Driving support device and driving support processing method as well as computer program

Abstract

To show a driver a change in behavior stability of a vehicle by changing auditory stimulus in accordance with the behavior stability of the vehicle to improve driving skill of the driver.SOLUTION: A driving support device for showing a driver behavior stability of a vehicle by auditory stimulus: estimates a time zone in which the vehicle travels on a stable travel section that is a travel section in which driving burdens on the driver are reduced, on a scheduled travel route of the vehicle; sets a reproduction target music and a reproduction condition for the reproduction target music which enable the number of times at which each pause between bars or of parts overlaps with a time zone in which the vehicle travels on the stable travel section to be equal to or above a predetermined reference; when behavior of the vehicle is stable, makes the bar or the part progress to next ones thereof in a predetermined order to normally reproduce the reproduction target music under the prescribed reproduction condition; and when the behavior of the vehicle is not stable, changes the condition to a reproduction condition that is different from the reproduction condition for the normal reproduced music, at a pause timing of the bars or the parts.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present disclosure relates to a driving assistance device, a driving assistance processing method, and a computer program for improving vehicle driving operation skills. [Background technology]

[0002] Drivers have different driving skills. Driving skills affect ride comfort and road safety. In response to this, various devices have been proposed that judge the driver's driving skills, notify the driver of the results of the judgment, and provide advice to the driver.

[0003] For example, Patent Document 1 proposes a driving support device that accurately judges the driving operation state and allows the driver to know information about the overall evaluation of the driving operation state in the current drive, thereby improving the driving operation technique in the next drive. Specifically, Patent Document 1 discloses a driving support device that includes a change amount calculation unit that calculates a first related value related to the change amount of acceleration, a jerk calculation unit that calculates a second related value related to the jerk, a state determination unit that determines whether the driving state is smooth or shaky from the first and second related values ​​according to a previously set determination criterion using a vibration model, and a comprehensive determination unit that calculates a score for the determination result by the state determination unit in the current drive, calculates a first evaluation index by dividing the score by the number of determinations by the state determination unit in the current drive, and calculates a comprehensive evaluation score of the driving operation state in the current drive based on the first evaluation index. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-198344 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, since the driving support device described in Patent Document 1 evaluates a series of driving operations performed during the current drive, it is difficult for the driver to understand at what point in time the driving operations were evaluated. In contrast, if the evaluation result and advice on driving operations are presented to the driver while driving by voice text or image display, the driver's attention to the surroundings of the vehicle may decrease when checking the evaluation result or the content of the advice. In addition, it is possible to notify the driver when the behavior of the vehicle becomes unstable while the driver is driving, but in this case, the driver's driving may be given the impression that the driver's driving is denied, and the effect of improving the driving skills of drivers who have low motivation to improve their driving skills may be reduced.

[0006] In response to this, it is possible to inform the driver of the vehicle's behavioral stability by changing the auditory stimulus (sound, etc.) according to the vehicle's behavioral stability. However, the sensitivity to the change in auditory stimulus varies from person to person depending on the driver's attention state to the surroundings while driving the vehicle and the sound source used. For this reason, there is a risk that the driver will not notice the change in auditory stimulus, resulting in a reduced effect in stabilizing the vehicle's behavior.

[0007] The present disclosure has been made in consideration of the above problems, and an object of the present disclosure is to provide a driving assistance device, a driving assistance processing method, and a computer program that are capable of improving the driver's driving skills by presenting changes in the vehicle's behavior stability to the driver by changing auditory stimuli in accordance with the vehicle's behavior stability. [Means for solving the problem]

[0008] In order to solve the above problem, according to an aspect of the present disclosure, there is provided a driving assistance device that presents a behavior stability of a vehicle to a driver by auditory stimulation, the driving assistance device including one or more processors and one or more memories communicably connected to the one or more processors, the one or more processors acquiring information on a planned driving route of the vehicle and information on an assumed vehicle speed of the vehicle, and performing a driving schedule estimation process of estimating a time period during which the vehicle will travel through a stable driving section, which is a driving section in which the driver will have a low driving load on the planned driving route, based on the information on the planned driving route and the information on the assumed vehicle speed, and a measure or part division process of calculating a time period during which the vehicle will travel through a stable driving section, which is a driving section in which the driver will have a low driving load on the planned driving route, based on the information on the planned driving route and the information on the assumed vehicle speed. A driving assistance device is provided that executes a playback music setting process that references information on a plurality of sound source data including information on the stable driving section, and sets playback music and playback conditions for the playback music such that the number of overlaps between the boundary between the measure or part and the time period during which the vehicle is traveling in the stable driving section is equal to or exceeds a predetermined standard; a behavior stability determination process that determines the stability of the behavior of the vehicle; and a music playback process that, if the behavior of the vehicle is stable, progresses to the next measure or part in a predetermined order and plays the playback music normally under predetermined playback conditions, and, if the behavior of the vehicle is not stable, changes to playback conditions different from the normal playback at the timing of the boundary between the measure or part.

