Information processing method and information processing device

Abstract

According to one embodiment, a vehicle comprises at least one of a right operation element and a left operation element. An information processing device according to the one embodiment determines a transmission ratio that is the ratio of a steering amount for the vehicle to an operation amount for at least one of the right operation element and the left operation element on the basis of (1) whether an operator is operating the right operation element, (2) whether the operator is operating the left operation element, and (3) the direction in which the operator is rotating at least one of the right operation element and the left operation element.

Description

Information processing method and information processing device

[0001] The present invention relates to an information processing method and an information processing device.

[0002] Various driving operation devices for steering vehicles such as automobiles have been known. For example, Patent Document 1 (JP-A-2003-145266) discloses a driving operation device that aims to prevent steering operation from becoming unstable due to external disturbances. Specifically, the driving operation device has a push button on a main body that can be tilted left and right while held by a driver, and when the push button is pressed with the main body tilted, the steering angle of the vehicle changes in the direction the main body is tilted, depending on the amount the push button is pressed.

[0003] Japanese Patent Application Laid-Open No. 2023-065087

[0004] However, the above-described conventional technology does not take into consideration the strain on the wrist, etc. (for example, the wrist, finger tendons, etc.) of the driver who operates the operator (in the example of Patent Document 1, the main body and the push button provided on the main body). For example, pressing the push button while the main body is tilted places a strain on the wrist, etc., which poses a problem in that it is not necessarily easy for the driver to perform the relevant operation (i.e., steering operation).

[0005] In one aspect, the present invention has been made in consideration of the above circumstances, and its purpose is to provide an information processing method and information processing device that reduces the strain on the driver's wrist, etc. when operating an operator.

[0006] In order to solve the above-mentioned problems, an information processing method according to one aspect of the present invention is an information processing method that causes a processor to execute a process to control the steering angle of the vehicle in response to an operation from a driver of the vehicle to a disk-shaped operator provided at a driver's seat of the vehicle, wherein the vehicle is equipped with at least one of a right operator that is the operator provided on the right side of the driver's seat and a left operator that is the operator provided on the left side of the driver's seat, and the processor executes the following steps: acquiring an operation amount of at least one of the right operator and the left operator by the driver; and determining a transmission ratio that is a ratio of the steering amount of the vehicle to the operation amount, wherein the processor determines the transmission ratio based on at least whether the driver is operating the right operator, whether the driver is operating the left operator, and the direction in which the driver is rotating at least one of the right operator and the left operator; and calculating the steering amount from the operation amount and the determined transmission ratio.

[0007] According to the present invention, it is possible to provide an information processing method and an information processing device that reduce the strain on the driver's wrists and the like when operating an operator.

[0008] 1 is a block diagram showing a schematic configuration of a vehicle equipped with an information processing device according to an embodiment. The range of motion is illustrated for each of volar flexion, dorsiflexion, flexion (radial flexion), and ulnar flexion. An example of the hardware configuration of an information processing device according to an embodiment is schematically illustrated. An example of the software configuration of an information processing device according to an embodiment is schematically illustrated. Examples of gripping states and the like identified using captured images are shown. An example of transfer ratio functions F associated with each of operation modes A to D in operation mode-transfer ratio function correspondence information is illustrated. An example of a left operator transfer ratio function FL associated with operation with the left hand and a right operator transfer ratio function FR associated with operation with the right hand are illustrated. An example of a processing procedure of an information processing device according to an embodiment is illustrated.

[0009] An embodiment according to one aspect of the present invention (hereinafter also referred to as "the present embodiment") will be described below with reference to the drawings. However, the present embodiment described below is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. In other words, when implementing the present invention, specific configurations according to the embodiment may be appropriately adopted. Note that, although data appearing in the present embodiment are described in natural language, more specifically, they are specified using pseudo-language, commands, parameters, machine language, etc. that can be recognized by a computer.

[0010] §1 Application Example Fig. 1 is a block diagram showing a schematic configuration of a vehicle VH equipped with an information processing device (information processing device 1) according to this embodiment. The vehicle VH is an example of the "vehicle" of the present invention. The vehicle VH includes the information processing device 1, an operator 2, an operator processing unit 3, a camera 4, and a steering ECU (Electronic Control Unit) 5.

[0011] The operator 2 is a disk-shaped operator provided at the driver's seat of the vehicle VH and receives operation (steering operation) from the driver DR. In the vehicle VH, the operator 2 is provided on at least one of the right and left sides of the driver's seat where the driver DR sits. The vehicle VH according to this embodiment is equipped with two operators 2. In the example shown in FIG. 1 , the operator 2 is a left operator 2L provided on the left side of the driver's seat, and a right operator 2R provided on the right side of the driver's seat. Below, an example will be described in which the vehicle VH is equipped with a left operator 2L and a right operator 2R, but it is not essential for the vehicle according to the present invention to have two operators 2. In the vehicle according to the present invention, it is sufficient that the disk-shaped operator 2 is provided on at least one of the right and left sides of the driver's seat. In other words, it is sufficient for the vehicle according to the present invention to be equipped with at least one of the left operator 2L and the right operator 2R. In the following description, when there is no need to particularly distinguish between the left operator 2L and the right operator 2R, they may be simply referred to as "operators 2."

[0012] The operator processing unit 3 executes various processes related to the operator 2 (e.g., processes for accepting operations performed by the driver DR on the operator 2, processes for controlling the state of the operator 2, etc.). The operator processing unit 3 includes a CPU, RAM, and ROM (not shown), and the CPU may execute programs read from the ROM using the RAM as a work area to execute the various processes described above. The vehicle VH according to this embodiment includes a left operator processing unit 3L and a right operator processing unit 3R as operator processing units 3 that execute the processes described above related to the left operator 2L and the right operator 2R, respectively. As with the operators 2, in the following description, the left operator processing unit 3L and the right operator processing unit 3R may be simply referred to as the "operator processing unit 3" when there is no need to particularly distinguish between them. The operator processing unit 3 and the information processing device 1 are connected, for example, via a controller area network (CAN) or other in-vehicle LAN, and can communicate with each other (transmit and receive information).

[0013] The operator processing unit 3 includes an operator detection section 32 and an operator output control section 34. In the example shown in FIG. 1 , the left operator processing unit 3L includes a left operator detection section 32L as the operator detection section 32 and a left operator output control section 34L as the operator output control section 34. Similarly, the right operator processing unit 3R includes a right operator detection section 32R as the operator detection section 32 and a right operator output control section 34R as the operator output control section 34. In the following description, when there is no need to particularly distinguish between the left operator detection section 32L and the right operator detection section 32R, they may be simply referred to as the "operator detection section 32." Similarly, when there is no need to particularly distinguish between the left operator output control section 34L and the right operator output control section 34R, they may be simply referred to as the "operator output control section 34."

[0014] The operator detection unit 32 receives an operation of the operator 2 by the driver DR and, in this embodiment, detects the amount of operation θ of the operator 2 by the driver DR. The operation amount θ includes the amount of rotation of the operator 2 (e.g., the amount of rotation from the neutral position NP) and the rotation direction RD in which the driver DR is rotating the operator 2. The left operator detection unit 32L detects the operation amount θ (left operator operation amount θL) for the left operator 2L, that is, detects the amount of rotation and rotation direction RD (left operator rotation direction RDL) of the left operator 2L. Similarly, the right operator detection unit 32R detects the operation amount θ (right operator operation amount θR) for the right operator 2R, that is, detects the amount of rotation and rotation direction RD (right operator rotation direction RDR) of the right operator 2R. The operator detector 32 outputs (transmits) the detected operation amount θ (including the rotation direction RD) to the information processing device 1 .

[0015] The operator output control unit 34 controls the state (including the operation) of the operator 2, and in particular controls the state of the operator 2 in accordance with instructions from the information processing device 1. In this embodiment, the operator output control unit 34 controls the state of the operator 2 in accordance with the neutral position signal PS, various setting information IS, rotation command signal RCS, etc., acquired (received) from the information processing device 1.

[0016] For example, the operator output control unit 34 sets the neutral position NP of the operator 2 in accordance with the neutral position signal PS. In this embodiment, the left operator output control unit 34L sets the left operator neutral position NPL in accordance with the neutral position signal PS (left operator neutral position signal PSL) that specifies the neutral position NP (left operator neutral position NPL) of the left operator 2L. Similarly, the right operator output control unit 34R sets the right operator neutral position NPR in accordance with the neutral position signal PS (right operator neutral position signal PSR) that specifies the neutral position NP (right operator neutral position NPR) of the right operator 2R.

[0017] The operator output control unit 34 controls the magnitude of the return reaction force RR that returns the operator 2 to the neutral position NP in accordance with a return reaction force signal RS included in the various setting information IS. In this embodiment, the left operator output control unit 34L controls the magnitude of the left operator return reaction force RRL in accordance with a return reaction force signal RS (left operator return reaction force signal RSL) that specifies the magnitude of the return reaction force RR of the left operator 2L (left operator return reaction force RRL). Similarly, the right operator output control unit 34R controls the magnitude of the right operator return reaction force RRR in accordance with a return reaction force signal RS (right operator return reaction force signal RSR) that specifies the magnitude of the return reaction force RR of the right operator 2R (right operator return reaction force RRR).

[0018] The operator output control unit 34 controls the magnitude of the assist torque AT applied to the operator 2 in accordance with the assist torque signal ATS included in the various setting information IS. In this embodiment, the left operator output control unit 34L controls the magnitude of the left operator assist torque ATL in accordance with the assist torque signal ATS (left operator assist torque signal ATSL) that specifies the magnitude of the assist torque AT (left operator assist torque ATL) to be applied to the left operator 2L. Similarly, the right operator output control unit 34R controls the magnitude of the right operator assist torque ATR in accordance with the assist torque signal ATS (right operator assist torque signal ATSR) that specifies the magnitude of the assist torque AT (right operator assist torque ATR) to be applied to the right operator 2R.

[0019] The operator output control unit 34 controls the magnitude of the viscous reaction torque VT that applies viscous resistance to the operation of the operator 2 by the driver DR, in accordance with the viscous reaction signal VS included in the various setting information IS. In this embodiment, the left operator output control unit 34L controls the magnitude of the left operator viscous reaction torque VTL, in accordance with the viscous reaction signal VS (left operator viscous reaction signal VSL) that specifies the magnitude of the viscous reaction torque VT (left operator viscous reaction torque VTL) that applies viscous resistance to the operation of the left operator 2L by the driver DR. Similarly, the right operator output control unit 34R controls the magnitude of the right operator viscous reaction torque VTR, in accordance with the viscous reaction signal VS (right operator viscous reaction signal VSR) that specifies the magnitude of the viscous reaction torque VT (right operator viscous reaction torque VTR) that applies viscous resistance to the operation of the right operator 2R by the driver DR.

[0020] The operator output control unit 34 rotates each of the left operator 2L and the right operator 2R from its neutral position NP in accordance with a rotation command signal RCS that synchronizes the state of the left operator 2L (e.g., rotation from the neutral position NP) with the state of the right operator 2R. In this embodiment, the left operator output control unit 34L rotates the left operator 2L from the left operator neutral position NPL in accordance with a rotation command signal RCS (left operator rotation command signal RCSL) that synchronizes the state of the left operator 2L (amount of rotation from the left operator neutral position NPL) with the state of the right operator 2R (e.g., right operator operation amount θR) that has been operated by the driver DR. In addition, the right operator output control unit 34R rotates the right operator 2R from the right operator neutral position NPR in accordance with a rotation command signal RCS (right operator rotation command signal RCSR) that synchronizes the state of the right operator 2R (amount of rotation from the right operator neutral position NPR) with the state of the left operator 2L (left operator operation amount θL) that has received operation from the driver DR.

[0021] The camera 4 captures an image of the driver DR's hand (e.g., a hand gripping the control 2) and periodically outputs (transmits) the captured image (captured image CI) to the information processing device 1. The captured image CI may capture images of the driver DR's elbow and shoulder in addition to the hand. The camera 4 may be, for example, a camera equipped with an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), an ultrasonic camera, or an infrared camera. A plurality of cameras 4 may be provided in the vehicle VH. The camera 4 and the information processing device 1 may be connected, for example, via a controller area network (CAN) or other in-vehicle LAN and may communicate with each other. The camera 4, for example, periodically captures an image of the driver DR's hand and periodically outputs the captured image (captured image CI) to the information processing device 1.

[0022] Although details will be described later, the information processing device 1 determines (specifies) "whether the driver DR is operating the right operator 2R," "whether the driver DR is operating the left operator 2L," and "how the driver DR is holding the operator 2." For example, when the driver DR is operating (holding) the right operator 2R, the information processing device 1 specifies how the driver DR is holding the right operator 2R. Similarly, when the driver DR is operating (holding) the left operator 2L, the information processing device 1 specifies how the driver DR is holding the left operator 2L. In this embodiment, an example will be described in which the information processing device 1 determines (specifies) "whether the driver DR is operating the right operator 2R," "whether the driver DR is operating the left operator 2L," and "how the driver DR is holding the operator 2" by using "a captured image CI capturing an image of the driver DR's hands." However, it is not essential for the information processing device 1 to use the captured image CI when determining the grip state of the driver DR. For example, the vehicle VH may be provided with a contact sensor, instead of or in addition to the camera 4, that detects whether the driver DR is gripping the operator 2 and, if so, how the driver is gripping the operator 2. Such a contact sensor may be provided, for example, in the operator 2 and detect whether the driver DR is gripping the operator 2 and, if so, how the driver is gripping the operator 2. For example, a contact sensor provided in the right operator 2R may detect whether the driver DR is gripping the right operator 2R, and, if it detects that the driver DR is gripping the right operator 2R, may further detect how the driver is gripping the right operator 2R. Similarly, the contact sensor provided on the left operating element 2L may detect whether the driver DR is gripping the left operating element 2L, and if it detects that the driver DR is gripping the left operating element 2L, it may further detect how the driver DR is gripping the left operating element 2L. The information processing device 1 may determine (or identify) the gripping state of the driver DR by using the detection result of the contact sensor.Furthermore, when the right operator detection unit 32R detects the right operator operation amount θR, the information processing device 1 may determine that "the driver DR is operating the right operator 2R." Similarly, when the left operator detection unit 32L detects the left operator operation amount θL, the information processing device 1 may determine that "the driver DR is operating the left operator 2L."

