Steering device, mobile body, wearable device, driving support system, and driving support method

Abstract

To provide a technique for accurately determining whether a driver of a mobile body holds a steering body.SOLUTION: A steering device arranged in a mobile body includes: a steering body to be gripped by a driver of the mobile body; a sensor for acquiring distance information between the steering body and a device body of a wearable device mounted on a wrist of the driver; a determination section for determining whether the driver is gripping the steering body with the use of the distance information; and a warning output section for outputting warning when it is determined that the driver is not gripping the steering body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a steering device, a moving body, a wearable device, a driving assistance system, and a driving assistance method. [Background technology]

[0002] A known driving assistance device uses a wearable device worn by a driver on the forearm, wrist, or finger to determine whether the driver is not gripping the steering wheel and outputs a warning if the device determines that the driver is not gripping the steering wheel (see Patent Document 1). In this technology, the wearable device includes an inclination sensor, an acceleration sensor, and an angular velocity sensor as sensors capable of detecting at least one of the position and orientation of the wearable device. The driving assistance device acquires, as an initial value, a measurement result from the sensor when the driver is gripping the steering wheel, and subsequently acquires values ​​from the sensor continuously. The driving assistance device determines whether the driver is gripping the steering wheel based on the acquired value and the initial value. Specifically, the driving assistance device determines that the driver is not gripping the steering wheel based on the measurement result of the inclination sensor capable of detecting tilt angles relative to three orthogonal axes if at least one of the three tilt angles is not within a predetermined range including the initial value. The driving assistance device also determines the current position of the wearable device by detecting the distance traveled by the wearable device based on the measurement results of the acceleration sensor and the direction of travel of the wearable device based on the measurement results of the angular velocity sensor. If the determined position of the wearable device is further away than a predetermined threshold, the driving assistance device determines that the driver is not gripping the steering wheel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-156944 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technology, whether a driver is gripping the steering wheel is determined based on the change in the position of the wearable device when the driver is gripping the steering wheel and the position of the wearable device when detected by a sensor, which can result in a decrease in the accuracy of determining whether the driver is gripping the steering wheel. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to a first aspect of the present disclosure, a steering device is provided. The steering device is provided in a moving body and includes: a steering wheel body to be held by a driver of the moving body; a sensor that acquires distance information between the steering wheel body and a device body of a wearable device worn on the driver's arm; a determination unit that uses the distance information to determine whether the driver is holding the steering wheel body; and a warning output unit that outputs a warning when it is determined that the driver is not holding the steering wheel body. According to this aspect, the steering device can determine whether the driver is holding the steering wheel body based on the distance between the steering wheel body of the steering device and the device body of the wearable device worn on the driver's arm. This allows the steering device to accurately determine whether the driver is holding the steering wheel body. Then, when it is determined that the driver is not holding the steering wheel body, the steering device can output a warning. This allows the steering device to alert the driver to hold the steering wheel body. (2) In the above aspect, the sensor may acquire the distance information by using wireless communication between the steering device and the wearable device. According to this aspect, the steering device can acquire the distance information by using wireless communication between the steering device and the wearable device. (3) In the above aspect, the sensor may include a steering communication unit capable of wirelessly communicating with a device communication unit of the wearable device via infrared when the steering wheel main body and the device main body are within a predetermined distance range, and an acquisition unit that acquires, as the distance information, first information indicating whether the steering wheel communication unit and the device communication unit have been able to wirelessly communicate via infrared, and the determination unit may determine that the driver is gripping the steering wheel main body when the first information indicates that the steering wheel communication unit and the device communication unit have been able to wirelessly communicate via infrared, and may determine that the driver is not gripping the steering wheel main body when the first information indicates that the steering wheel communication unit and the device communication unit have not been able to wirelessly communicate via infrared. According to this aspect, the sensor can acquire, as distance information, the first information indicating whether the steering wheel communication unit and the device communication unit have been able to wirelessly communicate via infrared. In this way, the steering device can determine whether the driver is gripping the steering wheel main body by utilizing the communication range of infrared communication. (4) In the above embodiment, the sensor may include a distance measuring unit that measures the distance between the steering wheel main body and the device main body, and an acquisition unit that acquires second information indicating the distance between the steering wheel main body and the device main body measured by the distance measuring unit as the distance information. The determination unit may determine that the driver is gripping the steering wheel main body if the distance between the steering wheel main body and the device main body specified by the second information is within a predetermined range, and determine that the driver is not gripping the steering wheel main body if the distance between the steering wheel main body and the device main body specified by the second information is outside the predetermined range. According to this embodiment, the sensor can measure the distance between the steering wheel main body and the device main body. The sensor can also acquire the second information indicating the distance between the steering wheel main body and the device main body as distance information. In this way, the steering device can determine whether the driver is gripping the steering wheel main body depending on whether the distance between the steering wheel main body and the device main body is within the predetermined range. (5) In the above-described embodiment, the sensor may be disposed over the entire steering body. According to this embodiment, the sensor is disposed over the entire steering body. This makes it possible to determine whether the driver is gripping the steering body regardless of the part of the steering body that the driver is gripping. (6) In the above-described embodiment, the sensor may be disposed in a part of the steering body. According to this embodiment, the sensor is disposed in a part of the steering body. This makes it possible to determine whether the driver is gripping the part of the steering body where the sensor is disposed. (7) According to a second aspect of the present disclosure, a mobile body is provided. The mobile body includes a steering device including a steering wheel body to be held by a driver of the mobile body, a sensor that acquires distance information between the steering wheel body and a device body of a wearable device worn on the driver's arm, a determination unit that determines whether the driver is holding the steering wheel body using the distance information, and a warning output unit that outputs a warning when it is determined that the driver is not holding the steering wheel body. According to this aspect, the mobile body can determine whether the driver is holding the steering wheel body based on the distance between the steering wheel body of the steering device and the device body of the wearable device worn on the driver's arm. This allows the mobile body to accurately determine whether the driver is holding the steering wheel body. Then, when it is determined that the driver is not holding the steering wheel body, the mobile body can output a warning. This allows the mobile body to alert the driver to hold the steering wheel body. (8) The above aspect may further include a mobile communication unit capable of wirelessly communicating via electromagnetic waves with a device communication unit of the wearable device, a matching unit that, when receiving a device identification signal from the wearable device, matches the device identification information included in the device identification signal with mobile object identification information that can identify the mobile object, and an execution unit that causes the mobile object to perform a predetermined operation when the device identification information matches the mobile object identification information. According to this aspect, when receiving a device identification signal from the wearable device, the mobile object can match the device identification information included in the device identification signal with the mobile object identification information. Then, when the device identification information matches the mobile object identification information, the mobile object can cause the mobile object to perform the predetermined operation. (9) The above embodiment may further include a mobile communication unit capable of wirelessly communicating with a device communication unit of the wearable device via electromagnetic waves, a mobile-device-side transmitter that transmits to the wearable device a mobile device identification signal including mobile device identification information capable of identifying the mobile device, and an execution unit that causes the mobile device to perform a predetermined operation when receiving from the wearable device an authorization signal that is generated in the wearable device when the device identification information capable of identifying the wearable device matches the mobile device identification information included in the mobile device identification signal. According to this embodiment, the mobile device can transmit the mobile device identification signal including the mobile device identification information to the wearable device. In this way, the wearable device can compare the device identification information included in the device identification signal with the mobile device identification information. Then, when receiving from the wearable device the authorization signal that is generated when the device