[0009] In order to solve the above problem, according to another aspect of the present disclosure, a driving assistance processing method is provided in which a computer acquires information on a planned driving route of a vehicle and information on an expected vehicle speed of the vehicle, and estimates a time period during which the vehicle will travel through a stable driving section, which is a driving section on the planned driving route where the driver's driving load is low, based on the information on the planned driving route and the information on the expected vehicle speed; refers to information on a plurality of sound source data each including information on measure or part divisions, and sets playback music and playback conditions for the playback music such that the number of overlaps between the measure or part divisions and the time period during which the vehicle will travel through the stable driving section is equal to or exceeds a predetermined standard; determines the stability of the behavior of the vehicle; and, if the behavior of the vehicle is stable, progresses to the next measure or next part in a predetermined order and normally plays the playback music under predetermined playback conditions, and, if the behavior of the vehicle is not stable, changes to playback conditions different from the normal playback at the timing of the measure or part division.

[0010] In order to solve the above problem, according to one aspect of the present disclosure, a computer program is provided that causes a computer to execute the following: acquire information on a planned driving route of a vehicle and information on an expected vehicle speed of the vehicle, and, based on the information on the planned driving route and the information on the expected vehicle speed, estimate a time period during which the vehicle will drive through a stable driving section, which is a driving section on the planned driving route where the driver's driving load is low; refer to information on a plurality of sound source data each including information on measure or part divisions, and set playback music and playback conditions for the playback music such that the number of overlaps between the measure or part divisions and the time period during which the vehicle will drive through the stable driving section is equal to or exceeds a predetermined standard; determine the stability of the behavior of the vehicle; and, if the behavior of the vehicle is stable, progress to the next measure or next part in a predetermined order and normally play the playback music under predetermined playback conditions, and, if the behavior of the vehicle is not stable, change to playback conditions different from the normal playback at the timing of the measure or part division. Effect of the Invention

[0011] As described above, according to the present disclosure, the behavior stability of the vehicle driven by the driver can be improved by changing the auditory stimulus depending on the behavior stability of the vehicle. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram showing a vehicle to which a driving assistance device according to a first embodiment of the present disclosure is applied. [Diagram 2] 1 is a block diagram showing a configuration example of a driving assistance device according to a first embodiment of the present disclosure. [Diagram 3] FIG. 2 is an explanatory diagram showing an example of music list data of sound source data. [Figure 4] 11 is an explanatory diagram showing an example of a data table in which selectable sound source data is set according to information on sensitivity to changes in the reproduction method; FIG. [Diagram 5] 4 is an explanatory diagram showing an example of a data conversion process performed by the driving assistance device according to the embodiment; FIG. [Figure 6] 11 is an explanatory diagram showing an example of changing a threshold value depending on a driver's attribute according to the embodiment; FIG. [Figure 7] 11A to 11C are explanatory diagrams showing an example of a behavior stability determination process and a music playback process according to the embodiment. [Figure 8] 4 is a flowchart showing a main routine of a control process according to the embodiment. [Figure 9] 4 is a flowchart showing a main routine of a control process according to the embodiment. [Figure 10] 4 is a flowchart of a travel schedule estimation process according to the embodiment. [Figure 11] 4 is an explanatory diagram showing an example of a travel schedule estimation process according to the embodiment; FIG. [Figure 12] 4 is an explanatory diagram showing an example of a travel schedule estimation process according to the embodiment; FIG. [Figure 13] 11 is a flowchart of a playback music setting process according to the embodiment. [Figure 14] 11 is a flowchart of a reproduction condition setting process according to the embodiment. [Figure 15] 4 is a flowchart of a behavior stability determination process according to the embodiment. [Figure 16] 4 is a flowchart showing a main routine of a control process according to the embodiment. [Figure 17] 11 is a flowchart of a playback music reset process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0014] <<1. First embodiment>> <1-1. Overview> First, an overview of a driving support device according to a first embodiment of the present disclosure will be described. The driving support device acquires information indicating the behavior of the vehicle while the vehicle is traveling, judges the behavior stability of the vehicle based on the acquired information, and outputs a predetermined sound according to the judgment result. Since the behavior of the vehicle mainly reflects the steering operation state, accelerator operation state, and brake operation state of the driver, the driver can intuitively recognize the evaluation of his / her own driving operation state in real time through auditory stimulation.