[0023] The steering ECU 5 controls the traveling direction of the vehicle VH, and in particular, controls the direction of the steered wheels (steered angle SA) of the vehicle VH in accordance with instructions from the information processing device 1. The steering ECU 5 is communicably connected to the information processing device 1, for example, via an in-vehicle LAN, and acquires (receives) instructions from the information processing device 1. The steering ECU 5 changes the steering angle SA of the vehicle VH in accordance with the acquired instructions, for example, by driving an electric motor capable of changing the direction of the steered wheels and causing the electric motor to change the direction of the steered wheels. As will be described in detail later, the information processing device 1 outputs a signal (control signal) specifying a steering amount AS of the vehicle VH to the steering ECU 5. The steering ECU 5 changes the steering angle SA of the vehicle VH in accordance with the above-mentioned control signal (the steering amount AS included in the control signal) output from the information processing device 1, and for example, steers the steered wheels of the vehicle VH by the steering amount AS.

[0024] The information processing device 1 controls the steering angle SA of the vehicle VH in response to an operation by the driver DR on the operator 2. For example, when the driver DR performs an operation to turn the operator 2 to the right (to rotate it clockwise), the information processing device 1 controls the steering angle SA so that the vehicle VH moves to the right. Similarly, when the driver DR performs an operation to turn the operator 2 to the left (to rotate it counterclockwise), the information processing device 1 controls the steering angle SA so that the vehicle VH moves to the left. In this embodiment, the information processing device 1 controls the steering angle SA of the vehicle VH by outputting a steering amount AS (a control signal specifying the steering amount AS) to the steering ECU 5, which controls the traveling direction of the vehicle VH. In particular, the information processing device 1 determines a transmission ratio TR in response to the operation mode of the driver DR so as to reduce the burden on the joints (tendons) of the driver DR who operates the operator 2, and calculates the steering amount AS based on the determined transmission ratio TR and the operation amount θ of the operator 2 by the driver DR. The transmission ratio TR is the ratio of the steering amount AS of the vehicle VH to the operation amount θ. For example, the information processing device 1 determines at least one of a left operator transmission ratio TRL, which is the ratio of the steering amount AS to the left operator operation amount θL, and a right operator transmission ratio TRR, which is the ratio of the steering amount AS to the right operator operation amount θR. The information processing device 1 determines the left operator transmission ratio TRL based on the operation mode of the left operator 2L by the driver DR, and similarly determines the right operator transmission ratio TRR based on the operation mode of the right operator 2R by the driver DR. The information processing device 1 calculates the steering amount AS from the determined transmission ratio TR (at least one of the left operator transmission ratio TRL and the right operator transmission ratio TRR) and the operation amount θ (at least one of the left operator operation amount θL and the right operator operation amount θR). The information processing device 1 outputs (transmits) the calculated steering amount AS (a control signal specifying the steering amount AS) to the steering ECU 5, thereby controlling the steering angle SA of the vehicle VH.

[0025] Generally, for example, the human wrist is considered capable of four movements: palmar flexion, dorsiflexion, radial flexion, and ulnar flexion. Palmar flexion, also known as flexion, is a movement in which the wrist bends toward the palm (or toward the front of the forearm). Dorsiflexion, also known as extension, is a movement in which the wrist bends toward the back of the hand (or toward the back of the forearm). Radial flexion, also known as abduction, is a movement in which the wrist moves toward the radius. Ulnar flexion, also known as adduction, is a movement in which the wrist moves toward the ulna. The ranges of motion for each of these four movements are generally fixed; as shown in FIG. 2A, palmar flexion is approximately 90°, and dorsiflexion is approximately 70°. As shown in FIG. 2B, the range of motion for radial flexion is approximately 25°, and the range of motion for ulnar flexion is approximately 55°. In other words, the range of motion of the wrist is roughly fixed, and similarly, the ranges of motion of joints other than the wrist are also roughly fixed. For example, between palmar flexion and dorsiflexion, the range of motion of dorsiflexion is smaller than that of palmar flexion, meaning that the strain on the wrist (wrist tendons) when attempting to bend the wrist significantly is greater with dorsiflexion than with palmar flexion. Similarly, between flexion and ulnar flexion, the range of motion of flexion is smaller than that of ulnar flexion, meaning that the strain on the wrist when attempting to bend the wrist significantly is greater with flexion than with ulnar flexion. As explained above, the strain on a joint (tendon) when bending a joint is generally greater when bending a joint "in a direction with a smaller range of motion" than when bending a joint "in a direction with a larger range of motion."

[0026] Therefore, the information processing device 1 sets the transmission ratio TR applied to the operation amount θ of the operation "bending the joint in the direction of a smaller range of motion" to be larger than the transmission ratio TR applied to the operation amount θ of the operation "bending the joint in the direction of a larger range of motion." Through this control, when the driver DR performs an operation to bend the joint in the direction of a smaller range of motion, the information processing device 1 can reduce the movement (rotation) of the joint, thereby preventing strain on the joints (tendons) of the driver DR. In other words, the information processing device 1 can reduce the strain on the wrists, etc., of the driver DR when operating the controller 2. The information processing device 1, which has been outlined above, will be described in detail below using Figures 3 to 8.

[0027] §2 Configuration Example [Hardware Configuration] Fig. 3 schematically illustrates an example of the hardware configuration of the information processing device 1 according to this embodiment. As shown in Fig. 3, the information processing device 1 according to this embodiment is a computer to which a control unit 11, a storage unit 12, a communication interface 13, an external interface 14, an input device 15, an output device 16, and a drive 17 are electrically connected. Note that in Fig. 3, the communication interface and the external interface are referred to as a "communication I / F" and an "external I / F."

[0028] The control unit 11 includes a hardware processor such as a central processing unit (CPU), a random access memory (RAM), and a read-only memory (ROM), and is configured to execute information processing based on programs and various data. The CPU is an example of a processor resource. A graphics processing unit (GPU) may be used as the processor resource instead of or in addition to the CPU. The storage unit 12 is an example of a memory resource, and is configured, for example, with a hard disk drive or a solid-state drive. In this embodiment, the storage unit 12 stores various information such as an information processing program 120 and operation mode-transfer ratio function correspondence information 124. In the following description, the operation mode-transfer ratio function correspondence information 124 may be abbreviated as "correspondence information 124."

[0029] The information processing program 120 is a program for causing the information processing device 1 to execute information processing (see FIG. 8 and the like) described below for controlling the steering angle SA of the vehicle VH in response to an operation by the driver DR on the operating element 2. The information processing program 120 includes a series of instructions for the information processing.

[0030] The correspondence information 124 is information that associates the method and manner of operation of the controller 2 by the driver DR (both of which are also collectively referred to as the "operation manner") with a transfer ratio function F that determines the transfer ratio TR from the operation amount θ. The correspondence information 124 associates the operation amount θ of an operation to "bend the joint in a direction with a smaller range of motion" with a transfer ratio TR that is greater than the transfer ratio TR associated with the operation amount θ of an operation to "bend the joint in a direction with a larger range of motion." By using this correspondence information 124, the information processing device 1 can determine an appropriate transfer ratio TR in accordance with the operation manner of the driver DR. In other words, the information processing device 1 can determine a transfer ratio TR that is greater than the transfer ratio TR that is applied to the operation amount θ of an operation to "bend the joint in a direction with a larger range of motion" as the transfer ratio TR to be applied to the operation amount θ of an operation to "bend the joint in a direction with a smaller range of motion." Therefore, the information processing device 1 can reduce the movement (rotation) of the joint required for the operation of "bending the joint in the direction with a smaller range of motion," and can prevent a burden from being placed on the joint (tendon) of the driver DR. The correspondence relationship between the operation mode of the driver DR and the transfer ratio function F in the correspondence information 124 will be described in detail later.

[0031] The communication interface 13 is, for example, a wired LAN (Local Area Network) module, a wireless LAN module, or the like, and is an interface for performing wired or wireless communication via a network. As described above, the communication interface 13 may be an interface for performing communication via a CAN or other in-vehicle LAN. The information processing device 1 may use this communication interface 13 to perform data communication via a network with other information processing devices (e.g., the operator processing unit 3, the camera 4, the steering ECU 5, etc.). The external interface 14 is, for example, a USB (Universal Serial Bus) port, a dedicated port, or the like, and is an interface for connecting to an external device. The type and number of external interfaces 14 may be selected appropriately depending on the type and number of external devices to be connected.

[0032] For example, the information processing device 1 is connected to another information processing device via at least one of the communication interface 13 and the external interface 14, and performs the following communications with the other information processing device. That is, the information processing device 1 is connected to the operator processing unit 3 and acquires (receives) an operation amount θ (including a rotation direction RD) from the operator processing unit 3. In this embodiment, the information processing device 1 acquires, from the left operator processing unit 3L, an operation amount θL (including a left operator rotation direction RDL) of the left operator 2L by the driver DR. Similarly, the information processing device 1 acquires, from the right operator processing unit 3R, an operation amount θR (including a right operator rotation direction RDR) of the right operator 2R by the driver DR. The information processing device 1 also outputs (transmits) to the operator processing unit 3 various setting information IS including a return reaction force signal RS, an assist torque signal ATS, and a viscous reaction force signal VS, a neutral position signal PS, and a rotation command signal RCS. In this embodiment, the information processing device 1 transmits a left operator returning reaction force signal RSL, a left operator assist torque signal ATSL, and a left operator viscous reaction force signal VSL to the left operator processing unit 3L to control the magnitude of the left operator returning reaction force RRL, the left operator assist torque ATL, and the left operator viscous reaction torque VTL of the left operator 2L. The information processing device 1 transmits a left operator neutral position signal PSL to the left operator processing unit 3L to control the left operator neutral position NPL of the left operator 2L, and also transmits a left operator rotation command signal RCSL to rotate the left operator 2L from the left operator neutral position NPL. Similarly, the information processing device 1 transmits a right operator returning reaction force signal RSR, a right operator assist torque signal ATSR, and a right operator viscous reaction force signal VSR to the right operator processing unit 3R to control the magnitude of the right operator returning reaction force RRR, right operator assist torque ATR, and right operator viscous reaction torque VTR of the right operator 2R. The information processing device 1 transmits a right operator neutral position signal PSR to the right operator processing unit 3R to control the right operator neutral position NPR of the right operator 2R, and also transmits a right operator rotation command signal RCSR to rotate the right operator 2R from the right operator neutral position NPR.

[0033] The information processing device 1 is also connected to a camera 4, and acquires from the camera 4 a captured image CI in which the camera 4 captures the hand of the driver DR (for example, the hand gripping the control element 2). The information processing device 1 is also connected to a steering ECU 5, and outputs (transmits) to the steering ECU 5 a steering amount AS of the vehicle VH (particularly, a control signal specifying the steering amount AS). The information processing device 1 transmits the steering amount AS to the steering ECU 5 to control (change) the steering angle SA of the vehicle VH, and specifically, steers the steered wheels of the vehicle VH by the steering amount AS.

[0034] The input device 15 is a device for inputting information, such as a mouse or a keyboard. The output device 16 is a device for outputting information, such as a display or a speaker. An operator such as a user can operate the information processing device 1 by using the input device 15 and the output device 16.

[0035] The drive 17 is, for example, a CD drive, a DVD drive, or the like, and is a drive device for reading various information, such as programs, stored in a storage medium 91. The storage medium 91 is a medium that stores information, such as programs, electrically, magnetically, optically, mechanically, or chemically, so that a computer or other device, machine, or the like can read the stored information. At least one of the information processing program 120 and the correspondence information 124 may be stored in the storage medium 91. The information processing device 1 may acquire at least one of the information processing program 120 and the correspondence information 124 from the storage medium 91. Note that FIG. 3 illustrates a disk-type storage medium, such as a CD or DVD, as an example of the storage medium 91. However, the type of the storage medium 91 is not limited to a disk-type storage medium and may be other types of storage medium. Examples of storage media other than disk-type storage mediums include semiconductor memories, such as flash memories. The type of the drive 17 may be selected arbitrarily depending on the type of the storage medium 91.

[0036] Note that, with regard to the specific hardware configuration of the information processing device 1, components may be omitted, replaced, or added as appropriate depending on the embodiment. For example, the processor resource may include multiple hardware processors. The hardware processor may be configured with a microprocessor, a field-programmable gate array (FPGA), a digital signal processor (DSP), or the like. The storage unit 12 may be configured with RAM and ROM included in the control unit 11. At least one of the communication interface 13, the external interface 14, the input device 15, the output device 16, and the drive 17 may be omitted. The information processing device 1 may be configured with multiple computers. In this case, the hardware configurations of the computers may or may not be identical. Furthermore, the information processing device 1 may be an information processing device designed specifically for the service provided, as well as a general-purpose server device, a PC (Personal Computer), or the like.

[0037] [Software Configuration] FIG. 4 schematically illustrates an example of the software configuration of the information processing device 1 according to this embodiment. The control unit 11 of the information processing device 1 loads the information processing program 120 stored in the storage unit 12 onto the RAM. The control unit 11 then uses the CPU to interpret and execute instructions included in the information processing program 120 loaded onto the RAM to control each component. As a result, as shown in FIG. 4 , the information processing device 1 according to this embodiment operates as a computer including, as software modules, a neutral position setting unit 110, a grip state identification unit 130, an operation mode identification unit 140, an operation amount acquisition unit 150, a transmission ratio determination unit 160, a steering amount calculation unit 170, a synchronization control unit 180, and a various setting unit 190. That is, in this embodiment, each software module of the information processing device 1 is realized by the control unit 11 (CPU).