identification information matches the mobile device identification information, the mobile device can cause the mobile device to perform the predetermined operation. (10) According to a third aspect of the present disclosure, a wearable device is provided. The wearable device includes a device main body that can be worn on the wrist of a driver of a moving object; a sensor that acquires distance information between a steering wheel main body to be gripped by the driver and the device main body; a determination unit that uses the distance information to determine whether the driver is gripping the steering wheel main body; and a warning output unit that outputs a warning when it is determined that the driver is not gripping the steering wheel main body. According to this aspect, the wearable device can determine whether the driver is gripping the steering wheel main body based on the distance between the steering wheel main body of a steering system and the device main body of a wearable device worn on the driver's wrist. This allows the wearable device to accurately determine whether the driver is gripping the steering wheel main body. Then, when it is determined that the driver is not gripping the steering wheel main body, the wearable device can output a warning. This allows the wearable device to alert the driver to grip the steering wheel main body. (11) The above embodiment may further include a device communication unit capable of wirelessly communicating with a mobile communication unit of the mobile body via electromagnetic waves, and a device-side transmitter unit that transmits to the mobile body a device identification signal including device identification information that can identify the wearable device. According to this embodiment, the wearable device can transmit to the mobile body the device identification signal including the device identification information. In this way, the mobile body can compare the device identification information included in the device identification signal with the mobile body identification information. As a result, if the device identification information matches the mobile body identification information, the mobile body can be made to perform a predetermined operation. (12) The above aspect may further include a device communication unit capable of wirelessly communicating with a mobile communication unit of the mobile unit via electromagnetic waves; a matching unit that, when receiving from the mobile unit a mobile unit identification signal including mobile unit identification information capable of identifying the mobile unit, matches device identification information capable of identifying the wearable device with the mobile unit identification information included in the mobile unit identification signal; and a device-side transmitter that, when the device identification information matches the mobile unit identification information, generates an authorization signal for permitting the mobile unit to perform a predetermined operation and transmits the authorization signal to the mobile unit. According to this aspect, the wearable device can match the device identification information included in the device identification signal with the mobile unit identification information. Then, when the device identification information matches the mobile unit identification information, the wearable device can generate an authorization signal and transmit the authorization signal to the mobile unit. In this way, the mobile unit that receives the authorization signal from the wearable device can perform the predetermined operation. (13) According to a fourth aspect of the present disclosure, a driving assistance system is provided. The driving assistance system includes: a mobile body having a steering device; a wearable device having a device main body that can be worn on the wrist of a driver of the mobile body; a sensor that acquires distance information between a steering main body of the steering device to be held by the driver and the device main body; a determination unit that uses the distance information to determine whether the driver is holding the steering main body; and a warning output unit that outputs a warning when it is determined that the driver is not holding the steering main body. According to this aspect, the driving assistance system can determine whether the driver is holding the steering main body based on the distance between the steering main body of the steering device and the device main body of the wearable device worn on the driver's wrist. This allows the driving assistance system to accurately determine whether the driver is holding the steering main body. Then, when it is determined that the driver is not holding the steering main body, the driving assistance system can output a warning. This allows the driving assistance system to alert the driver to hold the steering main body. (14) In the above aspect, the wearable device may include a device communication unit capable of wirelessly communicating with the outside via electromagnetic waves and a device-side transmitter unit configured to transmit to the mobile body a device identification signal including device identification information capable of identifying the wearable device. The mobile body may further include a mobile communication unit capable of wirelessly communicating with the outside via electromagnetic waves, a matching unit configured to, when receiving the device identification signal from the wearable device, match the device identification information included in the device identification signal with mobile body identification information capable of identifying the mobile body, and an execution unit configured to cause the mobile body to perform a predetermined operation if the device identification information matches the mobile body identification information. According to this aspect, the wearable device may transmit to the mobile body a device identification signal including the device identification information. When receiving from the wearable device a device identification signal including the device identification information, the mobile body may match the device identification information included in the device identification signal with the mobile body identification information. Then, when the device identification information matches the mobile body identification information, the mobile body may cause the mobile body to perform the predetermined operation. (15) In the above aspect, the wearable device may include a device communication unit capable of wirelessly communicating with the outside via electromagnetic waves, a comparison unit that, when receiving from the mobile object a mobile object identification signal including mobile object identification information capable of identifying the mobile object, compares the device identification information capable of identifying the wearable device with the mobile object identification information included in the mobile object identification signal, and a device-side transmitter that, when the device identification information matches the mobile object identification information, generates an authorization signal to permit the mobile object to perform a predetermined operation and transmits the authorization signal to the mobile object. The mobile object may further include a mobile communication unit capable of wirelessly communicating with the outside via electromagnetic waves, a mobile object transmitter that transmits the mobile object identification signal to the wearable device, and an execution unit that, when receiving the authorization signal from the wearable device, causes the mobile object to perform the predetermined operation. According to this aspect, the mobile object can transmit the mobile object identification signal including the mobile object identification information to the wearable device. The wearable device can compare the device identification information included in the device identification signal with the mobile object identification information. If the device identification information and the mobile body identification information match, an authorization signal can be generated and transmitted to the mobile body, whereby the mobile body can be made to perform a predetermined operation when the authorization signal is received from the wearable device. (16) According to a fifth aspect of the present disclosure, a driving assistance method is provided. The driving assistance method includes an acquisition step of acquiring distance information between a steering wheel body to be held by a driver of a moving body and a device body of a wearable device worn on the driver's arm, a determination step of using the distance information to determine whether the driver is holding the steering wheel body, and a warning output step of outputting a warning when it is determined that the driver is not holding the steering wheel body. According to this aspect, it is possible to determine whether the driver is holding the steering wheel body according to the distance between the steering wheel body of a steering device and the device body of a wearable device worn on the driver's arm. This makes it possible to accurately determine whether the driver is holding the steering wheel body. Then, when it is determined that the driver is not holding the steering wheel body, it is possible to output a warning. This makes it possible to alert the driver to hold the steering wheel body. The present disclosure may be realized in various forms other than the above-described steering device, mobile body, wearable device, driving assistance system, and driving assistance method, for example, in the form of a manufacturing method for a steering device, mobile body, wearable device, and driving assistance system, a control method for a steering device, mobile body, wearable device, and driving assistance system, a computer program for realizing the control method, a non-transitory recording medium on which the computer program is recorded, etc. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a conceptual diagram showing the configuration of a driving assistance system. [Figure 2] FIG. 1 is a block diagram showing the configuration of a vehicle. [Figure 3] FIG. 2 is a block diagram showing the configuration of a steering device. [Figure 4] FIG. 1 is a block diagram showing the configuration of a wearable device. [Figure 5] 3 is a flowchart showing a driving assistance method in the first embodiment. [Figure 6] FIG. 6 is a block diagram showing the configuration of a steering device according to a second embodiment. [Figure 7] 10 is a flowchart showing a driving assistance method in a second embodiment. [Figure 8] FIG. 10 is a block diagram showing the configuration of a vehicle in a third embodiment. [Figure 9] FIG. 10 is a block diagram showing the configuration of a wearable device according to a third embodiment. [Figure 10] 10 is a flowchart showing an operation control method in the third embodiment. [Figure 11] FIG. 10 is a block diagram showing the configuration of a vehicle according to a fourth embodiment. [Figure 12] FIG. 10 is a block diagram showing the configuration of a wearable device according to a fourth embodiment. [Figure 13] 10 is a flowchart showing an operation control method in the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: 1 is a conceptual diagram showing the configuration of a driving assistance system 1. The driving assistance system 1 includes a vehicle 100 as a moving body and a wearable device 500.