[0015] The driving assistance device according to the present embodiment estimates a time period during which the vehicle will travel through a stable driving section, which is a driving section in which the driver's driving load is low, on the planned driving route based on information on the vehicle's planned driving route and information on the vehicle's expected vehicle speed. Examples of the stable driving section in which the driver's driving load is low include a section in which the amount of change in driving operation is small, a section in which the driver needs to pay attention to few objects, and a section in which the driver needs to pay little attention.

[0016] Examples of stable driving sections include a section where the change in the road curvature radius is below a predetermined standard (for example, the number of curves with a curvature radius of 50 m or less in a unit driving section of 1 km is 1 or less), a section where the change in the road ups and downs is below a predetermined standard (for example, the number of consecutive sections where the change in road altitude (difference between the maximum and minimum values) is 5 m or more per unit driving section of 100 m is 3 or less), a section where the change in road surface condition (paved road, unpaved road, snowy road, frozen condition, dry condition, etc.) is below a predetermined standard (for example, the change in road surface condition is not within 50 m), or a section where the change in road width is below a predetermined standard (for example, the number of consecutive sections where the change in width (difference between the maximum and minimum values) is 50 cm or more per unit driving section of 100 m is 2 or less). Such road structure information can be determined based on map data or altitude information acquired by a position detection sensor of a Global Navigation Satellite System (GNSS).

[0017] The stable driving section may also be a section on a road without road signs and traffic lights. In this case, a section on a road without road signs may be defined as a section where there are no two or more road signs within, for example, 200 meters that may change the restrictions imposed on the vehicle's driving. The stable driving section may also be a section with a low volume of other vehicles in the vicinity, or a section with a low number of traffic participants such as pedestrians or bicycles. However, the stable driving section is not limited to these examples.

[0018] The driving assistance device also sets playback music and playback conditions for the playback music such that the number of times that a measure or part boundary overlaps with a time period during which the vehicle is traveling through a stable driving section is equal to or exceeds a predetermined standard among the sound source data recorded in the music list data. When the vehicle behavior is stable, the driving assistance device advances to the next measure or part in a predetermined order and normally plays the playback music at a constant playback volume and speed, and when the vehicle behavior is not stable, changes the playback method to a different playback method from normal playback at the timing of the measure or part boundary.

[0019] This allows the music playback method to change according to the vehicle's behavioral stability, so the driver does not get the impression that his driving is being denied. Also, since the music playback method is often changed while the vehicle is traveling in a stable driving section, the driver can intuitively recognize the behavioral stability of the vehicle he is driving in real time through auditory stimulation.

[0020] "Ease of noticing a change in the playback method of the music being played" is influenced by whether the driving state is such that the listener is likely to notice a change when one or more of the playback order, volume, or speed of the bars or parts are changed during playback of the music being played. The driving assistance device sets the playback music and playback conditions of the playback music such that the number of overlaps between the bar or part boundary and the time period during which the vehicle is traveling in a stable driving section is equal to or exceeds a predetermined standard, thereby making it possible to change the playback music in a driving state in which the driver is likely to notice a change in the playback music.

[0021] In addition, "ease of noticing a change in the playback method of the music being played" is also influenced by "the driver's sensitivity to a change in the playback method of the music being played." "The driver's sensitivity to a change in the playback method of the music being played" refers to an index showing whether the driver is a person who is likely to notice a change in one or more of the playback order of bars or parts, the playback volume, or the playback speed during playback of the music being played. For this reason, in the embodiment described below, the driving assistance device sets the music being played by further taking into consideration the driver's sensitivity to a change in the playback method of the music being played.

[0022] In the embodiment described below, the driver's sensitivity to changes in the playback method of the played music is indicated in four stages: "low", "slightly low", "slightly high" and "high", but the method of setting the index is not particularly limited and may be indicated in a plurality of stages. Note that in the embodiment described below, "sensitivity to changes in the playback method of the played music" may be referred to as "sensitivity to changes in the playback method".

