standard deviation σ from the distribution of the obtained beat-to-beat alternation until the number of calculations of the standard deviation σ reaches the specified number.

[0090] On the other hand, if the number of calculations of the standard deviation σ reaches the specified number, the process proceeds to step S80.

[0091] Fig. 8 is a diagram showing an example of a neural activity abnormality graph showing the fluctuation state of the standard deviation σ of the distribution of beat-to-beat alternation when the standard deviation σ is calculated a prescribed number of times, that is, the abnormality of the neural activity of the user. The horizontal axis of Fig. 8 represents the number of acquisitions of the prescribed number of beats (30 beats in this disclosure) which is the calculation unit of the standard deviation σ, that is, the 30-beat transition, and the vertical axis represents the standard deviation σ.

[0092] Graphs 26A, 26B, and 26C in Fig. 8 are all neural activity abnormality graphs obtained from the same user having beat-to-beat alternation as the user shown in Fig. 6. Among these, graph 26A is an example of a neural activity abnormality graph in a normal state, and graphs 26B and 26C are examples of neural activity abnormality graphs when the user becomes motionless due to shaking.

[0093] In step S80 in Fig. 5, the CPU 20A uses the nerve activity abnormality graph obtained by the processing up to step S70 to determine whether or not the user is experiencing signs of sickness. As can be seen from graphs 26B and 26C shown in Fig. 8, in the scene where the user begins to feel sick due to shaking, the standard deviation σ tends to be larger than the standard deviation σ until the user begins to feel sick. Therefore, when the magnitude of the standard deviation σ is equal to or greater than the first threshold, the CPU 20A determines that the user is experiencing signs of sickness.

[0094] The judgment of the sign of sickness may be performed by a method other than the comparison of the standard deviation σ with the first threshold. For example, when the positive slope of the nerve activity abnormality graph is equal to or greater than the second threshold, the CPU 20A may judge that the user recognizes the sign of sickness. The first threshold and the second threshold are examples of thresholds related to the nerve activity abnormality graph that can be changed by the user, and are stored in advance in the non-volatile memory 20C, for example.

[0095] In addition, since the tendency for the standard deviation σ, which indicates a sign of sickness, to increase varies from person to person, it is preferable to set the first and second thresholds for each user, with reference to the history of past neural activity abnormality graphs when the user, whose neural activity abnormality is indicated by the neural activity abnormality graph, became sick due to shaking.

[0096] If the user is found to be showing signs of intoxication, the process proceeds to step S90.

[0097] In step S90, the CPU 20A adjusts the control amount for the controlled device included in the rocking system 1 to perform rocking control that changes the rocking applied to the user so as to reduce the degree of sickness of the user.

[0098] Specifically, the CPU 20A performs sway control to stiffen the suspension by changing the damping coefficient of the suspension of the rocking system 1, and to slow down the speed of the rocking system 1 by changing the rotation speed of the wheels 6 by controlling the drive device 5. The CPU 20A also performs sway control to change the direction of the wheels 6 by controlling the drive device 5 to change the travel route of the rocking system 1, and to select a travel route with fewer starts and stops than other travel routes, that is, a travel route with fewer traffic lights and congestion and fewer right and left turns. The CPU 20A also performs sway control to set the upper limit set for the head acceleration and the rate of change of the head acceleration lower than the current upper limit, and to control the speed and direction of the rocking system 1 so that the head acceleration and the rate of change of the head acceleration do not exceed the upper limit. The CPU 20A selects which sway control to perform depending on the travel state of the rocking system 1.

[0099] Then, the CPU 20A calculates the control amount of the controlled device so that the rocking system 1 performs the selected operation, and notifies each controlled device related to the selected operation of the calculated control amount. Then, the process proceeds to step S100. This allows the CPU 20A to suppress the user's intoxication before the user realizes that he or she is intoxicated.

[0100] On the other hand, if it is determined in the determination process of step S80 that the user does not show any signs of sickness, it is considered that the probability of the user becoming sick is low even if the current shaking is continued to be applied to the user. Therefore, the process proceeds to step S100 without performing the shaking control of step S90.