[0038] The neutral position setting unit 110 sets the neutral position NP of the operator 2, generates a neutral position signal PS specifying the set neutral position NP, and transmits it to the operator processing unit 3. In this embodiment, the neutral position setting unit 110 sets a left operator neutral position NPL of the left operator 2L and a right operator neutral position NPR of the right operator 2R, and transmits a left operator neutral position signal PSL and a right operator neutral position signal PSR indicating the set left operator neutral position NPL and right operator neutral position NPR to the left operator processing unit 3L and the right operator processing unit 3R, respectively.

[0039] In particular, the neutral position setting unit 110 sets the right operator neutral position NPR to a position rotated counterclockwise with respect to the front of the driver DR, and sets the left operator neutral position NPL to a position rotated clockwise with respect to the front of the driver DR. Note that in addition to the neutral positions NP (left operator neutral position NPL, right operator neutral position NPR), the neutral position setting unit 110 may also set the center positions of the hysteresis (dead band) of the reaction force applied to the operators 2 (left operator 2L, right operator 2R) in the same manner as the neutral positions NP.

[0040] As described above, the range of motion of human joints is generally fixed, and therefore, attempting to move (e.g., rotate) a joint beyond that range of motion places a strain on the joint (tendon). Therefore, for example, when the driver DR operates the left operator 2L with his left hand, the neutral position setting unit 110 sets the left operator neutral position NPL to a position rotated clockwise with respect to the front of the driver DR so as to reduce the joint movement (rotation) required for such operation. Similarly, for example, when the driver DR operates the right operator 2R with his right hand, the neutral position setting unit 110 sets the right operator neutral position NPR to a position rotated counterclockwise with respect to the front of the driver DR so as to reduce the joint movement (rotation) required for such operation. In other words, when the driver DR operates the operator 2, the neutral position setting unit 110 sets the neutral position NP of the operator 2 to a position where the joint movement (rotation) required for such operation can be reduced. Therefore, the neutral position setting unit 110 can reduce the burden on the joints (tendons) of the driver DR who operates the operating element 2.

[0041] The grip state specifying unit 130 acquires a captured image CI from the camera 4, and uses the acquired captured image CI to determine whether "the driver DR is operating (holding) the left operator 2L" and whether "the driver DR is operating (holding) the right operator 2R." For example, when it is confirmed from the captured image CI that "the driver DR is holding the left operator 2L," the grip state specifying unit 130 determines that "the driver DR is operating the left operator 2L." Similarly, when it is confirmed from the captured image CI that "the driver DR is holding the right operator 2R," the grip state specifying unit 130 determines that "the driver DR is operating the right operator 2R."

[0042] The gripping state specifying unit 130 may determine "whether the driver DR is operating the right operator 2R" and "whether the driver DR is operating the left operator 2L" based on the operation amount θ. For example, when the right operator processing unit 3R (particularly, the right operator detection unit 32R) detects the right operator operation amount θR, the gripping state specifying unit 130 may determine that "the driver DR is operating the right operator 2R." Similarly, when the left operator processing unit 3L (particularly, the left operator detection unit 32L) detects the left operator operation amount θL, the gripping state specifying unit 130 may determine that "the driver DR is operating the left operator 2L."

[0043] When the gripping state specifying unit 130 determines that the driver DR is operating (holding) at least one of the left operator 2L and the right operator 2R, it further determines (specifies) the gripping state of the driver DR (how the driver DR is holding the operator 2) from the captured image CI. In other words, when the gripping state specifying unit 130 determines that the driver DR is operating at least one of the left operator 2L and the right operator 2R, it determines (specifies) "how at least one of the left operator 2L and the right operator 2R operated by the driver DR is being held by the driver DR."

[0044] In this embodiment, the grip state specifying unit 130 may specify the orientation of the back of the hand captured in the captured image CI when determining the grip state. Furthermore, the grip state specifying unit 130 may determine whether at least one of the driver DR's elbow and shoulder is moving, in addition to the driver DR's grip state. It is not essential for the grip state specifying unit 130 to use the captured image CI when determining the driver DR's grip state. The grip state specifying unit 130 may determine the driver DR's grip state using a detection result of a contact sensor (not shown) that detects how the driver DR is gripping the control element 2. Furthermore, the grip state specifying unit 130 may determine (specify) the driver DR's grip state by combining the detection result of the contact sensor with the captured image CI. The operation mode identification unit 140 notifies the operation mode identification unit 140 of the gripping state identified from the captured image CI, and in this embodiment, notifies the operation mode identification unit 140 of the gripping state identified from the captured image CI and the determination result of whether or not at least one of the elbow and shoulder of the driver DR is moving.

[0045] The operation mode identification unit 140 identifies the operation mode of the driver DR (the method and mode of operation of the operator 2). In particular, the operation mode identification unit 140 identifies "how the driver DR operates" at least one of the left operator 2L and the right operator 2R determined by the grip state identification unit 130 to be "operated by the driver DR." The operation mode identification unit 140 notifies the transmission ratio determination unit 160 of the identified operation mode of the driver DR. In this embodiment, the operation mode identification unit 140 identifies the operation mode of the driver DR by using the grip state of the driver DR identified by the grip state identification unit 130 (and the determination result of whether at least one of the elbow and shoulder of the driver DR is moving).

[0046] 5A, when the gripping state specifying unit 130 specifies a state (grip state) in which "the driver DR is gripping the operator 2 with the back of the hand facing up," the operation mode specifying unit 140 determines that "the driver DR is steering the operator 2 with a flexion and ulnar bending movement of the wrist." In the following description, the mode in which "the driver DR operates (steers) the operator 2 with a flexion and ulnar bending movement of the wrist" is also referred to as "operation mode A."

[0047] 5B , when the gripping state specifying unit 130 specifies a state (grip state) in which "the operator 2 is gripped with the back of the hand facing sideways," the operation mode specifying unit 140 determines that "the driver DR is steering the operator 2 with palmar flexion and dorsiflexion movements of the wrist." In the following description, the mode in which "the operator 2 is operated (steered) with palmar flexion and dorsiflexion movements of the wrist" is also referred to as "operation mode B."

[0048] 5C, when the grip state specifying unit 130 specifies a state (grip state) in which "at least one of the elbow and the shoulder is moving (moving)," the operation mode specifying unit 140 determines that "the driver DR is steering the controller 2 with a movement of at least one of the elbow and the shoulder." In the following description, the mode in which "the driver DR operates (steers) the controller 2 with a movement of at least one of the elbow and the shoulder" is also referred to as "operation mode C."

[0049] For example, as shown in Fig. 5D, when the gripping state specifying unit 130 specifies a state (gripping state) in which "the operator 2 is gripped with the distal joint of the finger," the operation mode specifying unit 140 determines that "the driver DR is steering the operator 2 with the finger." In the following description, the mode of "operating (steering) the operator 2 with the finger" is also referred to as "operation mode D."

[0050] The operation amount acquisition unit 150 acquires (receives) the operation amount θ of the operator 2 by the driver DR from the operator processing unit 3. As described above, the operation amount θ includes the rotation direction RD in which the driver DR is rotating the operator 2. In this embodiment, the operation amount acquisition unit 150 acquires the left operator operation amount θL (including the left operator rotation direction RDL) from the left operator processing unit 3L, and acquires the right operator operation amount θR (including the right operator rotation direction RDR) from the right operator processing unit 3R. The operation amount acquisition unit 150 notifies the transmission ratio determination unit 160 of the acquired operation amount θ (including the rotation direction RD).

[0051] The transmission ratio determination unit 160 determines a transmission ratio TR, which is the ratio of the steering amount AS of the vehicle VH to the operation amount θ of the operator 2 by the driver DR, and determines, for example, at least one of a left operator transmission ratio TRL and a right operator transmission ratio TRR. In particular, in this embodiment, the transmission ratio determination unit 160 determines the transmission ratio TR based on at least "whether or not the driver DR is operating the right operator 2R," "whether or not the driver DR is operating the left operator 2L," and "the rotation direction RD in which the driver DR is rotating the operator 2."

[0052] As described above, the grip state specifying unit 130 determines "whether the driver DR is operating the right operator 2R" and "whether the driver DR is operating the left operator 2L." Furthermore, the operation mode specifying unit 140 specifies the operation mode of the driver DR for at least one of the left operator 2L and the right operator 2R determined by the grip state specifying unit 130 to be "operated by the driver DR," and notifies the transmission ratio determining unit 160 of the specified "operation mode of the driver DR." Therefore, the transmission ratio determining unit 160 can determine "whether the driver DR is operating the right operator 2R" and "whether the driver DR is operating the left operator 2L" from the "operation mode of the driver DR." Furthermore, the transmission ratio determining unit 160 can determine "whether the driver DR is operating the right operator 2R" and "whether the driver DR is operating the left operator 2L" by acquiring the operation amount θ (including the rotation direction RD) from the operation amount acquiring unit 150. Then, the transmission ratio determination unit 160 determines the transmission ratio TR based on "whether the driver DR is operating the right operator 2R," "whether the driver DR is operating the left operator 2L," and "the rotation direction RD (at least one of the left operator rotation direction RDL and the right operator rotation direction RDR)."

[0053] For example, when operating (steering) the operator 2 using a wrist flexion and ulnar bending motion, the direction of wrist bending is opposite when operating the left operator 2L with the left hand and when operating the right operator 2R with the right hand. Specifically, a "right turn (clockwise rotation) operation" is a flexion motion for the left hand and an ulnar bending motion for the right hand. Similarly, a "left turn (counterclockwise rotation) operation" is an ulnar bending motion for the left hand and a flexion motion for the right hand. As described above, the range of motion of flexion is smaller than that of ulnar bending, and the strain on the wrist (wrist tendons) during a motion to bend the wrist significantly is greater with flexion than with ulnar bending. In other words, the strain on the joints (tendons) differs depending on whether the driver DR is using his left or right hand for the operation and whether he is rotating clockwise or counterclockwise. The strain on the joints varies depending on whether you are using your right hand, left hand, or both hands, and the direction you are using it (clockwise or counterclockwise).

[0054] Therefore, the transmission ratio determination unit 160 determines whether the operation performed by the driver DR is "bending the joint in the direction with a smaller range of motion" based on, for example, "whether the driver DR is using the left hand or the right hand for the operation" and "whether the rotation is clockwise or counterclockwise." In other words, the transmission ratio determination unit 160 determines whether the operation performed by the driver DR is "bending the joint in the direction with a smaller range of motion" based on "whether the driver DR is operating the right operating element 2R," "whether the driver DR is operating the left operating element 2L," and "the rotation direction RD of the operating element 2 (at least one of the left operating element rotation direction RDL and the right operating element rotation direction RDR)." When the transmission ratio determination unit 160 determines that the operation being performed by the driver DR is to "bend the joint in a direction with a smaller range of motion," it sets the transmission ratio TR to be applied to the operation amount θ of such an operation to be greater than the transmission ratio TR to be applied to the operation amount θ of an operation to "bend the joint in a direction with a larger range of motion." In other words, the transmission ratio determination unit 160 sets the transmission ratio TR to be applied to the operation amount θ of an operation that places a large burden on the joint (tendon) to be greater than the transmission ratio TR to be applied to the operation amount θ of an operation that places a small burden on the joint (tendon). Through such control, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint for an operation that places a large burden on the joint (tendon), thereby reducing the burden on the joint (tendon) of the driver DR.

[0055] As has been described so far, the transmission ratio determination unit 160 determines the transmission ratio TR based on at least "whether or not the driver DR is operating the right operating element 2R," "whether or not the driver DR is operating the left operating element 2L," and "the rotation direction RD (at least one of the left operating element rotation direction RDL and the right operating element rotation direction RDR)." Through this control, when the driver DR performs an operation to bend the joint in a direction with a smaller range of motion, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint, thereby preventing strain on the joint (tendon) of the driver DR.

[0056] Furthermore, when the driver DR performs an operation with his / her left hand, for example, the transmission ratio determination unit 160 determines the transmission ratio TR (left operator transmission ratio TRL) to be applied to the operation amount θ of the "operation to turn right (rotate clockwise)" and the transmission ratio TR (left operator transmission ratio TRL) to be applied to the operation amount θ of the "operation to turn left (rotate counterclockwise)" to be different values. As described above, for example, between a flexion movement (clockwise rotation) and an ulnar bending movement (counterclockwise rotation) of the left wrist, the flexion movement has a smaller range of motion and places a greater burden on the wrist than the ulnar bending movement. In other words, for example, when operating the left operator 2L with the left hand, the burden on the left wrist is different between a clockwise rotation operation and a counterclockwise rotation operation. Therefore, for example, when the driver DR performs an operation with his left hand, the transmission ratio determination unit 160 determines the left operator transmission ratio TRL when the operator is rotated clockwise and the left operator transmission ratio TRL when the operator is rotated counterclockwise to be different values. Similarly, for example, when the driver DR performs an operation with his right hand, the transmission ratio determination unit 160 determines the transmission ratio TR when the operator is rotated clockwise (right operator transmission ratio TRR) and the transmission ratio TR when the operator is rotated counterclockwise to be different values. For example, the transmission ratio determination unit 160 determines the right operator transmission ratio TRR and the left operator transmission ratio TRL as follows. That is, the transmission ratio determination unit 160 determines the transmission ratio TR to be applied to the operation amount θ of the operation "to bend the joint in the direction with a smaller range of motion" (an operation that places a greater burden on the joint) to be a larger value than the transmission ratio TR to be applied to the operation amount θ of the operation "to bend the joint in the direction with a larger range of motion" (an operation that places a smaller burden on the joint). Through this control, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint when the driver DR performs an operation to bend the joint in the direction with a smaller range of motion, and can prevent a burden from being placed on the joint (tendon) of the driver DR.