[0023] <1-2. Example of configuration of driving support device> Next, a configuration example of a driving support device 1 according to a first embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a schematic diagram showing a vehicle to which the driving support device 1 is applied, and Fig. 2 is a block diagram showing an example of the configuration of the driving support device 1.

[0024] The driving assistance device 1 includes an information processing device 50. The information processing device 50 includes one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a RAM (Random Access Memory) or a ROM (Read Only Memory) communicably connected to the processor. A part or the whole of the information processing device 50 may be configured with an updatable firmware or the like, or may be a program module executed by a command from the processor.

[0025] The information processing device 50 functions as a device that controls the operation of the driving assistance device 1 by one or more processors executing a computer program. The computer program is a computer program for causing the processor to execute the operation to be performed by the information processing device 50, which will be described later. The computer program executed by the processor may be recorded on a recording medium that functions as a storage unit (memory) 55 provided in the information processing device 50, or may be recorded on a recording medium built into the information processing device 50 or any recording medium that can be externally attached to the information processing device 50.

[0026] The recording medium for recording a computer program may be a magnetic medium such as a hard disk, a floppy disk, or a magnetic tape; an optical recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD (Digital Versatile Disk), or a Blu-ray (registered trademark); a magneto-optical medium such as a floptical disk; a memory element such as a RAM or a ROM; a flash memory such as a USB (Universal Serial Bus) memory; or any other medium capable of storing a program.

[0027] The driving assistance device 1 also includes a vehicle behavior measuring device 11, an input device 13, a surrounding situation detecting device 15, a position detecting sensor 17, a navigation system 19, and an output device 21. The vehicle behavior measuring device 11, the input device 13, the surrounding situation detecting device 15, the position detecting sensor 17, the navigation system 19, and the output device 21 are communicatively connected to an information processing device 50 via a dedicated line or a communication bus such as a CAN (Controller Area Network).

[0028] (1-2-1. Vehicle behavior measurement device) The vehicle behavior measuring device 11 is a device that measures information indicating the behavior of the vehicle. The vehicle behavior measuring device 11 includes at least one of a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor, for example. The vehicle speed sensor detects, for example, the rotation speed of a drive shaft of the vehicle. The acceleration sensor detects at least longitudinal acceleration, which is acceleration in the longitudinal direction of the vehicle body, and lateral acceleration, which is acceleration in the width direction of the vehicle. The acceleration sensor may further detect vertical acceleration, which is acceleration in the height direction of the vehicle body. The angular velocity sensor detects the rate of change of each of the rotation angle (roll angle) around an axis in the longitudinal direction of the vehicle body, the rotation angle (pitch angle) around an axis in the width direction of the vehicle body, and the rotation angle (yaw angle) around an axis in the height direction of the vehicle body. The angular velocity sensor may be a yaw rate sensor that detects the rate of change of the yaw angle.

[0029] The data measured by the vehicle behavior measurement device 11 is data that may change due to the steering operation, accelerator operation, and brake operation by the driver, and is transmitted to the information processing device 50 as information indicating the behavior of the vehicle. The information processing device 50 is configured to be able to acquire the information measured by the vehicle behavior measurement device 11. The vehicle behavior measurement device 11 may include a sensor capable of measuring data reflecting the behavior of the vehicle, in addition to a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor.

[0030] (1-2-2. Input device) The input device 13 accepts operation input from the user and transmits it to the information processing device 50. The input device 13 may be, for example, a touch panel display or a dial-type operation device. Alternatively, the input device 13 may be a voice recognition device that accepts input by the voice of the occupant, or an image recognition device that accepts input by gestures.

[0031] In this embodiment, the input device 13 accepts input of information related to the attributes of the driver. The information related to the attributes of the driver is information related to the driving skills of the driver, and includes at least one of the following information: the driver's age, the number of years since obtaining a license, driving frequency, the number of years since the last driving, etc. Furthermore, other information that can estimate the driving skills of the driver may be included. This information may be input in the form of a questionnaire in which the driver answers questions presented by the information processing device 50, or data that has been determined or accumulated in advance may be input.

[0032] The input device 13 may also receive input of information on a sound desired as an output sound. For example, the input device 13 may be configured to allow the driver or the like to select a desired sound from among the tones or types of sounds presented by the information processing device 50. Specifically, the type of musical instrument sound or sound effect to be output may be selectable. Data on the selected sound is stored in advance in the sound source data storage unit 57 of the information processing device 50, but the sound data may be updated or added by communicating with an external server or the like.

[0033] It should be noted that, in cases where the control conditions are not changed depending on the driver attributes, or where the output sound is made unselectable, the input device 13 is not an essential component.