[0009] 2 is a block diagram showing the configuration of the vehicle 100. The vehicle 100 includes a vehicle control device 110, an input device 120, an actuator group 130, a vehicle communication unit 140, and a vehicle notification unit 190.

[0010] The vehicle control device 110 includes a processor 111, a memory 112, an input / output interface 113, and a bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an input device 120, an actuator group 130, a vehicle communication unit 140, and a vehicle notification unit 190. The processor 111 functions as a vehicle control unit 115 by executing a program PG1 stored in the memory 112. The vehicle control unit 115 controls the actuator group 130 to cause the vehicle 100 to run.

[0011] The input device 120 is a device operated by the driver DR of the vehicle 100 to determine the driving conditions of the vehicle 100. The input device 120 includes a steering device 200, an accelerator pedal 300, and a brake pedal 400. The steering device 200 is operated by the driver DR of the vehicle 100 to control the traveling direction of the vehicle 100. The steering device 200 is also called a "steering wheel." The accelerator pedal 300 is operated by the driver DR to accelerate the vehicle 100. The brake pedal 400 is operated by the driver DR to decelerate the vehicle 100.

[0012] The actuator group 130 is driven under the control of the vehicle control device 110. The actuator group 130 includes a steering unit 131, a driving unit 132, and a braking unit 133. The steering unit 131 changes the traveling direction of the vehicle 100. The driving unit 132 accelerates the vehicle 100. The braking unit 133 decelerates the vehicle 100.

[0013] Vehicle communication unit 140 communicably connects vehicle 100 to the outside of vehicle 100. Vehicle communication unit 140 is, for example, a wireless communication device.

[0014] The vehicle notification unit 190 outputs a warning in response to an instruction from a warning output unit 217 shown in FIG. 3, which will be described later. The vehicle notification unit 190 is, for example, an in-vehicle speaker mounted on the vehicle 100. In this case, for example, at least one of a warning sound and a warning message is emitted from the in-vehicle speaker. The vehicle notification unit 190 may be a display provided in a car navigation device mounted on the vehicle 100. In this case, for example, at least one of a warning display and a warning message is displayed on the display of the car navigation device. The vehicle notification unit 190 may also be an instrument panel. In this case, for example, an indicator light on the instrument panel lights up or flashes.

[0015] 3 is a block diagram showing the configuration of the steering device 200. The steering device 200 includes a steering control device 210, a steering main body 220, a steering shaft 230, a sensor 250, and a steering notification unit 290.

[0016] The steering body 220 is a member to be gripped by the driver DR. The steering shaft 230 connects the steering body 220 to the steering section 131. In this embodiment, the shape of the steering body 220 is a circle extending in the circumferential direction around the steering shaft 230 when viewed from the viewpoint of the driver DR.

[0017] The sensor 250 acquires distance information regarding the distance between the steering wheel main body 220 and the device main body 520 of the wearable device 500 worn on the arm of the driver DR. In this embodiment, the sensor 250 acquires the distance information at a predetermined cycle using wireless communication between the steering apparatus 200 and the wearable device 500. Specifically, the sensor 250 includes a steering communication unit 251 and an acquisition unit 252. When the steering wheel main body 220 and the device main body 520 are within a predetermined distance range, the steering communication unit 251 is capable of wirelessly communicating via infrared rays with a device communication unit 540 of the wearable device 500 (described later and shown in FIG. 4). The acquisition unit 252 acquires first information as the distance information. The first information is information indicating whether the steering communication unit 251 and the device communication unit 540 have been able to wirelessly communicate via infrared rays. The first information is, for example, information indicating whether the steering communication unit 251 has received a signal from the device communication unit 540. The sensor 250 in this embodiment is, for example, an infrared communication device.

[0018] In this embodiment, the sensors 250 are arranged over the entire steering body 220. Specifically, a plurality of sensors 250 of the same type are arranged at intervals in the circumferential direction of the steering body 220.

[0019] The steering control device 210 includes a processor 211, a memory 212, an input / output interface 213, and a bus 214. The processor 211, the memory 212, and the input / output interface 213 are connected via the bus 214 to enable bidirectional communication. The input / output interface 213 is connected to a steering body 220, a sensor 250, and a steering notification unit 290. The processor 211 executes a program PG2 stored in the memory 212, thereby functioning as a steering control unit 215, a determination unit 216, and a warning output unit 217.

[0020] The steering control unit 215 controls the operation of each unit of the steering device 200. The determination unit 216 uses the distance information to determine whether the driver DR is gripping the steering wheel body 220. "The driver DR is gripping the steering wheel body 220" includes a first case and a second case. The first case is when the driver DR grips the steering wheel body 220 by wrapping his / her fingers around part of the steering wheel body 220 from the front to the back of the steering wheel body 220. The second case is when the driver DR places his / her fingers on part of the steering wheel body 220, so that the driver's fingers are in contact with the steering wheel body 220. The front surface of the steering wheel body 220 is the surface of the steering wheel body 220 that faces the driver DR. In other words, the front surface of the steering wheel body 220 is the surface located rearward along the longitudinal axis of the vehicle 100. The back surface of the steering wheel body 220 is the surface of the steering wheel body 220 opposite the front surface, that is, the surface located on the dashboard side. In other words, the back surface of the steering wheel main body 220 is the surface located on the forward side along the longitudinal axis of the vehicle 100. In this embodiment, each time the first information is acquired, the determination unit 216 determines whether the driver DR is gripping the steering wheel main body 220 using the first information. Specifically, if any of the first information acquired from the sensors 250 at the same time is information indicating that the steering wheel communication unit 251 and the device communication unit 540 have been able to wirelessly communicate via infrared rays, the determination unit 216 determines that the driver DR is gripping the steering wheel main body 220. If any of the first information acquired from the sensors 250 at the same time is information indicating that the steering wheel main body 220 and the device communication unit 540 have not been able to communicate, the determination unit 216 determines that the driver DR is not gripping the steering wheel main body 220. When it is determined that the driver DR is not gripping the steering wheel body 220, the warning output unit 217 outputs a warning from at least one of the vehicle notification unit 190, the steering notification unit 290, and the device notification unit 590 shown in Figure 4 described later.

[0021] The steering notification unit 290 outputs a warning in response to an instruction from the warning output unit 217. The steering notification unit 290 may be, for example, a steering vibration device mounted on the steering device 200. In this case, the steering vibration device vibrates the steering body 220. The steering notification unit 290 may be a light-emitting device provided on the steering device 200. In this case, for example, a lamp of the light-emitting device provided on the steering device 200 lights up or flashes.

[0022] 4 is a block diagram showing the configuration of the wearable device 500. The wearable device 500 includes a device control device 510, a device main body 520, a device communication unit 540, and a device notification unit 590.

[0023] The device main body 520 can be worn on the wrist of the driver DR. The device main body 520 may be, for example, a ring type, or a wristband type such as a watch, a bracelet, or a bangle.