[0057] In this embodiment, the transmission ratio determination unit 160 determines the transmission ratio TR according to the "holding state (holding method, manner) of the driver DR." Here, when the right operating element 2R is operated with the right hand, it is considered that the strain on the right wrist differs depending on whether the operating element 2R is "held from above" as illustrated in FIG. 5A or "held from the side" as illustrated in FIG. 5B. That is, an "operation to turn right (rotate clockwise)" with the right hand is realized, for example, by an ulnar flexion movement of the wrist of the right hand that is holding the right operating element 2R from above, or a dorsiflexion movement of the wrist of the right hand that is holding the right operating element 2R from the side. However, while the ulnar flexion movement has a "larger" range of motion than the flexion movement, the dorsiflexion movement has a "smaller" range of motion than the volar flexion movement. That is, for example, when the driver DR operates the right operating element 2R with his right hand, even if the operation is the same "clockwise rotation operation," the strain on the wrist of the right hand differs when the right operating element 2R is "held from above" and when it is "held from the side." Similarly, when the driver DR operates the left operating element 2L with his left hand, even if the operation is the same "clockwise rotation operation," the strain on the wrist of the left hand differs when the left operating element 2L is "held from above" and when it is "held from the side." As explained above, the strain on the joints (tendons) of the driver DR differs depending on "which hand is used to operate" and "how the operating element 2 is held (i.e., the holding state)."

[0058] Therefore, the transmission ratio determination unit 160 determines the transmission ratio TR based on the grip state of the driver DR, that is, based on "how the driver DR grips at least one of the left operating element 2L and the right operating element 2R." As described above, it is possible to determine, depending on the grip state, whether the operation being performed by the driver DR is an operation to "bend the joint in a direction with a smaller range of motion" (an operation that places a greater burden on the joint) or an operation to "bend the joint in a direction with a larger range of motion" (an operation that places a smaller burden on the joint). Therefore, the transmission ratio determination unit 160 makes the above-described determination based on the grip state, and when it determines that the operation being performed by the driver DR is an operation to "bend the joint in a direction with a smaller range of motion," it determines the transmission ratio TR to be applied to the operation amount θ of the relevant operation to be a value greater than the transmission ratio TR to be applied to the operation amount θ of the operation to "bend the joint in a direction with a larger range of motion." Through this control, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint when the driver DR bends the joint in the direction with a smaller range of motion, thereby preventing strain on the joints (tendons) of the driver DR.

[0059] As described above, the transmission ratio determination unit 160 determines the transmission ratio TR based on the "grip state of the driver DR (the method and manner in which the driver DR grips the actuator 2)." In particular, the transmission ratio determination unit 160 determines the transmission ratio TR based on the "operation mode of the driver DR (the operation method and manner)" specified according to the grip state. For example, the transmission ratio determination unit 160 determines whether the operation being performed by the driver DR is "bending the joint in a direction with a smaller range of motion." If it determines that the operation is "bending the joint in a direction with a smaller range of motion," the transmission ratio determination unit 160 sets the transmission ratio TR applied to the operation amount θ of the operation to be larger than the transmission ratio TR applied to the operation amount θ of the operation to bend the joint "in a direction with a larger range of motion." Through this control, when the driver DR performs an operation to bend the joint in a direction with a smaller range of motion, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint, thereby preventing strain on the joints (tendons) of the driver DR.

[0060] For example, the transfer ratio determination unit 160 refers to the storage unit 12 and acquires "correspondence information 124 that associates the operation mode of the driver DR with a transfer ratio function F that determines the transfer ratio TR from the operation amount θ." In the correspondence information 124, for example, a transfer ratio function F is associated with each of the operation modes A to D identified by the grip state identification unit 130. Therefore, the transfer ratio determination unit 160 determines the transfer ratio function F from the acquired correspondence information 124 and the "grip state of the driver DR" identified by the grip state identification unit 130. The transfer ratio determination unit 160 determines the transfer ratio TR from the determined transfer ratio function F and the operation amount θ. Hereinafter, the transfer ratio functions F associated with each of the operation modes A to D in the correspondence information 124 will be described in detail with reference to FIG. 6. In Figures 6 and 7, when the operation amount θ (respectively the left operator operation amount θL and the right operator operation amount θR) is "0", this indicates that the operator 2 (respectively the left operator 2L and the right operator 2R) is in the neutral position NP.

[0061] (Operation Mode A) In the correspondence information 124, a first transfer ratio function FA is associated with operation mode A (a mode in which operation is performed by flexion and ulnar flexion of the wrist), and in particular, a right first transfer ratio function FAR illustrated in FIG. 6A is associated with operation mode A with the right hand. The right first transfer ratio function FAR is a function that can be expressed as "FAR = k1 × θR + b (k1 and b are constants, and k1 < 0)." The transfer ratio determiner 160 can determine the right operator transfer ratio TRR from the right first transfer ratio function FAR and the right operator operation amount θR, and in particular, can determine the right operator transfer ratio TRR as follows. That is, the transmission ratio determination unit 160 can determine the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise by a flexion movement of the right wrist to be a larger value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise by an ulnar flexion movement of the right wrist. In other words, the transmission ratio determination unit 160 determines the right operator transmission ratio TRR to be applied to the right operator operation amount θR for operation by flexion, which has a "smaller range of motion than ulnar flexion and places a greater burden on the wrist (wrist tendons) than ulnar flexion," to be a larger value than the right operator transmission ratio TRR to be applied to the right operator operation amount θR for operation by ulnar flexion. Therefore, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joints (particularly the right wrist) required for a flexion operation with the right hand, thereby preventing a burden from being placed on the joints (tendons) of the driver DR.

[0062] Similarly, in the correspondence information 124, a left first transfer ratio function FAL is associated with the operation mode A with the left hand. The left first transfer ratio function FAL is a function that can be expressed, for example, as "FAL = -k1 × θL + b." The transfer ratio determination unit 160 can determine the left operator transfer ratio TRL as follows from the left first transfer ratio function FAL and the left operator operation amount θL. That is, the transfer ratio determination unit 160 can determine the left operator transfer ratio TRL when the driver DR rotates the left operator 2L counterclockwise with an ulnar flexion movement of the left wrist to be a smaller value than the left operator transfer ratio TRL when the driver DR rotates the left operator 2L clockwise with a flexion movement of the left wrist. That is, the transfer ratio determination unit 160 sets the left operator transfer ratio TRL applied to the flexion movement of the left wrist to be larger than the left operator transfer ratio TRL applied to the ulnar flexion movement of the left wrist. In other words, the transmission ratio determination unit 160 determines the left operator transmission ratio TRL to be applied to the left operator operation amount θL for operation by flexion, which has a "smaller range of motion than ulnar flexion and places a greater burden on the wrist (wrist tendons) than ulnar flexion," to be a larger value than the left operator transmission ratio TRL to be applied to the left operator operation amount θL for operation by ulnar flexion. Therefore, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joints (particularly the left wrist) required for flexion operation with the left hand, and can prevent burden from being placed on the joints (tendons) of the driver DR.

[0063] (Operation Mode B) In the correspondence information 124, a second transfer ratio function FB is associated with operation mode B (a mode in which the operation is performed by palmar flexion and dorsiflexion of the wrist), and in particular, a right second transfer ratio function FBR illustrated in FIG. 6B is associated with operation mode B with the right hand. The right second transfer ratio function FBR is a function that can be expressed as "FBR = k2 × θR + b (k2 and b are constants, and k2 > 0)." The transfer ratio determination unit 160 can determine the right operator transfer ratio TRR from the right second transfer ratio function FBR and the right operator operation amount θR, and in particular, can determine the right operator transfer ratio TRR as follows. That is, the transmission ratio determiner 160 can determine the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise with a palmar flexion movement of the right wrist to be a smaller value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise with a dorsiflexion movement of the right wrist. That is, the transmission ratio determiner 160 sets the right operator transmission ratio TRR to be applied to the dorsiflexion movement of the right wrist to be larger than the right operator transmission ratio TRR to be applied to the palmar flexion movement of the right wrist. In other words, the transmission ratio determiner 160 determines the right operator transmission ratio TRR to be applied to the right operator operation amount θR for operation by dorsiflexion, which has a "smaller range of motion than palmar flexion and places a greater burden on the wrist (wrist tendons) than palmar flexion," to be a larger value than the right operator transmission ratio TRR to be applied to the right operator operation amount θR for operation by palmar flexion. Therefore, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joints (particularly the right wrist) required when performing dorsiflexion operations with the right hand, thereby preventing strain on the joints (tendons) of the driver DR.

[0064] Similarly, in the correspondence information 124, a left second transfer ratio function FBL is associated with operation mode B with the left hand. The left second transfer ratio function FBL is a function that can be expressed, for example, as "FBL = -k2 × θL + b". The transfer ratio determination unit 160 can determine the left operator transfer ratio TRL as follows from the left second transfer ratio function FBL and the left operator operation amount θL. That is, the transfer ratio determination unit 160 can determine the left operator transfer ratio TRL when the driver DR rotates the left operator 2L counterclockwise with a dorsiflexion movement of the left wrist to be a larger value than the left operator transfer ratio TRL when the driver DR rotates the left operator 2L clockwise with a palmar flexion movement of the left wrist. In other words, the transmission ratio determination unit 160 determines the left operator transmission ratio TRL to be applied to the left operator operation amount θL for operation by dorsiflexion, which has a "smaller range of motion than palmar flexion and places a greater burden on the wrist (wrist tendons) than palmar flexion," to be a larger value than the left operator transmission ratio TRL to be applied to the left operator operation amount θL for operation by palmar flexion. Therefore, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joints (particularly the left wrist) required for dorsiflexion operation with the left hand, and can prevent burden from being placed on the joints (tendons) of the driver DR.

[0065] (Operation Mode C) In the correspondence information 124, a third transfer ratio function FC is associated with operation mode C (a mode in which an operation is performed using at least one of an elbow and a shoulder), and in particular, a right third transfer ratio function FCR illustrated in FIG. 6C is associated with operation mode C in which at least one of a right elbow and a right shoulder is used. The right third transfer ratio function FCR is a function that can be expressed as "FCR = k3 × θR + b (k3 and b are constants, and k3 > 0)." The transfer ratio determiner 160 can determine the right operator transfer ratio TRR from the right third transfer ratio function FCR and the right operator operation amount θR, and in particular, can determine the right operator transfer ratio TRR as follows. That is, the transmission ratio determination unit 160 can determine the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise by moving at least one of his right elbow and right shoulder to be a smaller value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise by moving at least one of his right elbow and right shoulder. In general, it is considered that "rotating the right operator 2R clockwise by moving at least one of his right elbow and right shoulder" places a greater burden on the right elbow and right shoulder than "rotating the right operator 2R counterclockwise by moving at least one of his right elbow and right shoulder." Therefore, the transmission ratio determination unit 160 determines the right operator transmission ratio TRR when "rotating the right operator 2R clockwise by moving at least one of the right elbow and the right shoulder" to be a larger value than the right operator transmission ratio TRR when "rotating the right operator 2R counterclockwise by moving at least one of the right elbow and the right shoulder." Through this control, the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint when the driver DR rotates the right operator 2R clockwise by moving at least one of the right elbow and the right shoulder (performing an operation to bend the joint in the direction with a smaller range of motion), thereby preventing a burden from being placed on the joint of the driver DR.

[0066] Similarly, in the correspondence information 124, a left third transfer ratio function FCL is associated with an operation mode C using at least one of the left elbow and the left shoulder. The left third transfer ratio function FCL is a function that can be expressed, for example, as "FCL = -k3 × θL + b." The transfer ratio determination unit 160 can determine the left operator transfer ratio TRL as follows from the left third transfer ratio function FCL and the left operator operation amount θL. That is, the transfer ratio determination unit 160 can determine the left operator transfer ratio TRL when the driver DR rotates the left operator 2L counterclockwise by moving at least one of the left elbow and the left shoulder to be a larger value than the left operator transfer ratio TRL when the driver DR rotates the left operator 2L clockwise by moving at least one of the left elbow and the left shoulder. In general, it is considered that "rotating the left operating element 2L counterclockwise by moving at least one of the left elbow and left shoulder" places a greater burden on the left elbow and left shoulder than "rotating the left operating element 2L clockwise by moving at least one of the left elbow and left shoulder." Therefore, the transmission ratio determination unit 160 sets the left operating element transmission ratio TRL when "rotating the left operating element 2L counterclockwise by moving at least one of the left elbow and left shoulder" to a value greater than the left operating element transmission ratio TRL when "rotating the left operating element 2L clockwise by moving at least one of the left elbow and left shoulder." Through this control, when the driver DR rotates the left operating element 2L counterclockwise by moving at least one of the left elbow and left shoulder (performing an operation to bend the joint in the direction with a smaller range of motion), the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint, thereby preventing a burden from being placed on the joint of the driver DR.