[0034] (1-2-3. Surrounding condition detection device) The surrounding situation detection device 15 detects the surrounding situation of the vehicle. The surrounding situation detection device 15 includes at least one of a stereo camera, a monocular camera, an ultrasonic sensor, a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), and a radar sensor. The driving support device 1 illustrated in FIG. 1 includes a pair of left and right stereo cameras as the surrounding situation detection device 15.

[0035] The surrounding situation detection device 15 detects objects around the vehicle 10, such as other vehicles, bicycles, pedestrians, road signs, and other obstacles, based on the measured data, and calculates the distance, relative position, and relative speed to these objects. The surrounding situation detection device 15 also detects the surrounding situation of the vehicle 10, such as the road shape, road surface condition, and road width, based on the measured data. Information on the surrounding situation detected by the surrounding situation detection device 15 is transmitted to the information processing device 50. The information processing device 50 is configured to be able to acquire the information detected by the surrounding situation detection device 15.

[0036] The surrounding condition detection device 15 may include other sensors capable of detecting the surrounding conditions of the vehicle 10 in addition to the stereo camera, monocular camera, ultrasonic sensor, LiDAR, and radar sensor. The surrounding condition detection device 15 may also include a raindrop sensor for detecting the amount of rainfall or an anemometer for detecting wind speed. Furthermore, the surrounding condition detection device 15 may include a communication device for communicably connecting the information processing device 50 to an external server that provides information on the surrounding conditions of the vehicle.

[0037] (1-2-4. Position detection sensor) The position detection sensor 17 receives a positioning signal transmitted from a satellite of a GNSS represented by a GPS (Global Positioning System) and detects the position of the vehicle. The position of the vehicle is acquired, for example, as data of latitude and longitude on the earth. The position detection sensor 17 may receive a positioning signal transmitted from another system such as a quasi-zenith satellite system instead of or in addition to the GNSS and detect the position of the vehicle. Information on the position of the vehicle detected by the position detection sensor 17 is transmitted to the information processing device 50. The information processing device 50 is configured to acquire information on the position of the vehicle detected by the position detection sensor 17 (position information) and to be able to identify the position of the vehicle 10 on map data.

[0038] (1-2-5. Navigation system) The navigation system 19 presents information for guiding the vehicle along a driving route to the destination. The navigation system 19 may be a conventionally known navigation system 19. For example, the navigation system 19 refers to map data recorded in the map data storage unit 58, and calculates at least one candidate planned driving route from the current location of the vehicle to a destination specified by the user. The navigation system 19 also displays the planned driving route specified by the driver from the planned driving route candidates on the display device 23 together with the map data.

[0039] The display device 23 is a device that displays information that can be viewed by the driver. The display device 23 may be a display device such as a liquid crystal panel. The display device 23 and the input device 13 may be integrated together to form a touch panel display.

[0040] (1-2-6. Output device) The output device 21 is a device that outputs a sound that can be recognized by the driver. The output device 21 may be a speaker provided in the vehicle, or may be a speaker dedicated to the driving assistance device 1. In this embodiment, the output device 21 is configured as a speaker system including a plurality of speakers 21a to 21d provided in the vehicle. The output of the output device 21 is controlled by the information processing device 50, and the output device 21 makes the driver aware of the behavior stability of the vehicle through auditory stimulation.

[0041] (1-2-7. Information processing device) The information processing device 50 includes a communication unit 51, a processing unit 53, a storage unit 55, a sound source data storage unit 57, a map data storage unit 58, and a driving data storage unit 59. The processing unit 53 includes an acquisition unit 61, a driving schedule estimation unit 62, a sensitivity determination unit 63, a playback music setting unit 65, a data processing unit 67, a behavior stability determination unit 69, and a music playback processing unit 71. The processing unit 53 is a processor such as a CPU, and each of the acquisition unit 61, the driving schedule estimation unit 62, the sensitivity determination unit 63, the playback music setting unit 65, the data processing unit 67, the behavior stability determination unit 69, and the music playback processing unit 71 is a function realized by the execution of a program by the processor. However, a part of the acquisition unit 61, the driving schedule estimation unit 62, the sensitivity determination unit 63, the playback music setting unit 65, the data processing unit 67, the behavior stability determination unit 69, and the music playback processing unit 71 may be configured by an analog circuit.