[0024] The device control device 510 includes a processor 511, a memory 512, an input / output interface 513, and a bus 514. The processor 511, the memory 512, and the input / output interface 513 are connected via the bus 514 to enable bidirectional communication. A device communication unit 540 and a device notification unit 590 are connected to the input / output interface 513. The processor 511 functions as a device control unit 515 by executing a program PG5 stored in the memory 512. The device control unit 515 controls the operation of each unit of the wearable device 500.

[0025] The device communication unit 540 connects the wearable device 500 to the outside of the wearable device 500 so that they can communicate with each other. In this embodiment, when the steering main body 220 and the device main body 520 are present within a predetermined distance range, the device communication unit 540 is capable of wirelessly communicating with the steering communication unit 251 shown in Fig. 3 via infrared rays. The device communication unit 540 transmits a signal to the steering communication unit 251 at regular intervals, for example.

[0026] The device notification unit 590 shown in FIG. 4 outputs a warning in response to an instruction from the warning output unit 217. The device notification unit 590 may be, for example, a device vibrating device mounted on the wearable device 500. In this case, the device vibrating device vibrates the device main body 520. The device notification unit 590 may be a display provided on the wearable device 500. In this case, for example, at least one of a warning display and a warning message is displayed on the display provided on the wearable device 500. The device notification unit 590 may also be a speaker mounted on the wearable device 500. In this case, for example, at least one of a warning sound and a warning message is emitted from the speaker mounted on the wearable device 500. Furthermore, the device notification unit 590 may also be a light-emitting device mounted on the wearable device 500. In this case, a lamp of the light-emitting device mounted on the wearable device 500 lights up or flashes.

[0027] Fig. 5 is a flowchart showing a driving assistance method in the first embodiment. The flow shown in Fig. 5 is executed repeatedly at predetermined intervals, for example, after the vehicle 100 starts traveling.

[0028] In step S111, the steering communication unit 251 and the device communication unit 540 attempt wireless communication via infrared rays. In step S112, the acquisition unit 252 acquires first information. In step S121, the determination unit 216 uses the first information to determine whether the driver DR is gripping the steering wheel main body 220. If any of the first information acquired from the sensors 250 at the same timing is information indicating that the steering wheel communication unit 251 and the device communication unit 540 have been able to wirelessly communicate via infrared rays (step S121: Yes), the determination unit 216 makes a determination as shown in step S122. In step S122, the determination unit 216 determines that the driver DR is gripping the steering wheel main body 220. On the other hand, if any of the first information acquired from the sensors 250 at the same timing is information indicating that the steering wheel main body 220 and the device communication unit 540 have not been able to communicate (step S121: No), the determination unit 216 makes a determination as shown in step S123. In step S123, the determination unit 216 determines that the driver DR is not gripping the steering wheel main body 220. If it is determined that the driver DR is not gripping the steering wheel main body 220, the warning output unit 217 causes the notification units 190, 290, and 590 to output a warning in step S131.

[0029] According to the first embodiment, it is possible to determine whether the driver DR is gripping the steering wheel body 220 according to the distance between the steering wheel body 220 and the device body 520 worn on the arm of the driver DR. This makes it possible to accurately determine whether the driver DR is gripping the steering wheel body 220. It is also possible to reduce the possibility that differences in the accuracy of determining whether the driver DR is gripping the steering wheel body 220 will occur due to differences in the physique of the driver DR and individual differences in the gripping force when the driver DR grips the steering wheel body 220.

[0030] Furthermore, according to the first embodiment, when it is determined that the driver DR is not gripping the steering body 220, a warning can be output from the notification units 190, 290, 590. This can alert the driver DR to grip the steering body 220.

[0031] Moreover, according to the first embodiment, it is possible to determine whether the driver DR is gripping the steering wheel body 220 using one type of sensor 250. Therefore, compared to the case where it is determined whether the driver DR is gripping the steering wheel body 220 using a plurality of types of sensors 250, it is possible to reduce the manufacturing cost of the driving assistance system 1.

[0032] Furthermore, according to the first embodiment, a plurality of sensors 250 of the same type are arranged at intervals in the circumferential direction of the steering body 220, so that the sensors 250 are arranged over the entire steering body 220. In this way, regardless of which part of the steering body 220 the driver DR is gripping, it can be determined whether or not the driver DR is gripping the steering body 220.

[0033] Furthermore, according to the first embodiment, distance information can be acquired by utilizing wireless communication between the steering device 200 and the wearable device 500.

[0034] Furthermore, according to the first embodiment, it is possible to determine whether or not the distance between the steering wheel main body 220 and the device main body 520 is less than a predetermined distance by utilizing the communication range of infrared communication. If the distance between the steering wheel main body 220 and the device main body 520 is less than the predetermined distance, it is possible to determine that the driver DR is gripping the steering wheel main body 220. If the distance between the steering wheel main body 220 and the device main body 520 is equal to or greater than the predetermined distance, it is possible to determine that the driver DR is not gripping the steering wheel main body 220.

[0035] The type of sensor 250 is not limited to the above. The driving assistance system 1 may be provided with a sensor 250 that acquires the first information using wireless communication by a communication method other than infrared communication. In this case, the sensor 250 may be, for example, a short-range wireless communication device such as an NFC (Near Field Communication) communication device that is capable of communicating between the steering wheel main body 220 and the device main body 520 by NFC communication. In this case, the driving assistance system 1 can determine whether the driver DR is gripping the steering wheel main body 220 by using the communication range of wireless communication by a communication method other than infrared communication.

[0036] B. Second embodiment: FIG. 6 is a block diagram showing the configuration of a steering device 200a in the second embodiment. The steering device 200a includes a steering control device 210a, a steering main body 220, a steering shaft 230, a sensor 250a, and a steering notification unit 290. In this embodiment, the type of sensor 250a is different from that in the first embodiment. As a result, part of the configuration of the steering control device 210a and the driving assistance method are different from those in the first embodiment. Unless otherwise specified, the other configurations are the same as those in the first embodiment. The same reference numerals are used for the same configurations as in the first embodiment, and descriptions thereof will be omitted.

[0037] The sensor 250a acquires distance information without using wireless communication between the steering apparatus 200a and the wearable device 500. Specifically, the sensor 250a is a distance measuring sensor. The sensor 250a includes a distance measuring unit 253 and an acquisition unit 252a. The distance measuring unit 253 measures the distance between the steering body 220 and the device body 520. The acquisition unit 252a acquires, as distance information, second information indicating the distance between the steering body 220 and the device body 520 measured by the sensor 250a. The sensor 250a of this embodiment is, for example, a laser distance measuring sensor that measures the distance between the steering body 220 and the device body 520 by irradiating an object with laser light and receiving reflected light from the object.

[0038] The steering control device 210a includes a processor 211a, a memory 212a, an input / output interface 213, and a bus 214. The processor 211a executes a program PG2 stored in the memory 212a, thereby functioning as a steering control unit 215, a determination unit 216a, and a warning output unit 217.

[0039] In this embodiment, the determination unit 216a uses the second information to determine whether the driver DR is gripping the steering wheel main body 220. Specifically, when the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is within a predetermined range, the determination unit 216a determines that the driver DR is gripping the steering wheel main body 220. When the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is outside the predetermined range, the determination unit 216a determines that the driver DR is not gripping the steering wheel main body 220. More specifically, when the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is equal to or greater than a first threshold value and is less than a second threshold value that is greater than the first threshold value, the determination unit 216a determines that the driver DR is gripping the steering wheel main body 220. When the distance between the steering wheel body 220 and the device body 520 identified by the second information is either less than the first threshold value or greater than or equal to the second threshold value, the judgment unit 216a judges that the driver DR is not holding the steering wheel body 220.