[0067] (Operation Mode D) In ​​the correspondence information 124, a fourth transfer ratio function FD is associated with operation mode D (mode of operating with a finger), and in particular, a right fourth transfer ratio function FDR illustrated in FIG. 6D is associated with operation mode D with a finger of the right hand. The right fourth transfer ratio function FDR is a function that can be expressed as "FDR = k4 × θR + b (k4 and b are constants, and k4 < 0)." The transfer ratio determination unit 160 can determine the right operator transfer ratio TRR from the right fourth transfer ratio function FDR and the right operator operation amount θR, and in particular, can determine the right operator transfer ratio TRR as follows. That is, the transmission ratio determination unit 160 can determine the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise with the movement of the fingers of his right hand to be a larger value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise with the movement of the fingers of his right hand. Here, when the operator 2 is operated with the movement of the fingers, it is considered that the operator 2 is operated using not only the movement (movement) of the fingers but also the flexion and ulnar flexion movements of the wrist. Therefore, when the driver DR operates the right operator 2R with the movement of the fingers of his right hand, the transmission ratio determination unit 160 determines the right operator transmission ratio TRR when rotating counterclockwise to be a larger value than the right operator transmission ratio TRR when rotating clockwise, as in the case when the driver DR operates the right operator 2R using the flexion and ulnar flexion movements of the right wrist. Through this control, when the driver DR rotates the right operating element 2R counterclockwise (performing an operation to bend the joint in the direction with a smaller range of motion) by moving the fingers of his / her right hand (and flexing the right wrist), the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint, thereby preventing strain on the joints of the driver DR.

[0068] Similarly, in the correspondence information 124, a left fourth transfer ratio function FDL is associated with the operation mode D with the fingers of the left hand. The left fourth transfer ratio function FDL is a function that can be expressed, for example, as "FDL = -k4 × θL + b". The transfer ratio determination unit 160 can determine the left operator transfer ratio TRL as follows from the left fourth transfer ratio function FDL and the left operator operation amount θL. That is, the transfer ratio determination unit 160 can determine the left operator transfer ratio TRL when the driver DR rotates the left operator 2L counterclockwise with the movement of the fingers of the left hand to be a smaller value than the left operator transfer ratio TRL when the driver DR rotates the left operator 2L clockwise with the movement of the fingers of the left hand. In other words, the transmission ratio determination unit 160 sets the left operator transmission ratio TRL applied to an operation of rotating clockwise with the movement of the fingers of the left hand to be larger than the left operator transmission ratio TRL applied to an operation of rotating counterclockwise with the movement of the fingers of the left hand. As described above, when operating the operator 2 with the movement of the fingers, it is considered that the operator 2 is operated using not only the movement of the fingers but also the flexion and ulnar bending movements of the wrist. Therefore, when the driver DR operates the left operator 2L with the movement of the fingers of his left hand, the transmission ratio determination unit 160 determines the left operator transmission ratio TRL for rotating clockwise to be a larger value than the left operator transmission ratio TRL for rotating counterclockwise, as in the case when the driver DR operates the left operator 2L using the flexion and ulnar bending movements of the left wrist. Through this control, when the driver DR rotates the left operating element 2L clockwise (performing an operation to bend the joint in the direction with a smaller range of motion) by moving the fingers of his / her left hand (and flexing the left wrist), the transmission ratio determination unit 160 can reduce the movement (rotation) of the joint, thereby preventing strain on the joints of the driver DR.

[0069] When the driver DR operates the controller 2 using a combination of two or more of the above-described operation modes A to D, the transfer ratio determiner 160 may determine the transfer ratio TR by combining two or more transfer ratio functions F, each of which corresponds to one of the two or more operation modes. For example, when the driver DR operates the controller 2 using a combination of all of the operation modes A to D, the transfer ratio determiner 160 may determine the transfer ratio TR by combining a first transfer ratio function FA corresponding to the operation mode A, a second transfer ratio function FB corresponding to the operation mode B, a third transfer ratio function FC corresponding to the operation mode C, and a fourth transfer ratio function FD corresponding to the operation mode D. As an example, when the driver DR operates the controller 2 using a combination of all of the operation modes A to D, the transfer ratio determiner 160 may determine the transfer ratio TR from a function F_ABCD that can be expressed as "F_ABCD = (k1 + k2 + k3 + k4) × θ + b". Furthermore, for example, when the driver DR operates the controller 2 using a combination of operation modes A to C among operation modes A to D, the transfer ratio determination unit 160 may determine the transfer ratio TR by combining the first transfer ratio function FA, the second transfer ratio function FB, and the third transfer ratio function FC. Similarly, for example, when the driver DR operates the controller 2 using a combination of operation modes B to D among operation modes A to D, the transfer ratio determination unit 160 may determine the transfer ratio TR by combining the second transfer ratio function FB, the third transfer ratio function FC, and the fourth transfer ratio function FD.

[0070] The transmission ratio determination unit 160 may further determine the right operator transfer ratio TRR and the left operator transfer ratio TRL according to the dominant hand of the driver DR. Specifically, when the dominant hand of the driver DR is right, the transmission ratio determination unit 160 may determine the right operator transfer ratio TRR to be a smaller value than the left operator transfer ratio TRL. When the dominant hand of the driver DR is left, the transmission ratio determination unit 160 may determine the right operator transfer ratio TRR to be a larger value than the left operator transfer ratio TRL. The transmission ratio determination unit 160 may ascertain the dominant hand of the driver DR by previously acquiring information indicating whether the dominant hand of the driver DR is right or left.

[0071] Generally, operation with the non-dominant hand is more difficult than operation with the dominant hand. Therefore, transmission ratio determination unit 160 determines the transmission ratio TR to be applied to the operation amount θ of operation with the non-dominant hand to be a larger value than the transmission ratio TR to be applied to the operation amount θ of operation with the dominant hand. Through this control, when the driver DR performs an operation with the non-dominant hand, transmission ratio determination unit 160 can reduce the movement of the non-dominant hand, thereby improving convenience for the driver DR.

[0072] As described above, the transmission ratio determination unit 160 determines the right operator transmission ratio TRR and the left operator transmission ratio TRL to be different values ​​because, for example, even if the same "clockwise rotation operation" is performed, the joint movements are reversed when the operation is performed with the right hand and when the operation is performed with the left hand. Similarly, the transmission ratio determination unit 160 determines the right operator transmission ratio TRR and the left operator transmission ratio TRL to be different values ​​because, for example, even if the same "counterclockwise rotation operation" is performed, the joint movements are reversed when the operation is performed with the right hand and when the operation is performed with the left hand. In the correspondence information 124, the transfer ratio function F (right operator transfer ratio function FR) associated with the operation with the right hand and the transfer ratio function F (left operator transfer ratio function FL) associated with the operation with the left hand are, for example, as shown in FIG. 7 .

[0073] The left operator transfer ratio function FL illustrated in FIG. 7A is a function that can be expressed, for example, as "FL = k × θL + b (k and b are constants, k > 0)," and the right operator transfer ratio function FR illustrated in FIG. 7B is a function that can be expressed, for example, as "FR = -k × θR + b." As illustrated in FIG. 7 , in each of the right operator transfer ratio function FR and the left operator transfer ratio function FL, the transfer ratio TR corresponding to the "right-turning (clockwise rotation) operation (operation amount θ > 0)" is asymmetric with the transfer ratio TR corresponding to the "left-turning (counterclockwise rotation) operation (operation amount θ < 0)." Furthermore, when the gripping states (operation modes) are the same in the left and right hands, the left operator operation amount θL, the left operator transfer ratio TRL, the right operator operation amount θR, and the right operator transfer ratio TRR satisfy, for example, the following relationships: That is, "θL×TRL=(-θR)×TRR" is satisfied. Note that the left operator transfer ratio function FL and the right operator transfer ratio function FR illustrated in FIG. 7 are merely examples of the left operator transfer ratio function FL and the right operator transfer ratio function FR, respectively. For example, the left operator transfer ratio function FL may be a function that can be expressed as "FL=k×θL+b (k and b are constants, k<0)," and in that case, the right operator transfer ratio function FR may be expressed as "FR=-k×θR+b."

[0074] Here, the maximum value of the left operator operation amount θL (maximum left operator operation amount θL_MAX), the left operator transmission ratio TRL corresponding to this maximum left operator operation amount θL_MAX (in the illustrated example, the maximum value of the left operator transmission ratio TRL (maximum left operator transmission ratio TRL_MAX)), the maximum value of the right operator operation amount θR (maximum right operator operation amount θR_MAX), and the right operator transmission ratio TRR corresponding to this maximum right operator operation amount θR_MAX (in the illustrated example, the minimum value of the right operator transmission ratio TRR (minimum right operator transmission ratio TRR_min)) may satisfy the following relationship: That is, the value obtained by multiplying the maximum left operator operation amount θL_MAX by the maximum left operator transmission ratio TRL_MAX may be equal to the value obtained by multiplying the maximum right operator operation amount θR_MAX by the minimum right operator transmission ratio TRR_min. In other words, the area of ​​the hatched portion in FIG. 7A and the area of ​​the hatched portion in FIG. 7B may be equal.

[0075] So far, it has been explained how transmission ratio determination unit 160 determines transmission ratio TR. Transmission ratio determination unit 160 notifies (outputs) the transmission ratio TR determined by the above-mentioned method to steering amount calculation unit 170, synchronization control unit 180, and various setting unit 190. Below, the processing that each of steering amount calculation unit 170, synchronization control unit 180, and various setting unit 190 performs using the transmission ratio TR determined by transmission ratio determination unit 160 will be explained in detail.

[0076] The steering amount calculation unit 170 calculates the steering amount AS from the operation amount θ acquired by the operation amount acquisition unit and the transmission ratio TR determined by the transmission ratio determination unit 160. When the driver DR is operating the left operator 2L, the steering amount calculation unit 170 calculates the steering amount AS from the left operator operation amount θL and the left operator transmission ratio TRL. When the driver DR is operating the right operator 2R, the steering amount calculation unit 170 calculates the steering amount AS from the right operator operation amount θR and the right operator transmission ratio TRR. For example, the steering amount calculation unit 170 calculates the steering amount AS by multiplying the operation amount θ by the transmission ratio TR. The steering amount calculation unit 170 outputs (transmits) the calculated steering amount AS (a control signal specifying the steering amount AS) to the steering ECU 5, thereby controlling the steering angle SA of the vehicle VH. Furthermore, the steering amount calculation section 170 notifies (outputs) the calculated steering amount AS to the synchronization control section 180 .

[0077] The synchronization control unit 180 synchronizes the state of the right operating element 2R and the state of the left operating element 2L, for example, synchronizing the rotation of the right operating element 2R from a right operating element neutral position NPR with the rotation of the left operating element 2L from a left operating element neutral position NPL. In this embodiment, the synchronization control unit 180 rotates each of the right operating element 2R and the left operating element 2L from their respective neutral positions NP so that the right operating element 2R and the left operating element 2L satisfy the following condition: In other words, the synchronization control unit 180 rotates each of the right operating element 2R and the left operating element 2L so that the value obtained by dividing the steering amount AS calculated by the steering amount calculation unit 170 by the right operating element transmission ratio TRR is equal to the value obtained by dividing the steering amount AS by the left operating element transmission ratio TRL. In other words, the synchronization control unit 180 rotates the left operator 2L from the left operator neutral position NPL, and rotates the right operator 2R from the right operator neutral position NPR, so that the "value obtained by multiplying the amount of rotation of the left operator 2L from the left operator neutral position NPL (left operator operation amount θL) by the left operator transmission ratio TRL" is equal to the "value obtained by multiplying the amount of rotation of the right operator 2R from the right operator neutral position NPR (right operator operation amount θR) by the right operator transmission ratio TRR." The synchronization control unit 180 generates a left operator rotation command signal RCSL that rotates the left operator 2L from the left operator neutral position NPL so that the above-mentioned condition is satisfied, and transmits (outputs) the generated left operator rotation command signal RCSL to the left operator processing unit 3L. The synchronization control unit 180 generates a right operator rotation command signal RCSR that rotates the right operator 2R from the right operator neutral position NPR so that the above-mentioned conditions are satisfied, and transmits (outputs) the generated right operator rotation command signal RCSR to the right operator processing unit 3R.

[0078] Through the above-described control, for example, when the right operator 2R is operated by the driver DR, the synchronization control unit 180 can rotate the left operator 2L so as to synchronize with the right operator operation amount θR to the right operator 2R, that is, so as to synchronize with the steering amount AS. Similarly, for example, when the left operator 2L is operated by the driver DR, the synchronization control unit 180 can rotate the right operator 2R so as to synchronize with the left operator operation amount θL to the left operator 2L, that is, so as to synchronize with the steering amount AS.

[0079] The various setting unit 190 sets various parameters using the transmission ratio TR determined by the transmission ratio determination unit 160, and in this embodiment generates various setting information IS including a return reaction force signal RS, an assist torque signal ATS, and a viscosity reaction force signal VS. The various setting unit 190 illustrated in FIG. 4 includes a return reaction force setting unit 1910, an assist torque setting unit 1920, and a viscosity reaction torque setting unit 1930. In FIG. 4, the assist torque setting unit is referred to as an "AT setting unit," and the viscosity reaction torque setting unit is referred to as a "viscosity reaction force T setting unit."

[0080] The return reaction force setting unit 1910 determines the magnitude of the return reaction force RR that returns the operator 2 to the neutral position NP using the reciprocal of the transmission ratio TR. In this embodiment, the return reaction force setting unit 1910 determines the magnitude of the right operator return reaction force RRR that returns the right operator 2R to the right operator neutral position NPR using the reciprocal of the right operator transmission ratio TRR. Similarly, the return reaction force setting unit 1910 determines the magnitude of the left operator return reaction force RRL that returns the left operator 2L to the left operator neutral position NPL using the reciprocal of the left operator transmission ratio TRL. The return reaction force setting unit 1910 transmits (outputs) a right operator return reaction force signal RSR that specifies the magnitude of the determined right operator return reaction force RRR to the right operator processing unit 3R. Furthermore, the reaction force setting section 1910 transmits (outputs) a left operator reaction force signal RSL that specifies the magnitude of the determined left operator reaction force RRL to the left operator processing unit 3L.