[0042] (Storage part) The storage unit 55 is configured to include one or more storage elements such as a RAM or a ROM. The storage unit 55 stores programs executed by the processing unit 53, various parameters used in executing the programs, acquired data, data of calculation results, etc. A part of the storage unit 55 is used as a work area for the processing unit 53.

[0043] (Sound source data storage unit) The sound source data storage unit 57 is composed of any recording medium communicably connected to the processing unit 53. At least one piece of sound source data consisting of a plurality of bars or parts is recorded in the sound source data storage unit 57. In addition, the sound source data storage unit 57 records music list data for each piece of recorded sound source data.

[0044] The sound source data may be any data consisting of multiple bars or parts, and may be, for example, sound source data for a song or piece of music, or sound source data for music played with a specified rhythm or pattern.

[0045] FIG. 3 shows an example of music list data. The sound source data shown in the illustrated music list data is composed of 11 parts and 22 (0 to 21) bars. The 11 parts are composed of an intro, A melody 1, B melody 1, chorus 1, A melody 2, B melody 2, chorus 2, interlude, solo, chorus 3, and outro, and each part is composed of two bars. The length (time) of each bar is uniform at 10 seconds. The music list data includes information on the start position (seconds) and end position (seconds) of each bar, with the start position of the sound source data as the reference (0 seconds). The sound source data storage unit 57 records music list data corresponding to each recorded sound source data.

[0046] In the following description, in order to facilitate understanding of the technology of the present disclosure, an example will be described in which a plurality of pieces of sound source data with different bar lengths (times) are recorded in the sound source data storage unit 57.

[0047] (Map data storage unit) The map data storage unit 58 is a storage device that stores map data. The map data includes not only information on topography, road type, road shape, buildings, the installation positions of traffic signals, and pedestrian crossings, but also all kinds of information related to traffic, such as road width, road inclination, road curvature radius, number of driving lanes, speed limit, and traffic regulation signs. Various information included in the map data is associated with position coordinates of latitude and longitude on the earth, for example. The map data storage unit 58 may be a part of the storage unit 55 built into the information processing device 50, or may be realized by an in-vehicle storage device or an external server connected to the information processing device 50 so as to be able to communicate with the information processing device 50.

[0048] (Driving data storage unit) The travel data storage unit 59 is a storage device that stores information on travel positions (travel sections) where the vehicle has traveled in the past and the speed of the vehicle in association with information on the driver who was driving the vehicle. The speed of the vehicle may be recorded as data for each predetermined time period, or may be recorded as an average value, maximum value, or minimum value for each predetermined section. The predetermined section may be, for example, a section divided by a predetermined travel distance, a section divided by the installation points of traffic signals, or a section divided according to the road shape, such as a straight section or a curve section. The distinction between a straight section and a curve section may be determined, for example, by the curvature radius of the road stored in the map data storage unit 58.

[0049] The information stored in the travel data storage unit 59 may be stored in association with information on the environment during travel, such as the season or weather. The information on the environment may be determined based on, for example, detection data by the surroundings detection device 15, calendar or time information, detection data from a sensor that detects the amount of precipitation, such as a raindrop sensor, and meteorological information provided by a telematics service.

[0050] (Communications Department) The communication unit 51 is at least one interface for transmitting and receiving data and signals to and from the vehicle behavior measurement device 11, the input device 13, the surrounding situation detection device 15, the position detection sensor 17, the navigation system 19, and the output device 21.

[0051] (Acquisition Department) The acquisition unit 61 of the processing unit 53 acquires information transmitted from the vehicle behavior measurement device 11, the input device 13, the surrounding situation detection device 15, the position detection sensor 17, and the navigation system 19 via the communication unit 51. The information acquired by the acquisition unit 61 includes information indicating the behavior of the vehicle output from the vehicle behavior measurement device 11 and information on the purpose transmitted from the navigation system 19. The acquisition unit 61 acquires information at a predetermined calculation period and stores the acquired information in the storage unit 55. The acquisition unit 61 also acquires information on the sensitivity of the driver of the vehicle to changes in the playback method. In this embodiment, the acquisition unit 61 acquires information on the sensitivity of the driver to changes in the playback method determined by the sensitivity determination unit 63 and recorded in the storage unit 55. The acquisition unit 61 also acquires information on the past driving sections and the vehicle speed recorded in the driving data storage unit 59.