[0040] For example, when the wearable device 500 is worn on the fingers of the driver DR, such as in a ring shape, the following can be said. In this case, regardless of whether the device main body 520 is located forward or backward along the longitudinal axis of the vehicle 100, it can be said that the driver DR is gripping the steering wheel main body 220 when the steering wheel main body 220 and the device main body 520 are located within a predetermined distance range. Here, "when the steering wheel main body 220 and the device main body 520 are located within a predetermined distance range" includes a case where the steering wheel main body 220 and the device main body 520 come into contact with each other, resulting in a distance of zero between the steering wheel main body 220 and the device main body 520. Therefore, when the wearable device 500 is worn on the fingers of the driver DR, the distance between the steering wheel main body 220 and the device main body 520 is expressed, for example, as a scalar quantity. The first threshold value is set, for example, to zero. In this case, when the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is equal to or greater than the first threshold value of zero and is less than the second threshold value which is a positive value greater than zero, the determination unit 216 determines that the driver DR is gripping the steering wheel main body 220. Furthermore, when the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is equal to or greater than the second threshold value, the determination unit 216 determines that the driver DR is not gripping the steering wheel main body 220.

[0041] On the other hand, when the wearable device 500 is attached to the arm of the driver DR, such as in the case of a bracelet type, the following can be said. In this case, when the steering wheel main body 220 and the device main body 520 are located within a predetermined distance range and the device main body 520 is located rearward of the steering wheel main body 220 in the vehicle 100, it can be said that the driver DR is gripping the steering wheel main body 220. In other words, even when the steering wheel main body 220 and the device main body 520 are located within a predetermined distance range, it cannot be said that the driver DR is gripping the steering wheel main body 220 if the device main body 520 is located forward of the steering wheel main body 220 along the longitudinal axis of the vehicle 100. Furthermore, when the distance between the steering wheel main body 220 and the device main body 520 is zero, it cannot be said that the driver DR is gripping the steering wheel main body 220. Therefore, when the wearable device 500 is worn on the arm of the driver DR, in order to distinguish whether the arm of the driver DR wearing the wearable device 500 is located on the front side or the rear side along the longitudinal axis of the vehicle 100, the distance between the steering wheel main body 220 and the device main body 520 is expressed, for example, by a vector quantity. The first threshold is set to a positive value greater than zero. In this case, when the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is equal to or greater than the positive value of the first threshold and is less than a second threshold that is a positive value greater than the first threshold, the determination unit 216 determines that the driver DR is gripping the steering wheel main body 220. Furthermore, when the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is either less than the first threshold or equal to or greater than the second threshold, the determination unit 216 determines that the driver DR is not gripping the steering wheel main body 220.

[0042] The method of determining whether the driver DR is gripping the steering wheel main body 220 is not limited to the above. The set values ​​of the first threshold and the second threshold may be other than those described above. Furthermore, when the wearable device 500 is worn on the fingers of the driver DR, the distance between the steering wheel main body 220 and the device main body 520 may be expressed as a vector quantity. When the wearable device 500 is worn on the arm of the driver DR, the distance between the steering wheel main body 220 and the device main body 520 may be expressed as a scalar quantity.

[0043] Fig. 7 is a flowchart showing a driving assistance method in the second embodiment. The flow shown in Fig. 7 is executed repeatedly at predetermined intervals, for example, after the vehicle 100 starts traveling.

[0044] In step S211, the distance measuring unit 253 measures the distance between the steering wheel main body 220 and the device main body 520. In step S212, the acquisition unit 252 acquires second information. In step S221, the determination unit 216a uses the second information to determine whether the driver DR is gripping the steering wheel main body 220. If the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is equal to or greater than a first threshold value, which is a case where the distance is within a predetermined range, and is less than a second threshold value (step S221: Yes), the determination unit 216a makes a determination as shown in step S222. In step S222, the determination unit 216a determines that the driver DR is gripping the steering wheel main body 220. On the other hand, if the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is less than a first threshold value representing a case where the distance is outside the predetermined range, or is equal to or greater than a second threshold value representing a case where the distance is outside the predetermined range (step S221: No), the determination unit 216a makes a determination as shown in step S223. In step S223, the determination unit 216a determines that the driver DR is not gripping the steering wheel main body 220. If it is determined that the driver DR is not gripping the steering wheel main body 220, the warning output unit 217 causes the notification units 190, 290, 590 to output a warning in step S231.

[0045] According to the second embodiment, it is possible to measure the distance between the steering wheel main body 220 and the device main body 520 worn on the arm of the driver DR without using wireless communication. Then, when the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is within a predetermined range, it is possible to determine that the driver DR is gripping the steering wheel main body 220. When the distance between the steering wheel main body 220 and the device main body 520 specified by the second information is outside the predetermined range, it is possible to determine that the driver DR is not gripping the steering wheel main body 220.

[0046] Furthermore, according to the second embodiment, by comparing the distance between the steering wheel main body 220 and the device main body 520 with a predetermined threshold, it is possible to determine whether the distance between the steering wheel main body 220 and the device main body 520 is within a predetermined range. As a result, it is possible to determine whether the driver DR is gripping the steering wheel main body 220 depending on whether the distance between the steering wheel main body 220 and the device main body 520 is within the predetermined range. At this time, by setting a threshold according to the grip state of the steering wheel main body 220 in advance, it is possible to determine the grip state of the steering wheel main body 220 by the driver DR in more detail. For example, by setting a threshold in advance so as to distinguish between a first state, a second state, a third state, and a fourth grip state, it is possible to determine which of the four states the driver DR is gripping the steering wheel main body 220 in. The first state is, for example, a state in which the driver DR grips the steering wheel main body 220 by wrapping his / her fingers around a portion of the steering wheel main body 220 from the front to the back of the steering wheel main body 220. The second state is, for example, a state in which the driver DR places his / her fingers on a part of the steering wheel body 220, so that the fingers of the driver DR are in contact with the steering wheel body 220. The third state is, for example, a state in which the driver DR does not grip the steering wheel body 220, but the fingers of the driver DR are close to the steering wheel body 220. The fourth state is, for example, a state in which the driver DR does not grip the steering wheel body 220, and the steering wheel body 220 and the device body 520 are separated from each other.

[0047] The type of sensor 250a is not limited to the above. The driving assistance system 1 may include a sensor 250a other than an optical distance measuring sensor that uses light such as laser light. In this case, the sensor 250a may be, for example, a radar (Radio Detecting and Ranging) that uses radio waves, an ultrasonic sensor that uses ultrasonic waves, or a stereo camera.

[0048] C. Third embodiment: FIG. 8 is a block diagram showing the configuration of a vehicle 100b according to the third embodiment. FIG. 9 is a block diagram showing the configuration of a wearable device 500b according to the third embodiment. In this embodiment, the wearable device 500b further has a function of causing the vehicle 100b to perform a predetermined operation using wireless communication with the vehicle 100b. Specifically, the wearable device 500b has a locking function for locking the doors of the vehicle 100b and an unlocking function for unlocking the doors of the vehicle 100b. The wearable device 500b may also have an activation control function for switching on and off a power switch or an ignition switch that controls the start and stop of the vehicle 100b. In other words, the wearable device 500b has an electronic key function such as a smart key or a remote control key, in addition to a grip detection function for detecting whether the driver DR is gripping the steering wheel main body 220. Unless otherwise specified, the other configurations are the same as those of the first embodiment. The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.