[0101] In step S100, the CPU 20A judges whether or not an instruction to end the sway control process has been received from the user via, for example, the operation panel 7. If the instruction to end the sway control process has not been received, the CPU 20A proceeds to step S10, and judges whether or not the user is experiencing signs of sickness while continuing to update the nerve activity abnormality graph.

[0102] On the other hand, if an end instruction is received, the shaking control process shown in FIG. 5 ends.

[0103] In this manner, according to the oscillation system 1 of the present disclosure, the standard deviation σ of the distribution of beat-to-beat alternation is used as a physiological index related to the onset of sickness of the user in a swaying state to detect signs of sickness in the user.

[0104] Furthermore, when motion sickness occurs due to shaking, abnormalities appear in the user's neural activity. Therefore, by monitoring the fluctuations in the standard deviation σ from the neural activity abnormality graph, it is possible to detect the onset of motion sickness in the user more quickly and accurately than when the onset of motion sickness is detected using, for example, the heartbeat interval, the frequency spectrum of the electrocardiogram, an electrogastrogram, sweating, and skin potential.

[0105] In addition, when the user no longer shows signs of sickness due to the sway control in step S90, the CPU 20A reduces the control amount of the controlled device in the sway control from the control amount immediately after the sway control is started. Alternatively, when the user no longer shows signs of sickness due to the sway control in step S90 and a state in which no signs of sickness are observed continues for a predetermined monitoring period, the CPU 20A may reduce the control amount of the controlled device in the sway control from the control amount immediately after the sway control is started.

[0106] This allows the rocking state of the rocking system 1 to approach the original state at the time when the user recognized the signs of sickness. For example, when the CPU 20A reduces the speed of the rocking system 1 in order to change the rocking applied to the user, it is possible to avoid a situation in which the speed of the rocking system 1 is continuously maintained in a state slower than the speed at the time when the user recognized the signs of sickness, even if the user no longer recognizes the signs of sickness. Therefore, even if the rocking system 1 performs rocking control that reduces the degree of sickness of the user, it is possible to bring the arrival time of the rocking system 1 at the destination closer to the initial arrival time planned before performing rocking control.

[0107] In other words, the rocking system 1 can reduce the user's travel time while reducing the degree of sickness felt by the user, compared to a case in which, for example, the speed of the chassis 2 is slowed down below a planned speed to suppress the rocking felt by the user, assuming that the rocking will cause the user to become sick.

[0108] <Modification 1 of the shaking control process> In the example of the shaking control process described above, the CPU 20A determines that the user is experiencing signs of intoxication when, for example, the magnitude of the standard deviation σ in the nerve activity abnormality graph is equal to or greater than a first threshold value, or when the positive slope of the nerve activity abnormality graph is equal to or greater than a second threshold value. However, it is also possible that the standard deviation σ fluctuates due to reasons other than intoxication, such as the user's physical condition on that day.

[0109] Therefore, when the CPU 20A determines whether or not the user is showing signs of sickness through the judgment process of step S80 in FIG. 5, in addition to the fluctuation status of the standard deviation σ in the nerve activity abnormality graph, the CPU 20A may further use the user's fluctuation characteristics to determine whether or not the user is showing signs of sickness.

[0110] For example, when the acquired user fluctuation characteristic is 1, that is, when the user has never been sick from shaking, even if the standard deviation σ in the nerve activity abnormality graph becomes equal to or greater than the first threshold, it is natural to assume that the standard deviation σ becomes equal to or greater than the first threshold due to a reason other than sickness. Therefore, when the user fluctuation characteristic is 1, even if the standard deviation σ in the nerve activity abnormality graph becomes equal to or greater than the first threshold, the CPU 20A may determine that the user does not show any signs of sickness.

[0111] On the other hand, for example, if the acquired user swaying characteristic is 10, i.e., if the user feels sick every time the user sways, even if the standard deviation σ in the neural activity abnormality graph is less than the first threshold, it may be determined that the user is showing signs of sickness when the standard deviation σ approaches the first threshold.

[0112] Naturally, when determining whether or not a sign of sickness is recognized in the user from the positive slope of the nerve activity abnormality graph, the user's fluctuation characteristic may also be combined to determine whether or not the user has a sign of sickness. For example, when the acquired user's fluctuation characteristic is 1, the CPU 20A may determine that the user does not have a sign of sickness even if the positive slope of the nerve activity abnormality graph is equal to or greater than the second threshold. Also, when the acquired user's fluctuation characteristic is 10, the CPU 20A may determine that the user has a sign of sickness at the stage when the positive slope of the nerve activity abnormality graph approaches the second threshold even if the positive slope of the nerve activity abnormality graph is less than the second threshold.