[0052] (Driving schedule estimation unit) The driving schedule estimation unit 62 of the processing unit 53 acquires information on the planned driving route of the vehicle and information on the expected vehicle speed, and estimates a time period during which the vehicle will travel through a stable driving section, which is a driving section on the planned driving route where the driver's driving load is low, based on the information on the planned driving route and the information on the expected vehicle speed. Information on the planned driving route of the vehicle is acquired from the navigation system 19. The driving schedule estimation unit 62 extracts a stable driving section, which is a driving section on the planned driving route where the driver's driving load is low, from the acquired planned driving route.

[0053] Specifically, the driving schedule estimation unit 62 reads out information related to traffic, such as information related to roads on the planned driving route, from the map data stored in the map data storage unit 58. In addition, the driving schedule estimation unit 62 extracts sections corresponding to sections with little change in driving operation, sections with few targets to which the driver should pay attention, and sections with a low degree of attention to which the driver should pay attention, based on data on road shape (curvature radius, width of driving lane, number of lanes on one side, etc.), road type (expressway, main road, residential area, shopping street, etc.), vehicle traffic volume, and traffic participant volume. Information for determining whether each section is a stable driving section may be obtained, for example, from an external server (not shown).

[0054] The expected vehicle speed is the expected vehicle speed while the vehicle is traveling along the set planned travel route, and the travel data storage unit 59 sets the expected vehicle speed for each predetermined section that divides the planned travel route.

[0055] For example, when the driving data storage unit 59 has recorded therein driving data of when the driver has driven the same route in the past, the driving schedule estimation unit 62 sets the vehicle speed data for each predetermined section in the recorded driving data as the expected vehicle speed for the predetermined section. Also, when the driving data storage unit 59 has not recorded therein driving data of when the driver has driven the same route in the past, the driving schedule estimation unit 62 may extract driving data of roads with similar road conditions from the driving data stored in the driving data storage unit 59 for each predetermined section of the planned driving route, and set the vehicle speed or the average value of the vehicle speed as the expected vehicle speed.

[0056] The driving schedule estimation unit 62 sets an assumed vehicle speed for each predetermined section that divides the planned driving route, and then estimates a time period during which the vehicle will travel through the stable driving section. Specifically, the driving schedule estimation unit 62 assumes that the vehicle will travel through each predetermined section at the assumed vehicle speed set for each section, and estimates a time period during which the vehicle will travel through the stable driving section by integrating the required time for each predetermined section. The estimated time period may be calculated as the elapsed time after the vehicle starts traveling from the current location, or may be calculated as the time at which the vehicle passes through the predetermined section based on the time when the vehicle starts traveling from the current location.

[0057] (Sensitivity determination section) The sensitivity determination unit 63 of the processing unit 53 determines the sensitivity of the change in the playback method for each driver. In this embodiment, the sensitivity determination unit 63 determines the degree of change in the vehicle's behavior stability before and after the music playback processing unit 71 changes the playback method of the playback music. For example, the sensitivity determination unit 63 determines the ratio of the number of times that the vehicle's behavior stability has changed to the number of times that the playback method of the playback music has been changed as the sensitivity of the change in the playback method. Since the purpose is to determine whether the driver has recognized the change in the playback method, the sensitivity determination unit 63 only needs to determine whether the vehicle's behavior stability has changed regardless of whether the vehicle's behavior stability has improved or deteriorated.

[0058] The sensitivity determination unit 63 records the information of the determination result in the storage unit 55 in association with the identification information of the driver. For example, the sensitivity determination unit 63 identifies the driver based on the driver information input by the driver via the input device 13, and records the information of the determination result of the sensitivity to the change in the playback method in association with the identification information such as an identification number in the storage unit 55. If the vehicle is equipped with an in-vehicle camera capable of photographing the driver, the sensitivity determination unit 63 may identify the driver based on the features of the driver's face extracted from the imaging information of the in-vehicle camera.

[0059] The method of determining the sensitivity of the change in the reproduction method by the sensitivity determination unit 63 is not limited to the above example, and any method may be used. Also, information on the result of a test performed in advance by the driver to determine the sensitivity of the change in the reproduction method may be recorded in the storage unit 55. In this case, the sensitivity determination unit 63 may be omitted.

[0060] (Playback music settings section) The playback music setting unit 65 of the processing unit 53 refers to the sound source data recorded in the sound source data storage unit 57, and sets playback music and playback conditions for the playback music such that the number of overlaps between the divisions of bars or parts and the time periods during which the vehicle runs through the stable running section is equal to or greater than a predetermined standard. For example, when playing back a part or all of the sound source data, the playback music setting unit 65 sets as playback music the sound source data such that the number of overlaps between the timing of the divisions of bars or parts recorded in the music list data and the time periods during which the vehicle runs through the stable running section estimated by the running schedule estimation unit 62 is equal to or greater than a predetermined ratio (e.g., 80%) of the total number of bars or parts of the sound source data.