[0049] 8, the vehicle 100b includes a vehicle control device 110b, an input device 120, an actuator group 130, a vehicle communication unit 140b, and a vehicle notification unit 190. The vehicle communication unit 140b is capable of wireless communication with the outside world via electromagnetic waves.

[0050] The vehicle control device 110b includes a processor 111b, a memory 112b, an input / output interface 113, and a bus 114. The processor 111b executes a program PG1 stored in the memory 112b, thereby functioning as a vehicle control unit 115, a vehicle-side transmission unit 116, a collating unit 117, and an executing unit 118.

[0051] The vehicle-side transmitter 116 transmits a standby signal to the wearable device 500b by electromagnetic waves. The standby signal is a signal indicating that the vehicle 100b is in a standby state before starting a process for causing the vehicle 100b to execute a predetermined operation. The vehicle-side transmitter 116 transmits the standby signal to the wearable device 500b by radio waves in a first frequency band, for example. The first frequency band is, for example, the LF (Low Frequency) band.

[0052] When the matching unit 117 receives a device identification signal from the wearable device 500b, the matching unit 117 matches device identification information that can identify the wearable device 500b and is included in the device identification signal with vehicle identification information that can identify the vehicle 100b. The vehicle identification information is stored in advance in, for example, the memory 112b of the vehicle control device 110b.

[0053] When the device identification information and the vehicle identification information match, the execution unit 118 causes the vehicle 100b to execute a predetermined operation. For example, the execution unit 118 executes at least one of an unlocking operation for unlocking the doors of the vehicle 100b, a locking operation for locking the doors of the vehicle 100b, and a startup control operation for switching a power switch or an ignition switch of the vehicle 100b between on and off.

[0054] 9, wearable device 500b includes device control device 510b, device main body 520, device communication unit 540b, and device notification unit 590. Device communication unit 540b is capable of wireless communication with the outside world via electromagnetic waves.

[0055] The device control device 510b includes a processor 511b, a memory 512b, an input / output interface 513, and a bus 514. The processor 511b functions as a device control unit 515 and a device-side transmission unit 516 by executing a program PG5 stored in the memory 512b.

[0056] The device-side transmitting unit 516 transmits a device identification signal including device identification information representing itself to the vehicle 100b by electromagnetic waves. In this embodiment, when the device-side transmitting unit 516 receives a standby signal from the vehicle 100b, it transmits the device identification signal including device identification information representing itself to the vehicle 100b. The device-side transmitting unit 516 transmits the device identification signal to the vehicle 100b by radio waves in a second frequency band different from the first frequency, for example. The second frequency band is, for example, the UHF (Ultra High Frequency) band. The device identification information is pre-stored in, for example, the memory 512b of the device control device 510b.

[0057] FIG. 10 is a flowchart showing an operation control method for a vehicle 100b using a wearable device 500b according to the third embodiment. The flow shown in FIG. 10 is executed, for example, when the driver DR performs a specific operation. The specific operation is, for example, at least one of an unlocking operation for unlocking the doors of the vehicle 100b, a locking operation for locking the doors of the vehicle 100b, and an activation control operation for switching the power switch or the ignition switch of the vehicle 100b between on and off. The unlocking operation is, for example, an operation in which the driver DR touches a door handle, the driver DR approaches a door handle, or the driver DR presses an unlock button. The locking operation is, for example, an operation in which the driver DR touches a door handle, the driver DR approaches a door handle, or the driver DR presses a lock button. The activation control operation is, for example, an operation in which the driver DR presses a power switch or an ignition switch of the vehicle 100b.

[0058] In step S311, the vehicle-side transmitter 116 of the vehicle 100b transmits a standby signal to the wearable device 500b. When the wearable device 500b receives the standby signal from the vehicle 100b, in step S312, the device-side transmitter 516 of the wearable device 500b transmits a device identification signal including device identification information representing the wearable device 500b to the vehicle 100b in response to the standby signal. When the vehicle 100b receives the device identification signal from the wearable device 500b, in step S313, the matching unit 117 of the vehicle 100b matches the device identification information included in the device identification signal with vehicle identification information representing the vehicle 100b. If the device identification information and the vehicle identification information match (step S314: Yes), in step S315, the execution unit 118 of the vehicle 100b causes the vehicle 100b to execute a predetermined operation. If the device identification information and the vehicle identification information do not match (step S314: No), the execution unit 118 ends this flow without causing the vehicle 100b to perform the predetermined operation.

[0059] In another embodiment, the device-side transmitter 516 may transmit a device identification signal including device identification information to the vehicle 100b without receiving a standby signal from the vehicle 100b.

[0060] According to the third embodiment, the grip detection function and the key function can be integrated into the wearable device 500b. This reduces the number of devices that the driver DR carries. In addition, the wearable device 500b is attached to the wrist of the driver DR. This reduces the possibility that the key will be lost inside the vehicle, the doors of the vehicle 100b will be locked with the key left inside the vehicle, or the driver DR will forget to bring the key.

[0061] Furthermore, according to the third embodiment, the wearable device 500b can transmit a device identification signal including device identification information to the vehicle 100b. When the vehicle 100b receives the device identification signal from the wearable device 500b, the vehicle 100b can compare the device identification information included in the device identification signal with the vehicle identification information. Then, when the device identification information matches the moving object identification information, the vehicle 100b can cause the vehicle 100b to perform a predetermined operation.

[0062] D. Fourth embodiment: FIG. 11 is a block diagram showing the configuration of a vehicle 100c in the fourth embodiment. FIG. 12 is a block diagram showing the configuration of a wearable device 500c in the fourth embodiment. In this embodiment, as in the third embodiment, the wearable device 500c has a function of causing the vehicle 100c to perform a predetermined operation using wireless communication with the vehicle 100c. That is, the wearable device 500c has an electronic key function in addition to a grip detection function. In this embodiment, the communication mode between the vehicle 100c and the wearable device 500c is different from that in the third embodiment. As a result, part of the operation control method of the vehicle 100c using the wearable device 500c is different from that in the third embodiment. Unless otherwise specified, the other configurations are the same as those in the third embodiment. The same reference numerals are used for the same configurations as in the third embodiment, and description thereof will be omitted.

[0063] As shown in FIG. 11, the vehicle 100c includes a vehicle control device 110c, an input device 120, an actuator group 130, and a vehicle communication unit 140b. The vehicle control device 110c includes a processor 111c, a memory 112c, an input / output interface 113, and a bus 114. The processor 111c executes a program PG1 stored in the memory 112c to function as a vehicle control unit 115, a vehicle-side transmitter 116c, and an execution unit 118c. The vehicle-side transmitter 116c transmits a vehicle identification signal including vehicle identification information representing the wearable device 500c to the wearable device 500c. When the execution unit 118c receives from the wearable device 500c an permission signal that is generated in the wearable device 500c when the device identification information matches the vehicle identification information included in the vehicle identification signal, the execution unit 118c causes the vehicle 100c to perform a predetermined operation.