[0113] Specifically, the CPU 20A may associate a weight w, which increases as the value representing the fluctuation characteristic increases, with the fluctuation characteristic, and weight the magnitude of the standard deviation σ and the positive slope of the nerve activity abnormality graph with the weight w corresponding to the fluctuation characteristic of the user. For example, if a weight w of 0 is associated with a fluctuation characteristic of 1, it is determined that the user does not have a sign of sickness, regardless of the value of the magnitude of the standard deviation σ and the positive slope of the nerve activity abnormality graph. Also, if a weight w of less than 1 is associated with the fluctuation characteristic, it may be determined that the user does not have a sign of sickness, even if the magnitude of the standard deviation σ is equal to or greater than the first threshold value, or the positive slope of the nerve activity abnormality graph is equal to or greater than the second threshold value. Conversely, if a weight w of more than 1 is associated with the fluctuation characteristic, it may be determined that the user has a sign of sickness, even if the magnitude of the standard deviation σ is less than the first threshold value, or the positive slope of the nerve activity abnormality graph is less than the second threshold value.

[0114] <Modification 2 of the shaking control process> From the results of the experiment using the rocking system 1, it was found that there is a rocking pattern that easily makes a user feel sick, and the rocking pattern that easily makes a user feel sick differs for each user. Therefore, when the CPU 20A performs rocking control by the process of step S90 in FIG. 5, it is preferable to refer to the history of the rocking pattern for each user and perform control to change the rocking applied to the user so that the rocking pattern that occurred from the start of rocking until it is determined that a sign of sickness is recognized does not occur in the user's head. Note that the CPU 20A may perform control to change the rocking applied to the user so that the rocking pattern that occurred when a sign of sickness was recognized does not occur in the user's head, not from the start of rocking. The rocking pattern for each user is stored in, for example, the non-volatile memory 20C.

[0115] This makes it possible for the CPU 20A to suppress the occurrence of a shaking pattern that may unintentionally make the user feel dizzy during shaking control, as compared to a case in which shaking control is performed without taking into account the history of the shaking pattern.

[0116] <Modification 3 of the shaking control process> So far, an example in which one user rides on the chassis 2 of the rocking system 1 has been described, but from here on, a rocking control process will be described for a case in which multiple users ride on the chassis 2 and the same rocking is applied to each user. When multiple users ride on the chassis 2, the cardiac behavior data acquisition unit 11 shown in Fig. 3 acquires an electrocardiogram waveform for each user, and the rocking characteristic acquisition unit 13 acquires rocking characteristics for each user. In addition, the pattern analysis unit 15 shown in Fig. 3 acquires the head acceleration of each user.

[0117] In this case, the CPU 20A performs the sway control process shown in FIG. 5 using the electrocardiogram waveforms of each user, and when a sign of sickness is detected in any one of the multiple users, the CPU 20A executes the sway control of step S90 in FIG.

[0118] In addition, among the multiple users, the user (referred to as a "specific user") who has input sway characteristics indicating that the user is most likely to become motion sickness due to motion sickness is more likely to develop a symptom of motion sickness first. Therefore, in step S10 of Fig. 5, the CPU 20A may obtain only the electrocardiogram waveform of the specific user and perform motion control processing based only on the electrocardiogram waveform of the specific user.

[0119] If signs of motion sickness are detected in a specific user and the rocking is controlled so that the specific user does not become motion sick, the likelihood that other users riding in chassis 2 will complain of motion sickness decreases.

[0120] 5, when performing sway control to change the sway applied to a specific user so as to reduce the degree of sickness of the specific user, the sway applied to other users other than the specific user riding on the same chassis 2 may also change. Therefore, when performing sway control, it is preferable that the CPU 20A refers to the history of the sway pattern for each user riding on the same chassis 2, and performs control to change the sway so that the sway pattern recorded for each user that occurred from the start of the sway until it is determined that a sign of sickness is recognized does not occur in the head of each user.