[0081] As described above, the transmission ratio determination unit 160 determines the transmission ratio TR, which is the ratio of the steering amount AS to the operation amount θ, so as to reduce the burden on the joints (tendons) of the driver DR, and the returning force setting unit 1910 determines the magnitude of the returning force RR using the reciprocal of the transmission ratio TR. Therefore, the returning force setting unit 1910 can set the magnitude of the returning force RR to an appropriate magnitude that reduces the burden on the joints of the driver DR.

[0082] The assist torque setting unit 1920 determines the magnitude of the assist torque AT to be applied to the operator 2 using the reciprocal of the transmission ratio TR. In this embodiment, the assist torque setting unit 1920 determines the magnitude of the right operator assist torque ATR to be applied to the right operator 2R using the reciprocal of the right operator transmission ratio TRR. The assist torque setting unit 1920 also determines the magnitude of the left operator assist torque ATL to be applied to the left operator 2L using the reciprocal of the left operator transmission ratio TRL. The assist torque setting unit 1920 transmits (outputs) a right operator assist torque signal ATSR specifying the determined magnitude of the right operator assist torque ATR to the right operator processing unit 3R. The assist torque setting unit 1920 also transmits (outputs) a left operator assist torque signal ATSL specifying the determined magnitude of the left operator assist torque ATL to the left operator processing unit 3L.

[0083] As described above, the transmission ratio TR, which is the ratio of the steering amount AS to the operation amount θ, is determined by the transmission ratio determination unit 160 so as to reduce the burden on the joints (tendons) of the driver DR, and the assist torque setting unit 1920 determines the magnitude of the assist torque AT using the reciprocal of this transmission ratio TR. Therefore, the assist torque setting unit 1920 can set the magnitude of the assist torque AT to an appropriate magnitude that reduces the burden on the joints of the driver DR.

[0084] The assist torque setting unit 1920 may set the "magnitude of the right operator assist torque ATR to be applied to the right operator 2R when the driver DR is operating only the right operator 2R" to be greater than the "magnitude of the right operator assist torque ATR to be applied to the right operator 2R when the driver DR is operating both the right operator 2R and the left operator 2L." Similarly, the assist torque setting unit 1920 may set the "magnitude of the left operator assist torque ATL to be applied to the left operator 2L when the driver DR is operating only the left operator 2L" to be greater than the "magnitude of the left operator assist torque ATL to be applied to the left operator 2L when the driver DR is operating both the right operator 2R and the left operator 2L."

[0085] The burden on one hand (right or left hand) when operating with only one hand is considered to be greater than the burden on each of the right and left hands when operating with both hands (right and left hands). Therefore, the assist torque setting unit 1920 sets the "magnitude of the assist torque AT to be applied to the operator 2 when the driver DR operates the operator 2 with only one hand" to be greater than the "magnitude of the assist torque AT to be applied to the operator 2 when the driver DR operates with both hands." In other words, the assist torque setting unit 1920 sets the magnitude of the assist torque AT to be applied to the operator 2 that accepts operation with one hand when operating with one hand, which is considered to be greater than the "burden on each of the right and left hands when operating with both hands." Through this control, the assist torque setting unit 1920 can reduce the burden on the joints (tendons) of the driver DR when operating with only one hand.

[0086] The viscous reaction torque setting unit 1930 determines the magnitude of the viscous reaction torque VT that applies viscous resistance to the operation of the operator 2 by the driver DR, using the reciprocal of the transmission ratio TR. In this embodiment, the viscous reaction torque setting unit 1930 determines the magnitude of the right operator viscous reaction torque VTR that applies viscous resistance to the operation of the right operator 2R by the driver DR, using the reciprocal of the right operator transmission ratio TRR. Similarly, the viscous reaction torque setting unit 1930 determines the magnitude of the left operator viscous reaction torque VTL that applies viscous resistance to the operation of the left operator 2L by the driver DR, using the reciprocal of the left operator transmission ratio TRL. The viscous reaction torque setting unit 1930 transmits (outputs) a right operator viscous reaction signal VSR that specifies the magnitude of the determined right operator viscous reaction torque VTR to the right operator processing unit 3R. Furthermore, the viscosity reaction torque setting section 1930 transmits (outputs) a left operator viscosity reaction signal VSL that specifies the magnitude of the determined left operator viscosity reaction torque VTL to the left operator processing unit 3L.

[0087] As described above, the transmission ratio TR, which is the ratio of the steering amount AS to the operation amount θ, is determined so as to reduce the burden on the joints (tendons) of the driver DR. The viscous reaction torque setting unit 1930 then determines the magnitude of the viscous reaction torque VT using the reciprocal of this transmission ratio TR. Therefore, the viscous reaction torque setting unit 1930 can set the magnitude of the viscous reaction torque VT to an appropriate magnitude that reduces the burden on the joints of the driver DR.

[0088] Up to now, an example has been described in which the magnitudes of the return reaction force RR, the assist torque AT, and the viscous reaction torque VT are determined by the various setting units 190 (return reaction force setting unit 1910, assist torque setting unit 1920, and viscous reaction torque setting unit 1930) using the reciprocal of the transmission ratio TR. However, the various setting units 190 may also determine the magnitude of the self-aligning torque applied to the operating element 2 using the reciprocal of the transmission ratio TR, in addition to the return reaction force RR, the assist torque AT, and the viscous reaction torque VT.

[0089] §3 Operation Example Figure 8 is a flowchart showing an example of the processing procedure of the information processing device 1 according to this embodiment. The processing procedure described below is an example of the processing procedure of an information processing method PM that causes a processor (e.g., the CPU of the information processing device 1) to execute processing to "control the steering angle SA of the vehicle VH in response to an operation from the driver DR to the operating element 2." However, the processing procedure described below is merely an example, and each step may be modified as much as possible. Furthermore, steps in the processing procedure described below may be omitted, replaced, or added as appropriate depending on the embodiment.

[0090] (Step S110) In step S110, the control unit 11 operates as the neutral position setting unit 110, sets the neutral position NP of the operator 2, generates a neutral position signal PS specifying the set neutral position NP, and transmits it to the operator processing unit 3. In this embodiment, the control unit 11 sets the right operator neutral position NPR to a position rotated counterclockwise with respect to the front of the driver DR, and sets the left operator neutral position NPL to a position rotated clockwise with respect to the front of the driver DR. Through this processing, the control unit 11 (information processing device 1) can reduce the strain on the joints (tendons) of the driver DR who operates the operators 2 (left operator 2L, right operator 2R).

[0091] (Step S120) In step S120, the control unit 11 operates as the grip state identification unit 130 and acquires, from the camera 4, a captured image CI of the driver DR's hand (e.g., the hand gripping the operator 2). The captured image CI indicates "whether the driver DR is operating (gripping) the right operator 2R," "whether the driver DR is operating (gripping) the left operator 2L," and "how the driver DR is gripping the operator 2." Note that it is not essential for the control unit 11 to acquire the captured image CI. In step S120, the control unit 11 is only required to acquire information indicating "whether the driver DR is operating the right operator 2R," "whether the driver DR is operating the left operator 2L," and "how the driver DR is gripping the operator 2." The control unit 11 may acquire information indicating "whether the driver DR is operating the right operator 2R," "whether the driver DR is operating the left operator 2L," and "how the driver DR is holding the operator 2" from, for example, a contact sensor such as the one described below. That is, the control unit 11 may acquire the above information from a contact sensor provided on the operator 2 that detects "whether the driver DR is holding the operator 2" and, if so, "how the driver DR is holding it." The control unit 11 may also acquire the operation amount θ as information indicating "whether the driver DR is operating the right operator 2R" and "whether the driver DR is operating the left operator 2L." For example, the control unit 11 may acquire the right operator operation amount θR as information indicating "the driver DR is operating the right operator 2R." Similarly, the control unit 11 may acquire the left operator operation amount θL as information indicating "the driver DR is operating the left operator 2L."

[0092] (Step S130) In step S130, the control unit 11 operates as the operation amount acquisition unit 150, and acquires the operation amount θ (including the rotation direction RD in which the driver DR is rotating the operator 2) of the driver DR on the operator 2 from the operator processing unit 3. In step S130, the control unit 11 acquires the left operator operation amount θL (including the left operator rotation direction RDL) from the left operator processing unit 3L, and also acquires the right operator operation amount θR (including the right operator rotation direction RDR) from the right operator processing unit 3R.

[0093] (Step S140) In step S140, the control unit 11 operates as the grip state identification unit 130 and identifies how the driver DR is gripping the operator 2, i.e., the grip state of the driver DR, from the captured image CI acquired in step S120. In particular, in step S140, the control unit 11 identifies "whether the driver DR is operating (holding) the right operator 2R," "whether the driver DR is operating (holding) the left operator 2L," and "how the driver DR is gripping the operator 2." For example, after identifying that the driver DR is gripping the right operator 2R, the control unit 11 further identifies how the driver DR is gripping the right operator 2R (the grip state of the right operator 2R). In addition, when the control unit 11 determines that the driver DR is holding the left operator 2L, it further determines how the driver DR is holding the left operator 2L (the holding state of the left operator 2L).

[0094] (Step S150) In step S150, the control unit 11 operates as the operation mode identification unit 140 and identifies the operation mode (method or mode of operating the operator 2) of the driver DR. In step S150, the control unit 11 identifies the operation mode, for example, for at least one of the left operator 2L and the right operator 2R determined in step S140 to be "operated (held) by the driver DR" by using the grip state identified in step S140. In this embodiment, the control unit 11 identifies which of the following operation modes A to D the operation mode of the driver DR is. That is, when a grip state in which "the operator 2 is held with the back of the hand facing up" as illustrated in FIG. 5A is identified in step S140, the control unit 11 identifies operation mode A, in which "the operator 2 is operated by flexion and ulnar flexion of the wrist," as the operation mode of the driver DR. In step S140, when a gripping state in which "the operator 2 is gripped with the back of the hand facing sideways" as illustrated in (B) of Fig. 5 is identified, the control unit 11 identifies operation mode B in which "the operator 2 is operated by palmar flexion and dorsiflexion of the wrist" as the operation mode of the driver DR. In step S140, when a gripping state in which "at least one of the elbow and the shoulder is moving" as illustrated in (C) of Fig. 5 is identified, the control unit 11 identifies operation mode C in which "the operator 2 is operated by movement of at least one of the elbow and the shoulder" as the operation mode of the driver DR. In step S140, when a gripping state in which "the operator 2 is gripped with the distal joints of the fingers" as illustrated in (D) of Fig. 5 is identified, the control unit 11 identifies operation mode D in which "the operator 2 is operated with the fingers" as the operation mode of the driver DR.

[0095] (Step S160) In step S160, the control unit 11 operates as the transmission ratio determiner 160 and determines a transmission ratio TR, which is the ratio of the steering amount AS of the vehicle VH to the operation amount θ of the operator 2 by the driver DR. For example, if it is determined in step S140 that "the left operator 2L is being operated by the driver DR," the control unit 11 determines a left operator transmission ratio TRL to be applied to the left operator operation amount θL of the left operator 2L by the driver DR. For example, if it is determined in step S140 that "the right operator 2R is being operated by the driver DR," the control unit 11 determines a right operator transmission ratio TRR to be applied to the right operator operation amount θR of the right operator 2R by the driver DR.

[0096] In step S160, the control unit 11 determines the transmission ratio TR based on at least "whether or not the driver DR is operating the right operating device 2R," "whether or not the driver DR is operating the left operating device 2L," and "the rotational direction RD in which the driver DR is rotating the operating device 2." That is, the control unit 11 determines the transmission ratio TR from at least "whether or not the driver DR is operating the right operating device 2R" and "whether or not the driver DR is operating the left operating device 2L," which were identified in step S140, and the rotational direction RD (the rotational direction RD included in the operation amount θ) acquired in step S130.

[0097] As described above, the burden on the joints (tendons) varies depending on, for example, whether the driver DR is using his / her left or right hand for the operation and whether the driver DR is performing a clockwise rotation operation or a counterclockwise rotation operation. Therefore, the control unit 11 determines whether the driver DR is performing an operation to "bend the joint in a direction with a smaller range of motion" based on whether the driver DR is operating the right operating element 2R, whether the driver DR is operating the left operating element 2L, and the rotation direction RD in which the driver DR is rotating the operating element 2. When the control unit 11 determines that the driver DR is performing an operation to "bend the joint in a direction with a smaller range of motion," it determines the transmission ratio TR to be applied to the operation amount θ of the operation to be greater than the transmission ratio TR to be applied to the operation amount θ of the operation to "bend the joint in a direction with a larger range of motion." Through this control, when the driver DR bends the joint in a direction with a smaller range of motion, the control unit 11 can reduce the movement (rotation) of the joint, thereby preventing strain on the joints (tendons) of the driver DR.

[0098] Furthermore, even when the operation is performed with the right hand, for example, the burden on the joints (tendons) is different between a clockwise rotation operation and a counterclockwise rotation operation. Similarly, even when the operation is performed with the left hand, the burden on the joints is different between a clockwise rotation operation and a counterclockwise rotation operation. Therefore, when the driver DR performs an operation with his right hand, the control unit 11 determines different values ​​for the right operator transmission ratio TRR when rotating clockwise and the right operator transmission ratio TRR when rotating counterclockwise. Specifically, for example, when the driver DR performs an operation with his right hand, for an operation that bends the joint in the direction with a smaller range of motion between a clockwise rotation operation and a counterclockwise rotation operation, the control unit 11 determines a larger value for the right operator transmission ratio TRR for such an operation. Similarly, when the driver DR performs an operation with his left hand, the control unit 11 determines the left operator transmission ratio TRL for clockwise rotation and the left operator transmission ratio TRL for counterclockwise rotation to be different values. Specifically, for example, when the driver DR performs an operation with his left hand, the control unit 11 determines the left operator transmission ratio TRL for an operation that bends the joint in the direction with a smaller range of motion between an operation that rotates clockwise and an operation that rotates counterclockwise to be a larger value. Through this control, when the driver DR performs an operation that bends the joint in the direction with a smaller range of motion, the control unit 11 can reduce the movement (rotation) of the joint and prevent strain on the joints (tendons) of the driver DR.