[0064] As shown in FIG. 12, the wearable device 500c includes a device control device 510c, a device main body 520, a device communication unit 540b, and a device notification unit 590. The device control device 510c includes a processor 511c, a memory 512c, an input / output interface 513, and a bus 514. The processor 511c executes a program PG5 stored in the memory 512c to function as a device control unit 515, a device-side transmission unit 516c, and a matching unit 517. When the matching unit 517 receives a vehicle identification signal from the vehicle 100c, it matches device identification information representing the vehicle 100c with the vehicle identification information included in the vehicle identification signal. In this embodiment, the matching unit 517 transmits a request signal to the vehicle 100c in advance to match the device identification information with the vehicle identification information. The request signal is a signal for requesting the vehicle 100c for vehicle identification information. If the device identification information and the vehicle identification information match, the device-side transmitting unit 516c generates a permission signal for permitting the vehicle 100c to execute a predetermined operation, and transmits the permission signal to the vehicle 100c. If the device identification information and the vehicle identification information do not match, the device-side transmitting unit 516c generates a prohibition signal for prohibiting the vehicle 100c from executing the predetermined operation, and transmits the prohibition signal to the vehicle 100c.

[0065] 13 is a flowchart showing a method for controlling the operation of a vehicle 100c using a wearable device 500c according to the fourth embodiment. The flow shown in FIG. 13 is executed, for example, when the driver DR performs the specific operation described above.

[0066] In step S411, the matching unit 517 of the wearable device 500c transmits a request signal to the vehicle 100c. When the request signal is received from the wearable device 500c, in step S412, the vehicle-side transmitter 116c of the vehicle 100c transmits a vehicle identification signal including vehicle identification information representing the wearable device 500c to the wearable device 500c. When the wearable device 500c receives the vehicle identification signal from the vehicle 100c, in step S413, the matching unit 517 of the wearable device 500c matches the device identification information representing the wearable device 500c with the vehicle identification information included in the vehicle identification signal. When the device identification information matches the vehicle identification information (step S414: Yes), in step S415, the device-side transmitter 516c of the wearable device 500c generates an authorization signal. On the other hand, if the device identification information and the vehicle identification information do not match (step S414: No), in step S416, the device-side transmitter 516c generates a prohibition signal. In step S417, the device-side transmitter 516c transmits the generated signal to the vehicle 100c. If the vehicle 100c receives a permission signal from the wearable device 500c (step S418: Yes), in step S419, the execution unit 118c of the vehicle 100c causes the vehicle 100c to perform a predetermined operation. On the other hand, if the vehicle 100c receives a prohibition signal from the wearable device 500c (step S418: No), the execution unit 118c ends this flow without causing the vehicle 100c to perform the predetermined operation.

[0067] In another embodiment, the vehicle-side transmitter 116c may transmit a vehicle identification signal including vehicle identification information to the wearable device 500c without receiving a request signal from the wearable device 500c.

[0068] According to the fourth embodiment, the vehicle 100c can transmit a vehicle identification signal including vehicle identification information to the wearable device 500c. When the wearable device 500c receives the vehicle identification signal from the vehicle 100c, the wearable device 500c can compare the device identification information with the vehicle identification information included in the vehicle identification signal. When the device identification information matches the vehicle identification information, the wearable device 500c can generate an permission signal and transmit the permission signal to the vehicle 100c. In this way, when the vehicle 100c receives the permission signal from the wearable device 500c, the vehicle 100c can cause the vehicle 100c to perform a predetermined operation.

[0069] E. Other Embodiments: E-1. Alternative embodiment 1: The steering device 200, 200a may be a device that controls the traveling direction of various moving bodies such as a ship, an airplane, a spaceship, a train, etc. The steering device 200, 200a may also be a device that controls the traveling direction of a simulator device as a moving body. When the steering device 200, 200a is a device that controls the traveling direction of a moving body other than the vehicles 100, 100b, 100c, the expressions "vehicle" and "car" in this disclosure may be appropriately replaced with "moving body", and the expression "travel" may be appropriately replaced with "movement".

[0070] E-2. Alternative embodiment 2: The sensors 250, 250a may be mounted on a moving object separately from the steering device 200, 200a, or may be mounted on the wearable device 500, 500b, 500c. Furthermore, at least some of the functions of the steering control device 210, 210a may be implemented as a function of the vehicle control device 110, 110b, 110c, or as a function of the device control device 510, 510b, 510c. For example, the determination unit 216, 216a and the warning output unit 217 may be implemented as a function of the vehicle control device 110, 110b, 110c, or as a function of the device control device 510, 510b, 510c. In this manner, the configuration of the driving assistance system 1 can be changed as appropriate.

[0071] E-3. Alternative Embodiment 3: The shape of the steering wheel body 220 may be a frame shape other than a circle when viewed from the viewpoint of the driver DR. In this case, the shape of the steering wheel body 220 may be, for example, a rectangle when viewed from the viewpoint of the driver DR. Furthermore, the shape of the steering wheel body 220 may be a shape other than a frame shape when viewed from the viewpoint of the driver DR.

[0072] E-4. Alternative Embodiment 4: One sensor 250, 250a may be arranged to extend in the circumferential direction of the steering body 220. Even in this configuration, the sensors 250, 250a can be arranged over the entire steering body 220.

[0073] E-5. Alternative Embodiment 5: The sensor 250, 250a may be disposed in a part of the steering body 220. In this case, the sensor 250, 250a is disposed, for example, according to the shape of the steering body 220. The sensor 250, 250a may be disposed, for example, in a portion of the steering body 220 that is to be gripped by the driver DR. When the steering body 220 is circular when viewed from the viewpoint of the driver DR, the sensor 250, 250a may be disposed in the following portion of the steering body 220: In this case, the sensor 250, 250a may be disposed, for example, on the upper side of the steering body 220 when viewed from the viewpoint of the driver DR, rather than on the lower side of the steering body 220 in the circumferential direction centered on the steering shaft 230. In this configuration, the sensor 250, 250a can be disposed in a desired portion of the steering body 220. This means that, for example, if the sensor 250 is placed in the part of the steering body 220 that the driver DR should grip, it can be determined whether the driver DR is gripping the part of the steering body 220 that he or she should grip.

[0074] E-6. Alternative Embodiment 6: When the sensors 250, 250a acquire distance information at predetermined intervals, and the determination unit 216, 216a determines whether the driver DR is gripping the steering wheel main body 220 each time distance information is acquired, the warning output unit 217 may be configured as follows. In this case, the warning output unit 217 may cause the notification unit 190, 290, 590 to output a warning when it is determined that the driver DR is not gripping the steering wheel main body 220 for a predetermined period of time or longer. With this configuration, it is possible to avoid immediate output of a warning when the driver DR temporarily lets go of the steering wheel main body 220, for example, by temporarily operating something other than the steering wheel main body 220.

[0075] E-7. Alternative Embodiment 7: The driving assistance system 1 may include sensors 250, 250a of a type different from those in the first to fourth embodiments. In this case, the sensors 250, 250a may be, for example, capacitance sensors that utilize an electric field. In this configuration, the type of the sensors 250, 250a can be changed as appropriate.