[0121] On the other hand, even if the same shaking is applied to the user, if the user's posture changes, the shaking pattern occurring in the user's head may change. Therefore, the CPU 20A may perform control to instruct each user through the operation panel 7 to take a posture that will result in a shaking pattern that is least likely to cause motion sickness for each user. The CPU 20A instructs the users on the posture using at least one of a voice and an image.

[0122] The sway pattern that is least likely to cause sickness for each user is a sway pattern whose similarity to each sway pattern occurring when it is determined that a sign of sickness is recognized is equal to or less than a predetermined value. There are no restrictions on the method of calculating the similarity of the sway patterns, and known similarity calculation methods such as cosine similarity and cluster analysis can be used.

[0123] Although the present disclosure has been described above using the embodiments, the present disclosure is not limited to the scope described in the embodiments. Various modifications or improvements can be made to the embodiments without departing from the gist of the present disclosure, and the forms in which such modifications or improvements are made are also included in the technical scope of the present disclosure. For example, the internal sequence of the shaking control process shown in FIG. 5 may be changed without departing from the gist of the present disclosure.

[0124] In the embodiment, the vibration control process in the control device 10 is realized by software as an example, but the process equivalent to the flowchart of the vibration control process shown in Fig. 5 may be implemented in, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a PLD (Programmable Logic Device) and processed by hardware. In this case, the processing speed can be increased compared to when the vibration control process is realized by software.

[0125] In this way, the CPU 20A of the control device 10 may be replaced with a dedicated processor specialized for specific processing, such as an ASIC, an FPGA, a PLD, a GPU (Graphics Processing Unit), or an FPU (Floating Point Unit).

[0126] The operation of the CPU 20A of the control device 10 in the embodiment may be realized by one CPU 20A or by multiple CPUs 20A. Furthermore, the operation of the CPU 20A of the control device 10 in the embodiment may be realized by cooperation of the CPUs 20A in the computers 20 located at physically separate locations.

[0127] In the above embodiment, the control program read by the CPU 20A of the control device 10 is installed in the non-volatile memory 20C, but the present invention is not limited to this. The control program according to the present embodiment can also be provided in a form recorded in a storage medium readable by the computer 20. For example, the control program may be provided in a form recorded in an optical disk such as a CD (Compact Disc)-ROM or a DVD (Digital Versatile Disc)-ROM. The control program may also be provided in a form recorded in a portable semiconductor memory such as a USB (Universal Serial Bus) memory or a memory card. The non-volatile memory 20C, CD-ROM, DVD-ROM, USB, and memory card are examples of non-transitory storage media.

[0128] Furthermore, the control device 10 may download the control program from an external device connected to a communication line. In this case, the CPU 20A of the control device 10 reads the control program downloaded from the external device and executes the vibration control process.

[0129] In addition, the following supplementary notes are disclosed regarding the above embodiment.

[0130] (Appendix 1) An acquisition unit that acquires cardiac behavior data representing an activity state of the user's heart in a shaking state; an analysis unit that measures beat-to-beat alternans during diastole from the cardiac behavior data acquired by the acquisition unit, and analyzes an activity state of the autonomic nerves of the user from a measurement result of the beat-to-beat alternans; A determination unit that determines whether an abnormality is found in the activity of the autonomic nerves of the user using the analysis result of the analysis unit; A control unit that performs control to change the shaking applied to the user when the determination unit determines that there is an abnormality in the activity of the autonomic nerves of the user; A control device comprising:

[0131] (Appendix 2) The analysis unit repeatedly performs a process of measuring, for each of a predetermined number of adjacent heartbeats, a potential difference between potentials representing the activity state of the user's heart between points that have the same elapsed time from the start point of diastole as the beat-to-beat alternans from the cardiac behavior data at a plurality of points over a predetermined period from the start point of diastole, and calculates a degree of fluctuation for each of the predetermined number of heartbeats in a standard deviation of a distribution of the beat-to-beat alternans obtained for each of the predetermined number of heartbeats, thereby analyzing the activity state of the autonomic nerves of the user. 2. The control device according to claim 1.