[0099] Furthermore, for example, even in the same case of "performing an operation to rotate the right operating element 2R clockwise or counterclockwise with the right hand," the strain on the right wrist differs between "holding the right operating element 2R from above" and "holding the right operating element 2R from the side." Similarly, even in the same case of "performing an operation to rotate the left operating element 2L clockwise or counterclockwise with the left hand," the strain on the left wrist differs between "holding the left operating element 2L from above" and "holding the left operating element 2L from the side." In other words, even in the same operation of "rotating the operating element 2 clockwise or counterclockwise," the strain on the joints (tendons) that is greater will differ depending on the holding state: a clockwise rotation operation or a counterclockwise rotation operation. Therefore, the control unit 11 determines the transmission ratio TR based on the grip state of the driver DR, that is, based on "how the driver DR grips at least one of the left operating element 2L and the right operating element 2R." As described above, depending on the grip state, it is possible to determine whether the clockwise rotation operation or the counterclockwise rotation operation is the "operation of bending the joint in the direction with the smaller range of motion." Therefore, the control unit 11 determines the transmission ratio TR for such "operation of bending the joint in the direction with the smaller range of motion" to be a large value. Through such control, when the driver DR performs an operation of bending the joint in the direction with the smaller range of motion, the control unit 11 can reduce the movement (rotation) of the joint, thereby preventing strain on the joints (tendons) of the driver DR.

[0100] In particular, in step S160, the control unit 11 determines the transfer ratio TR based on the operation mode of the driver DR identified in step S150. For example, the control unit 11 acquires the correspondence information 124 by referring to the storage unit 12. The control unit 11 determines a transfer ratio function F from the acquired correspondence information 124 and the operation mode identified in step S150, and determines the transfer ratio TR from the determined transfer ratio function F and the operation amount θ acquired in step S130.

[0101] For example, for operation mode A, the control unit 11 determines the transmission ratio TR as follows, based on the first transfer ratio function FA associated with operation mode A in the correspondence information 124. That is, the control unit 11 determines the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise by flexing the right wrist to be a larger value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise by flexing the right wrist. Therefore, the control unit 11 can reduce the movement (rotation) of the joints (particularly the right wrist) required for flexion operation with the right hand, and can prevent strain on the joints (tendons) of the driver DR. Similarly, the control unit 11 determines the left operator transmission ratio TRL when the driver DR rotates the left operator 2L clockwise by flexing the left wrist to be a larger value than the left operator transmission ratio TRL when the driver DR rotates the left operator 2L counterclockwise by flexing the left wrist. Therefore, the control unit 11 can reduce the movement (rotation) of the joints (particularly the left wrist) required for flexion operation with the left hand, and can prevent strain on the joints (tendons) of the driver DR.

[0102] For example, for operation mode B, the control unit 11 determines the transmission ratio TR as follows, based on the second transfer ratio function FB associated with operation mode B in the correspondence information 124. That is, the control unit 11 determines the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise with a dorsiflexion movement of the right wrist to be a larger value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise with a palmar flexion movement of the right wrist. Therefore, the control unit 11 can reduce the movement (rotation) of the joints (particularly the right wrist) required for dorsiflexion operation with the right hand, and can prevent strain on the joints (tendons) of the driver DR. Similarly, the control unit 11 determines the left operator transmission ratio TRL when the driver DR rotates the left operator 2L counterclockwise with a dorsiflexion movement of the left wrist to be a larger value than the left operator transmission ratio TRL when the driver DR rotates the left operator 2L clockwise with a palmar flexion movement of the left wrist. Therefore, the control unit 11 can reduce the movement (rotation) of the joints (particularly the left wrist) required for dorsiflexion operation with the left hand, and can prevent strain on the joints (tendons) of the driver DR.

[0103] For example, for operation mode C, the control unit 11 determines the transmission ratio TR as follows, based on the third transfer ratio function FC associated with operation mode C in the correspondence information 124. That is, the control unit 11 determines the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise by moving at least one of his right elbow and right shoulder to be a larger value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise by moving at least one of his right elbow and right shoulder. Therefore, when the driver DR rotates the right operator 2R clockwise by moving at least one of his right elbow and right shoulder (performing an operation to bend the joint in the direction with a smaller range of motion), the control unit 11 can reduce the movement (rotation) of the joint, thereby preventing strain on the joint of the driver DR. Similarly, the control unit 11 determines the left operator transmission ratio TRL when the driver DR rotates the left operator 2L counterclockwise by moving at least one of his left elbow and left shoulder to be a larger value than the left operator transmission ratio TRL when the driver DR rotates the left operator 2L clockwise by moving at least one of his left elbow and left shoulder. Therefore, when the driver DR rotates the left operator 2L counterclockwise by moving at least one of his left elbow and left shoulder (performing an operation to bend the joint in the direction with a smaller range of motion), the control unit 11 can reduce the movement (rotation) of the joint and prevent strain on the joint of the driver DR.

[0104] For example, for operation mode D, the control unit 11 determines the transmission ratio TR as follows, based on the fourth transfer ratio function FD associated with operation mode D in the correspondence information 124. That is, the control unit 11 determines the right operator transmission ratio TRR when the driver DR rotates the right operator 2R counterclockwise with the movement of the fingers of his right hand to be a larger value than the right operator transmission ratio TRR when the driver DR rotates the right operator 2R clockwise with the movement of the fingers of his right hand. Therefore, when the driver DR rotates the right operator 2R counterclockwise with the movement of the fingers of his right hand (and the flexion movement of his right wrist) (performing an operation to bend the joint in the direction with a smaller range of motion), the control unit 11 can reduce the movement (rotation) of the joint, thereby preventing strain on the joint of the driver DR. Similarly, the control unit 11 determines the left operator transmission ratio TRL when the driver DR rotates the left operator 2L clockwise with the movement of the fingers of his left hand to be a larger value than the left operator transmission ratio TRL when the driver DR rotates the left operator 2L counterclockwise with the movement of the fingers of his left hand. Therefore, when the driver DR rotates the left operator 2L clockwise with the movement of the fingers of his left hand (and the flexion movement of his left wrist) (performing an operation to bend the joint in the direction with a smaller range of motion), the control unit 11 can reduce the movement (rotation) of the joint, thereby preventing strain on the joint of the driver DR.

[0105] When the driver DR operates the controller 2 using a combination of two or more of the above-described operation modes A to D, the control unit 11 may determine the transfer ratio TR by combining two or more transfer ratio functions F, each of which corresponds to one of the two or more operation modes. For example, when the driver DR operates the controller 2 using a combination of a wrist flexion and ulnar flexion movement (operation mode A) and a wrist palmar flexion and dorsiflexion movement (operation mode B), the control unit 11 may determine the transfer ratio TR by combining a first transfer ratio function FA corresponding to the operation mode A and a second transfer ratio function FB corresponding to the operation mode B.

[0106] When the driver DR is right-handed, the control unit 11 may determine the left operator transmission ratio TRL to be a larger value than the right operator transmission ratio TRR. Similarly, when the driver DR is left-handed, the control unit 11 may determine the right operator transmission ratio TRR to be a larger value than the left operator transmission ratio TRL. In other words, the control unit 11 may determine the transmission ratio TR to be applied to the operation amount θ of the operation with the non-dominant hand to be a larger value than the transmission ratio TR to be applied to the operation amount θ of the operation with the dominant hand. Through such control, when the driver DR performs an operation with the non-dominant hand, the control unit 11 can reduce the movement of the non-dominant hand, thereby improving convenience for the driver DR.

[0107] (Step S170) In step S170, the control unit 11 operates as the steering amount calculation unit 170 and calculates the steering amount AS. In step S170, the control unit 11 calculates the steering amount AS from the operation amount θ acquired in step S130 and the transmission ratio TR determined in step S160. When the driver DR is operating the left operator 2L, the control unit 11 calculates the steering amount AS from the left operator operation amount θL and the left operator transmission ratio TRL. When the driver DR is operating the right operator 2R, the control unit 11 calculates the steering amount AS from the right operator operation amount θR and the right operator transmission ratio TRR. The control unit 11 outputs (transmits) the calculated steering amount AS (a control signal specifying the steering amount AS) to the steering ECU 5, thereby controlling the steering angle SA of the vehicle VH.

[0108] (Step S180) In step S180, the control unit 11 operates as the synchronization control unit 180 and synchronizes the state of the left operator 2L and the state of the right operator 2R. In step S180, the control unit 11 synchronizes, for example, the rotation of the left operator 2L from the left operator neutral position NPL with the rotation of the right operator 2R from the right operator neutral position NPR. Specifically, the control unit 11 rotates each of the right operator 2R and the left operator 2L from their respective neutral positions NP so that the right operator 2R and the left operator 2L satisfy the following conditions: That is, the control unit 11 rotates each of the right operator 2R and the left operator 2L so that the "value obtained by dividing the steering amount AS calculated in step S170 by the right operator transmission ratio TRR determined in step S160" is equal to the "value obtained by dividing the steering amount AS calculated in step S170 by the left operator transmission ratio TRL determined in step S160." In other words, the control unit 11 rotates the left operator 2L from the left operator neutral position NPL, and rotates the right operator 2R from the right operator neutral position NPR, so that the "value obtained by multiplying the amount of rotation of the left operator 2L from the left operator neutral position NPL (left operator operation amount θL) by the left operator transmission ratio TRL" is equal to the "value obtained by multiplying the amount of rotation of the right operator 2R from the right operator neutral position NPR (right operator operation amount θR) by the right operator transmission ratio TRR." The control unit 11 generates a left operator rotation command signal RCSL that rotates the left operator 2L from the left operator neutral position NPL so that the above-mentioned condition is satisfied, and transmits (outputs) the generated left operator rotation command signal RCSL to the left operator processing unit 3L. Similarly, the control unit 11 generates a right operator rotation command signal RCSR for rotating the right operator 2R from the right operator neutral position NPR so that the above-mentioned condition is satisfied, and transmits (outputs) the generated right operator rotation command signal RCSR to the right operator processing unit 3R. By this control, for example, when the right operator 2R is being operated by the driver DR, the control unit 11 can rotate the left operator 2L so as to be synchronized with the right operator operation amount θR to the right operator 2R, that is, so as to be synchronized with the steering amount AS.Similarly, for example, when the left operator 2L is operated by the driver DR, the control unit 11 can rotate the right operator 2R so as to synchronize with the left operator operation amount θL to the left operator 2L, that is, so as to synchronize with the steering amount AS.

[0109] (Step S190) In step S190, the control unit 11 operates as the various setting unit 190 and sets various parameters. In step S190, the control unit 11 sets, for example, the magnitudes of the return reaction force RR, the assist torque AT, and the viscous reaction torque VT.

[0110] For example, in step S190, the control unit 11 may operate as a return reaction force setting unit 1910 and determine the magnitude of the return reaction force RR that returns the operator 2 to the neutral position NP using the reciprocal of the transmission ratio TR. For example, the control unit 11 determines the magnitude of the right operator return reaction force RRR using the reciprocal of the right operator transmission ratio TRR, and similarly, for example, determines the magnitude of the left operator return reaction force RRL using the reciprocal of the left operator transmission ratio TRL. The control unit 11 transmits (outputs) a right operator return reaction force signal RSR that specifies the magnitude of the determined right operator return reaction force RRR to the right operator processing unit 3R. Similarly, the control unit 11 transmits (outputs) a left operator return reaction force signal RSL that specifies the magnitude of the determined left operator return reaction force RRL to the left operator processing unit 3L. Through this control, the control unit 11 can set the magnitude of the return reaction force RR to an appropriate magnitude that reduces the burden on the joints of the driver DR.

[0111] For example, in step S190, the control unit 11 may operate as the assist torque setting unit 1920 and determine the magnitude of the assist torque AT to be applied to the operator 2 using the reciprocal of the transmission ratio TR. For example, the control unit 11 determines the magnitude of the right operator assist torque ATR using the reciprocal of the right operator transmission ratio TRR, and similarly, for example, determines the magnitude of the left operator assist torque ATL using the reciprocal of the left operator transmission ratio TRL. The control unit 11 transmits (outputs) a right operator assist torque signal ATSR specifying the determined magnitude of the right operator assist torque ATR to the right operator processing unit 3R. Similarly, the control unit 11 transmits (outputs) a left operator assist torque signal ATSL specifying the determined magnitude of the left operator assist torque ATL to the left operator processing unit 3L. Through such control, the control unit 11 can set the magnitude of the assist torque AT to an appropriate magnitude that reduces the burden on the joints of the driver DR.

[0112] The control unit 11 may set "the magnitude of the right operator assist torque ATR to be applied to the right operator 2R when the driver DR is operating only the right operator 2R" to be greater than "the magnitude of the right operator assist torque ATR to be applied to the right operator 2R when the driver DR is operating both the right operator 2R and the left operator 2L." Similarly, the control unit 11 may set "the magnitude of the left operator assist torque ATL to be applied to the left operator 2L when the driver DR is operating only the left operator 2L" to be greater than "the magnitude of the left operator assist torque ATL to be applied to the left operator 2L when the driver DR is operating both the right operator 2R and the left operator 2L." In other words, when operating with one hand, which is considered to be a greater burden than "the burden placed on each of the right and left hands when operating with both hands," the control unit 11 may set "the magnitude of the left operator assist torque ATL to be applied to the left operator 2L when operating with one hand." By performing such control, the control unit 11 can reduce the strain on the joints (tendons) of the driver DR when the driver DR performs an operation with only one hand.