[0076] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features of the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0077] 1... driving assistance system, 100, 100b, 100c... vehicle, 110, 110b, 110c... vehicle control device, 111, 111b, 111c... processor, 112, 112b, 112c... memory, 113... input / output interface of vehicle control device, 114... bus of vehicle control device, 115... vehicle control unit, 116, 116c... vehicle transmission unit, 117, 517... matching unit, 118, 118c... execution unit, 120... input device , 130... actuator group, 131... steering unit, 132... drive unit, 133... braking unit, 140, 140b... vehicle communication unit, 190... vehicle notification unit, 200, 200a... steering device, 210, 210a... steering control device, 211, 211a... processor, 212, 212a... memory, 213... input / output interface of steering control device, 214... bus of steering control device, 215... steering steering control unit, 216, 216a...determination unit, 217...warning output unit, 220...steering body, 230...steering shaft, 250, 250a...sensor, 251...steering communication unit, 252, 252a...acquisition unit, 253...distance measurement unit, 290...steering notification unit, 300...accelerator pedal, 400...brake pedal, 500, 500b, 500c...wearable device, 510, 510b, 510c ...Device control device, 511, 511b, 511c...processor, 512, 512b, 512c...memory, 513...input / output interface of device control device, 514...bus of device control device, 515...device control unit, 516, 516c...device side transmission unit, 520...device main body, 540, 540b...device communication unit, 590...device notification unit, DR...driver, PG1, PG2, PG5...program

Claims

1. A steering device provided on a moving body, a steering wheel body to be gripped by a driver of the vehicle; a sensor for acquiring distance information between the steering wheel body and a device body of a wearable device attached to the driver's arm; a determination unit that determines whether the driver is gripping the steering wheel body using the distance information; a warning output unit that outputs a warning when it is determined that the driver is not gripping the steering body.

2. 2. The steering device according to claim 1, A steering device, wherein the sensor acquires the distance information using wireless communication between the steering device and the wearable device.

3. 3. The steering device according to claim 2, The sensor a steering communication unit that can wirelessly communicate with a device communication unit of the wearable device via infrared light when the steering main body and the device main body are within a predetermined distance range; an acquisition unit that acquires, as the distance information, first information indicating whether or not wireless communication via infrared rays has been established between the steering communication unit and the device communication unit; The determination unit determining that the driver is gripping the steering wheel body when the first information is information indicating that the steering wheel communication unit and the device communication unit have been able to wirelessly communicate by infrared light; A steering device that determines that the driver is not gripping the steering wheel body when the first information is information indicating that wireless communication between the steering communication unit and the device communication unit was not possible via infrared light.

4. 2. The steering device according to claim 1, The sensor a distance measuring unit for measuring the distance between the steering body and the device body; an acquisition unit that acquires, as the distance information, second information indicating the distance between the steering body and the device body measured by the distance measurement unit, The determination unit determining that the driver is gripping the steering wheel body when the distance between the steering wheel body and the device body specified by the second information is within a predetermined range; A steering device that determines that the driver is not gripping the steering body when the distance between the steering body and the device body specified by the second information is outside the predetermined range.

5. A steering device according to any one of claims 1 to 4, A steering device, wherein the sensor is disposed over the entire steering body.

6. A steering device according to any one of claims 1 to 4, A steering device, wherein the sensor is disposed in a part of the steering body.

7. A mobile object, a steering device including a steering body to be held by a driver of the moving body, and a sensor that acquires distance information between the steering body and a device body of a wearable device attached to the arm of the driver; a determination unit that determines whether the driver is gripping the steering wheel body using the distance information; a warning output unit that outputs a warning when it is determined that the driver is not gripping the steering body.

8. The moving body according to claim 7, further comprising: a mobile communication unit capable of wirelessly communicating with a device communication unit of the wearable device via electromagnetic waves; a matching unit that, when receiving a device identification signal from the wearable device, matches the device identification information included in the device identification signal with moving object identification information that can identify the moving object; an execution unit that causes the mobile body to execute a predetermined operation when the device identification information and the mobile body identification information match.

9. The moving body according to claim 7, further comprising: a mobile communication unit capable of wirelessly communicating with a device communication unit of the wearable device via electromagnetic waves; a mobile-object-side transmitter configured to transmit, to the wearable device, a mobile-object identification signal including mobile-object identification information that can identify the mobile object; A mobile body comprising: an execution unit that causes the mobile body to perform a predetermined operation when it receives from the wearable device an authorization signal generated in the wearable device when device identification information that can identify the wearable device matches the mobile body identification information included in the mobile body identification signal.

10. A wearable device, a device main body that can be worn on the arm of a driver of a moving object; a sensor for acquiring distance information between a steering wheel body to be gripped by the driver and the device body; a determination unit that determines whether the driver is gripping the steering wheel body using the distance information; a warning output unit that outputs a warning when it is determined that the driver is not gripping the steering wheel body.

11. The wearable device of claim 10, further comprising: a device communication unit capable of wirelessly communicating with a mobile communication unit of the mobile object by electromagnetic waves; A wearable device comprising: a device-side transmitter that transmits, to the mobile object, a device identification signal including device identification information that can identify the wearable device.

12. The wearable device of claim 10, further comprising: a device communication unit capable of wirelessly communicating with a mobile communication unit of the mobile object by electromagnetic waves; a comparison unit that, when receiving a moving object identification signal from a moving object, compares device identification information that can identify the wearable device with the moving object identification information included in the moving object identification signal; A wearable device comprising: a device-side transmitter that generates and transmits to the mobile body an authorization signal to permit the mobile body to perform a predetermined operation when the device identification information and the mobile body identification information match.

13. A driving assistance system, a moving body having a steering device; a wearable device including a device main body that can be worn on the arm of a driver of the vehicle; a sensor for acquiring distance information between a steering body of the steering device to be gripped by the driver and the device body; a determination unit that determines whether the driver is gripping the steering wheel body using the distance information; a warning output unit that outputs a warning when it is determined that the driver is not gripping the steering body.

14. The driving assistance system according to claim 13, The wearable device is a device communication unit capable of wirelessly communicating with the outside world via electromagnetic waves; a device-side transmitter that transmits to the mobile object a device identification signal including device identification information that can identify the wearable device; The moving body further includes: a mobile communication unit capable of wirelessly communicating with the outside world using the electromagnetic waves; a matching unit that, when receiving the device identification signal from the wearable device, matches the device identification information included in the device identification signal with moving object identification information that can identify the moving object; An execution unit that causes the moving body to execute a predetermined operation when the device identification information and the moving body identification information match.

15. The driving assistance system according to claim 13, The wearable device is a device communication unit capable of wirelessly communicating with the outside world via electromagnetic waves; a comparison unit that, when receiving a moving object identification signal from a moving object, compares device identification information that can identify the wearable device with the moving object identification information included in the moving object identification signal; a device-side transmitter that generates an authorization signal for authorizing the mobile unit to execute a predetermined operation when the device identification information and the mobile unit identification information match, and transmits the authorization signal to the mobile unit; The moving body further includes: a mobile communication unit capable of wirelessly communicating with the outside world using the electromagnetic waves; a mobile unit side transmitter that transmits the mobile unit identification signal to the wearable device; An execution unit that causes the moving object to execute a predetermined action when the permission signal is received from the wearable device.

16. A driving assistance method, an acquisition step of acquiring distance information between a steering wheel body to be held by a driver of a moving body and a device body of a wearable device attached to the arm of the driver; a determination step of determining whether the driver is gripping the steering wheel body using the distance information; a warning output step of outputting a warning when it is determined that the driver is not gripping the steering body.

Images