[0132] (Appendix 3) The determination unit determines that an abnormality is found in the activity of the autonomic nerves of the user when the magnitude of the standard deviation is equal to or greater than a threshold value, or determines that an abnormality is found in the activity of the autonomic nerves of the user when a positive slope of a curve representing the fluctuation of the standard deviation is equal to or greater than a threshold value. 3. The control device according to claim 2.

[0133] (Appendix 4) The determination unit determines whether or not an abnormality is found in the activity of the autonomic nerves of the user using a sway characteristic that indicates a degree of the user's susceptibility to motion sickness due to motion, in addition to the analysis result of the analysis unit. 4. The control device according to claim 3.

[0134] (Appendix 5) In the case where the same shaking is applied to multiple users, The acquisition unit acquires the mental behavior data of the user having the sway characteristic indicating that the user is most likely to experience motion sickness among the plurality of users. 5. The control device according to claim 4.

[0135] (Appendix 6) When abnormality is no longer recognized in the activity of the autonomic nerves of the user for which abnormality has been recognized, the control unit performs control to reduce the amount of control for changing the sway applied to the user compared to the amount of control when abnormality has been recognized in the activity of the autonomic nerves of the user. The control device according to any one of Supplementary notes 1 to 5.

[0136] (Appendix 7) A pattern analysis unit that analyzes a physical quantity representing a shaking degree of the user's head and identifies a shaking pattern representing a shaking manner of the user's head, When the control unit performs control to reduce a control amount for changing the shaking applied to the user compared to the control amount when abnormality is found in the activity of the autonomic nerves of the user, the control unit performs control to change the shaking applied to the user so that the shaking pattern that occurred before the determination unit determines that abnormality is found in the activity of the autonomic nerves does not occur in the user's head by controlling to reduce the control amount. 7. The control device according to claim 1, wherein the control device is a control device for controlling a power supply of the power supply.

[0137] (Appendix 8) In the case where the same shaking is applied to multiple users, The control unit performs control to instruct each of the users to take a posture such that the shaking occurring in the head of each of the users becomes the shaking pattern that is least likely to cause sickness for each of the users. 8. The control device according to claim 7.

[0138] (Appendix 9) A control device according to any one of Supplementary Note 1 to Supplementary Note 8; A controlled device that changes the shaking caused to a user according to an instruction from the control device; A rocking system with

[0139] (Appendix 10) Acquire cardiac behavior data representing the activity of the user's heart in a shaking state; measuring beat-to-beat alternans during diastole from the acquired cardiac behavior data, and analyzing an activity state of the autonomic nerves of the user from the measurement result of the beat-to-beat alternans; Using the analysis result of the activity status of the autonomic nerve of the user, it is determined whether or not an abnormality is found in the activity of the autonomic nerve of the user; When an abnormality is found in the activity of the autonomic nerves of the user, a computer executes a process of controlling the shaking applied to the user to change the shaking. Control methods.

[0140] (Appendix 11) On the computer, Acquire cardiac behavior data representing the activity of the user's heart in a shaking state; measuring beat-to-beat alternans during diastole from the acquired cardiac behavior data, and analyzing an activity state of the autonomic nerves of the user from the measurement result of the beat-to-beat alternans; Using the analysis result of the activity status of the autonomic nerve of the user, it is determined whether or not an abnormality is found in the activity of the autonomic nerve of the user; and executing a process of controlling the shaking applied to the user when an abnormality is found in the activity of the autonomic nerves of the user. Control program. [Explanation of symbols]

[0141] 1. Oscillating System 2 Chassis 3 seats 4. Vibration Sensor 5. Drive unit 6 wheels 7 Operation Panel 8 Electrocardiograph 9A-9C Distribution of beat-to-beat alternations 10 Control device 11 Cardiac behavior data acquisition unit 12 Cardiac Behavior Analysis Department 13 Oscillation characteristic acquisition section 14 Abnormality determination unit 15 Pattern Analysis Section 16 Memory section 17 Control section 20. Computers 20A CPU 20B RAM 20C Non-volatile Memory 20D I / O 20E Bus 21 Communication unit 22 Operation unit 25A, 25B Arrows representing standard deviation σ 26A-26C Graph of abnormal neural activity 30 Auxiliary Lines 31A, 31B Electrocardiogram waveform 32A-32C Distribution of interbeat alternations σ Standard deviation of the distribution of interbeat alternation