[0113] For example, in step S190, the control unit 11 may operate as the viscous reaction torque setting unit 1930 and determine the magnitude of the viscous reaction torque VT that provides viscous resistance to the operation of the operator 2 by the driver DR using the reciprocal of the transmission ratio TR. The control unit 11, for example, determines the magnitude of the right operator viscous reaction torque VTR using the reciprocal of the right operator transmission ratio TRR, and also determines the magnitude of the left operator viscous reaction torque VTL using the reciprocal of the left operator transmission ratio TRL. The control unit 11 transmits (outputs) a right operator viscous reaction signal VSR that specifies the magnitude of the determined right operator viscous reaction torque VTR to the right operator processing unit 3R. The control unit 11 also transmits (outputs) a left operator viscous reaction signal VSL that specifies the magnitude of the determined left operator viscous reaction torque VTL to the left operator processing unit 3L. Through this control, the control unit 11 can set the magnitude of the viscous reaction torque VT to an appropriate magnitude that reduces the burden on the joints of the driver DR.

[0114] [Features] As described above, the information processing device 1 according to this embodiment is an information processing device that controls the steering angle SA of the vehicle VH in response to an operation from the driver DR to a disk-shaped operator 2 provided at the driver's seat of the vehicle VH. The vehicle VH includes at least one of a left operator 2L, which is an operator 2 provided on the left side of the driver's seat, and a right operator 2R, which is an operator 2 provided on the right side of the driver's seat. The information processing device 1 includes an operation amount acquisition unit 150, a transmission ratio determination unit 160, and a steering amount calculation unit 170. The operation amount acquisition unit 150 acquires an operation amount θ of at least one of the right operator 2R and the left operator 2L (i.e., at least one of a right operator operation amount θR and a left operator operation amount θL) by the driver DR. The transmission ratio determination unit 160 determines a transmission ratio TR, which is the ratio of the steering amount AS of the vehicle VH to the operation amount θ acquired by the operation amount acquisition unit 150. Steering amount calculation section 170 calculates the steering amount AS from the operation amount θ acquired by operation amount acquisition section 150 and the transmission ratio TR determined by transmission ratio determination section 160. Transmission ratio determination section 160 determines the transmission ratio TR based on at least "whether or not the driver DR is operating the right operation device 2R," "whether or not the driver DR is operating the left operation device 2L," and "the rotation direction RD (i.e., at least one of the left operation device rotation direction RDL and the right operation device rotation direction RDR) in which the driver DR is rotating the operation device 2 (at least one of the right operation device 2R and the left operation device 2L)."

[0115] Furthermore, the information processing method PM according to this embodiment is an information processing method that causes a processor (e.g., the CPU of the information processing device 1) to execute a process for controlling the steering angle SA of the vehicle VH in response to an operation by the driver DR on a disk-shaped operator 2 provided at the driver's seat of the vehicle VH. The information processing method PM causes the processor to execute steps S130, S160, and S170 illustrated in FIG. 8 . In step S130, the processor acquires the operation amount θ of at least one of the right operator 2R and the left operator 2L (i.e., at least one of the right operator operation amount θR and the left operator operation amount θL) by the driver DR. In step S160, the processor determines a transmission ratio TR, which is the ratio of the steering amount AS of the vehicle VH to the operation amount θ. In particular, in step S160, the processor determines the transmission ratio TR based on at least "whether or not the driver DR is operating the right operator 2R," "whether or not the driver DR is operating the left operator 2L," and "the rotation direction RD in which the driver DR is rotating the operator 2 (at least one of the right operator 2R and the left operator 2L) (i.e., at least one of the left operator rotation direction RDL and the right operator rotation direction RDR)." In step S170, the processor calculates the steering amount AS based on the operation amount θ acquired in step S130 and the transmission ratio TR determined in step S160.

[0116] For example, the strain on the joints (tendons) varies depending on whether the driver DR is using his / her left or right hand for the operation and whether the driver DR is performing a clockwise rotation operation or a counterclockwise rotation operation. Therefore, the information processing device 1 (information processing method PM) determines whether the driver DR is performing an operation to "bend the joint in a direction with a smaller range of motion" based on whether the driver DR is operating the right operating element 2R, whether the driver DR is operating the left operating element 2L, and the rotation direction RD in which the driver DR is rotating the operating element 2. When the information processing device 1 (information processing method PM) determines that the driver DR is performing an operation to "bend the joint in a direction with a smaller range of motion," it sets the transmission ratio TR applied to the operation amount θ of the operation to be greater than the transmission ratio TR applied to the operation amount θ of the operation to "bend the joint in a direction with a larger range of motion." Therefore, when the driver DR performs an operation to bend the joint in the direction with a smaller range of motion, the information processing device 1 (information processing method PM) can reduce the movement (rotation) of the joint and prevent strain on the joints (tendons) of the driver DR. In other words, the information processing device 1 (information processing method PM) can reduce strain on the wrists, etc., of the driver DR when operating the operator 2 (at least one of the right operator 2R and the left operator 2L).

[0117] §4 Modifications Although the embodiments of the present invention have been described above in detail, the above description is merely an example of the present invention in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. For example, the following modifications are possible. Note that, in the following, the same reference numerals are used for components similar to those in the above embodiment, and descriptions of similar points to those in the above embodiment are omitted where appropriate. The following modifications can be combined as appropriate.

[0118] In the above embodiment, an example has been described in which the information processing device 1 and the steering ECU 5 are configured as separate computers. However, the configuration of the information processing device according to this embodiment is not limited to this example and may be determined appropriately depending on the embodiment. For example, the information processing device 1 and the steering ECU 5 may be integrated into one computer. Furthermore, at least one of the information processing device 1 and the steering ECU 5 may be configured as multiple computers.

[0119] Furthermore, in the above embodiment, an example has been described in which the vehicle VH includes a left operator 2L, which is an operator 2 provided on the left side of the driver's seat, and a right operator 2R, which is an operator 2 provided on the right side of the driver's seat. However, for the information processing device according to this embodiment, it is not essential that the vehicle VH include a left operator 2L and a right operator 2R. The vehicle VH only needs to include a disk-shaped (disk-shaped) operator 2 that accepts operation (steering operation) by the driver DR on at least one of the right and left sides of the driver's seat where the driver DR sits. In other words, the vehicle VH only needs to include at least one of the left operator 2L and the right operator 2R.

[0120] REFERENCE SIGNS LIST 1...information processing device, 2...operator, 2L...left operator, 2R...right operator, 150...operation amount acquisition unit, 160...transmission ratio determination unit, 170...steering amount calculation unit, AS...steering amount, AT...assist torque, DR...driver, NP...neutral position, PM...information processing method, RD...rotation direction (direction of rotation), RR...returning reaction force, SA...steering angle, TR...transmission ratio, VH...vehicle, VT...viscous reaction torque, θ...operation amount

Claims

1. An information processing method that causes a processor to execute processing to control the steering angle of a vehicle in response to operation by a driver of the vehicle of a disk-shaped operator provided at the driver's seat of the vehicle, wherein the vehicle has at least one of a right operator that is the operator provided on the right side of the driver's seat, and a left operator that is the operator provided on the left side of the driver's seat, and the processor executes the following steps: acquiring an operation amount of at least one of the right operator and the left operator by the driver; determining a transmission ratio that is a ratio of the steering amount of the vehicle to the operation amount, the transmission ratio being determined based on at least whether the driver is operating the right operator, whether the driver is operating the left operator, and the direction in which the driver is rotating at least one of the right operator and the left operator; and calculating the steering amount from the operation amount and the determined transmission ratio.

2. The information processing method of claim 1, wherein in the step of determining the transmission ratio, if the vehicle is equipped with the right operator, the processor determines the transmission ratio when the driver rotates the right operator clockwise to be different from the transmission ratio when the driver rotates the right operator counterclockwise to be different from the transmission ratio when the driver rotates the right operator counterclockwise to be different from the transmission ratio when the driver rotates the left operator clockwise to be different from the transmission ratio when the driver rotates the left operator counterclockwise to be different from the transmission ratio when the vehicle is equipped with the left operator.

3. An information processing method as described in claim 1 or 2, wherein in the step of determining the transmission ratio, the processor, when the vehicle is equipped with the right operator, determines the transmission ratio when the driver rotates the right operator counterclockwise with a flexion movement of the right wrist to be a larger value than the transmission ratio when the driver rotates the right operator clockwise with an ulnar movement of the right wrist, and, when the vehicle is equipped with the left operator, determines the transmission ratio when the driver rotates the left operator counterclockwise with an ulnar movement of the left wrist to be a smaller value than the transmission ratio when the driver rotates the left operator clockwise with an flexion movement of the left wrist.

4. An information processing method as described in claim 1 or 2, wherein in the step of determining the transmission ratio, the processor, when the vehicle is equipped with the right operator, determines the transmission ratio when the driver rotates the right operator counterclockwise with a palmar flexion movement of the right wrist to be a smaller value than the transmission ratio when the driver rotates the right operator clockwise with a dorsiflexion movement of the right wrist, and, when the vehicle is equipped with the left operator, determines the transmission ratio when the driver rotates the left operator counterclockwise with a dorsiflexion movement of the left wrist to be a larger value than the transmission ratio when the driver rotates the left operator clockwise with a palmar flexion movement of the left wrist.

5. An information processing method as described in claim 1 or 2, wherein in the step of determining the transmission ratio, the processor, if the vehicle is equipped with the right operator, determines the transmission ratio when the driver rotates the right operator counterclockwise by moving at least one of his right elbow and right shoulder to be a smaller value than the transmission ratio when the driver rotates the right operator clockwise by moving at least one of his right elbow and right shoulder, and, if the vehicle is equipped with the left operator, determines the transmission ratio when the driver rotates the left operator counterclockwise by moving at least one of his left elbow and left shoulder to be a larger value than the transmission ratio when the driver rotates the left operator clockwise by moving at least one of his left elbow and left shoulder.

6. An information processing method as described in claim 1 or 2, wherein in the step of determining the transmission ratio, the processor, if the vehicle is equipped with the right operator, determines the transmission ratio when the driver rotates the right operator counterclockwise with the movement of the fingers of his right hand to be a larger value than the transmission ratio when the driver rotates the right operator clockwise with the movement of the fingers of his right hand, and, if the vehicle is equipped with the left operator, determines the transmission ratio when the driver rotates the left operator counterclockwise with the movement of the fingers of his left hand to be a smaller value than the transmission ratio when the driver rotates the left operator clockwise with the movement of the fingers of his left hand.

7. The information processing method of claim 1 or 2, wherein the processor further executes a step of determining the magnitude of the return force that returns the operator to a neutral position, where, if the vehicle is equipped with the right operator, the magnitude of the return force that returns the right operator to its neutral position is determined using the reciprocal of the transmission ratio related to the right operator, and if the vehicle is equipped with the left operator, the magnitude of the return force that returns the left operator to its neutral position is determined using the reciprocal of the transmission ratio related to the left operator.

8. The information processing method of claim 1 or 2, wherein the processor further executes a step of setting a neutral position of the operator, in which, if the vehicle is equipped with the right operator, the processor sets the neutral position of the right operator to a position rotated counterclockwise relative to the front of the driver, and, in the case of the vehicle is equipped with the left operator, the processor sets the neutral position of the left operator to a position rotated clockwise relative to the front of the driver.

9. The information processing method of claim 1 or 2, wherein the processor further executes a step of determining the magnitude of the assist torque to be applied to the operator, where, if the vehicle is equipped with the right operator, the magnitude of the assist torque to be applied to the right operator is determined using the reciprocal of the transmission ratio related to the right operator, and, if the vehicle is equipped with the left operator, the magnitude of the assist torque to be applied to the left operator is determined using the reciprocal of the transmission ratio related to the left operator.

10. The information processing method of claim 1 or 2, wherein the processor further executes a step of determining the magnitude of a viscous reaction torque that provides viscous resistance to the driver's operation of the operator, where, if the vehicle is equipped with the right operator, the magnitude of the viscous reaction torque that provides viscous resistance to the driver's operation of the right operator is determined using the reciprocal of the transmission ratio for the right operator, and, if the vehicle is equipped with the left operator, the magnitude of the viscous reaction torque that provides viscous resistance to the driver's operation of the left operator is determined using the reciprocal of the transmission ratio for the left operator.

11. The information processing method of claim 1 or 2, wherein the vehicle is equipped with the right operator and the left operator, and the processor further executes a step of determining the magnitude of assist torque to be applied to the operators, wherein when the driver is operating only the right operator, the magnitude of the assist torque to be applied to the right operator is made larger than the magnitude of assist torque to be applied to the right operator when the driver is operating both the right operator and the left operator, and when the driver is operating only the left operator, the magnitude of the assist torque to be applied to the left operator is made larger than the magnitude of assist torque to be applied to the left operator when the driver is operating both the right operator and the left operator.

12. An information processing device that controls the steering angle of a vehicle in response to an operation by a driver of the vehicle to a disk-shaped operator provided at a driver's seat of the vehicle, wherein the vehicle comprises: at least one of a right operator that is the operator provided on the right side of the driver's seat; and a left operator that is the operator provided on the left side of the driver's seat; an operation amount acquisition unit that acquires an operation amount of at least one of the right operator and the left operator, a transmission ratio determination unit that determines a transmission ratio that is a ratio of the steering amount of the vehicle to the operation amount acquired by the operation amount acquisition unit; and a steering amount calculation unit that calculates the steering amount based on the operation amount acquired by the operation amount acquisition unit and the transmission ratio determined by the transmission ratio determination unit, and the transmission ratio determination unit determines the transmission ratio based on whether the driver is operating the right operator, whether the driver is operating the left operator, and the direction in which the driver is rotating at least one of the right operator and the left operator. Information processing device.

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