Claims

1. An acquisition unit that acquires cardiac behavior data representing an activity state of the user's heart in a shaking state; an analysis unit that measures beat-to-beat alternans during diastole from the cardiac behavior data acquired by the acquisition unit, and analyzes an activity state of the autonomic nerves of the user from a measurement result of the beat-to-beat alternans; A determination unit that determines whether an abnormality is found in the activity of the autonomic nerves of the user using the analysis result of the analysis unit; A control unit that performs control to change the shaking applied to the user when the determination unit determines that there is an abnormality in the activity of the autonomic nerves of the user; A control device comprising:

2. The analysis unit repeatedly performs a process of measuring, for each of a predetermined number of adjacent heartbeats, a potential difference between potentials representing the activity state of the user's heart between points that have the same elapsed time from the start point of diastole as the beat-to-beat alternans from the cardiac behavior data at a plurality of points over a predetermined period from the start point of diastole, and calculates a degree of fluctuation for each of the predetermined number of heartbeats in a standard deviation of a distribution of the beat-to-beat alternans obtained for each of the predetermined number of heartbeats, thereby analyzing the activity state of the autonomic nerves of the user. The control device according to claim 1 .

3. The determination unit determines that an abnormality is found in the activity of the autonomic nerves of the user when the magnitude of the standard deviation is equal to or greater than a threshold value, or determines that an abnormality is found in the activity of the autonomic nerves of the user when a positive slope of a curve representing the fluctuation of the standard deviation is equal to or greater than a threshold value. The control device according to claim 2.

4. The determination unit determines whether or not an abnormality is found in the activity of the autonomic nerves of the user using a sway characteristic that indicates a degree of the user's susceptibility to motion sickness due to motion, in addition to the analysis result of the analysis unit. The control device according to claim 3.

5. When abnormality is no longer recognized in the activity of the autonomic nerves of the user for which abnormality has been recognized, the control unit performs control to reduce the amount of control for changing the sway applied to the user compared to the amount of control when abnormality has been recognized in the activity of the autonomic nerves of the user. The control device according to claim 4.

6. A pattern analysis unit that analyzes a physical quantity representing a shaking degree of the user's head and identifies a shaking pattern representing a shaking manner of the user's head, When the control unit performs control to reduce a control amount for changing the shaking applied to the user compared to the control amount when abnormality is found in the activity of the autonomic nerves of the user, the control unit performs control to change the shaking applied to the user so that the shaking pattern that occurred before the determination unit determines that abnormality is found in the activity of the autonomic nerves does not occur in the user's head by controlling to reduce the control amount. The control device according to claim 5.

7. In the case where the same shaking is applied to multiple users, The control unit performs control to instruct each of the users to take a posture such that the shaking occurring in the head of each of the users is the shaking pattern that is least likely to cause sickness for each of the users, or The acquisition unit acquires the mental behavior data of the user having the sway characteristic indicating that the user is most likely to experience motion sickness among the plurality of users. The control device according to claim 6.

8. A control device according to any one of claims 1 to 7, A controlled device that changes the shaking caused to a user according to an instruction from the control device; A rocking system with

9. Acquire cardiac behavior data representing the activity of the user's heart in a shaking state; measuring beat-to-beat alternans during diastole from the acquired cardiac behavior data, and analyzing an activity state of the autonomic nerves of the user from the measurement result of the beat-to-beat alternans; Using the analysis result of the activity status of the autonomic nerve of the user, it is determined whether or not an abnormality is found in the activity of the autonomic nerve of the user; When an abnormality is found in the activity of the autonomic nerves of the user, a computer executes a process of controlling the shaking applied to the user to change the shaking. Control methods.

10. On the computer, Acquire cardiac behavior data representing the activity of the user's heart in a shaking state; measuring beat-to-beat alternans during diastole from the acquired cardiac behavior data, and analyzing an activity state of the autonomic nerves of the user from the measurement result of the beat-to-beat alternans; Using the analysis result of the activity status of the autonomic nerve of the user, it is determined whether or not an abnormality is found in the activity of the autonomic nerve of the user; and executing a process of controlling the shaking applied to the user when an abnormality is found in the activity of the autonomic nerves of the user. Control program.

Images