[0061] The playback music setting unit 65 may set, as the playback music, sound source data in which the number of times that the timing of the division of the bar or part overlaps with the time period in which the vehicle travels through the stable driving section estimated by the driving schedule estimation unit 62 is a predetermined ratio (e.g., 80% or more) of the total number of predetermined sections of the planned driving route. In addition, when the playback music setting unit 65 cannot identify sound source data that satisfies the predetermined criteria at the default playback speed, the playback music setting unit 65 may change the playback speed to identify sound source data that satisfies the predetermined criteria. In this case, it is desirable for the playback music setting unit 65 to adjust the playback speed within the adjustment range of the playback speed set according to the sound source data. This can reduce the sense of discomfort felt by passengers such as the driver when the sound source data is played back.

[0062] The playback music setting unit 65 may also select two or more pieces of music with different bar or part times, and connect the bars or parts of the sound source data of the two or more pieces of music to set playback music such that the number of times that the timing of the bar or part divisions overlap with the time period during which the vehicle travels through the stable running section is a predetermined ratio of the total number of predetermined sections of the planned running route. For example, the playback music setting unit 65 may select music that includes the bar or part times that match the intervals of the time period during which the vehicle travels through the stable running section estimated by the running schedule estimation unit 62, and connect the bars or parts of these two or more pieces of music to set the playback music. This can increase the number of times that the timing of the bar or part divisions overlap with the time period during which the vehicle travels through the stable running section.

[0063] In addition, the playback music setting unit 65 may select the sound source data to be played after narrowing down the selectable sound source data from among the plurality of sound source data according to the driver's sensitivity to changes in the playback method. Specifically, the playback music setting unit 65 may select the sound source data to be played from one or more sound source data that are set selectable according to the sensitivity based on the information on the sensitivity of the driver's change in the playback method recorded in the storage unit 55.

[0064] Fig. 4 shows an example of a data table in which selectable sound source data is set according to information on sensitivity to changes in playback method. In the data table shown in Fig. 4, among music A, music B, music C, and music D, which are assigned based on how easily a user can notice a change in playback method, selectable music and unselectable music are set according to the user's sensitivity to changes in playback method. Music A is music in which it is difficult to notice a change in playback method, music B is music in which it is somewhat difficult to notice a change in playback method, music C is music in which it is somewhat easy to notice a change in playback method, and music D is music in which it is easy to notice a change in playback method.

[0065] "Noticeability of change in the playback method of sound source data" means an index of the nature of music indicating whether or not the music is easy for a listener to notice a change in one or more of the playback order of bars or parts, the playback volume, and the playback speed during playback of the sound source data. A song that is easy to notice a change in the playback method, and sound source data that is easy to notice a change in the playback method, are, for example, music that is known to the driver of the vehicle. In this case, the multiple sound source data are classified according to the number of times they have been played based on the playback history when the driver was driving the vehicle in the past, and stored in the sound source data storage unit.

[0066] However, the criteria for the ease of noticing a change in the playback method of the sound source data are not limited to the above example, and may be classified according to any criteria. For example, the multiple sound source data may be classified as music for which the driver of the vehicle has selected the music more frequently for karaoke in the past, based on data on the number of times the driver of the vehicle has selected the music. Alternatively, the multiple sound source data may be classified as music for which the driver of the vehicle has selected the music more frequently for which the driver of the vehicle has selected the music. The multiple sound source data may be classified as music for which the driver of the vehicle has selected the music more frequently for which the driver of the vehicle has selected the music.

[0067] In this embodiment, the degree of noticeability of a change in the playback method of sound source data is indicated in four stages, namely, "hard to notice", "slightly hard to notice", "slightly easy to notice" and "easy to notice", and at least one song is assigned to each stage and stored in the sound source data storage unit 57. However, the method of setting the index of the degree of noticeability of a change in the playback method of sound source data is not particularly limited, and it may be indicated in a plurality of stages.

[0068] If the driver has a "high" sensitivity to changes in playback method, it is possible to select all sound source data for music A to music D. Also, if the driver has a "moderately high" sensitivity to changes in playback method, it is possible to select sound source data for music B to music D other than music A, for which changes in playback method are difficult to notice. Also, if the driver has a "moderately low" sensitivity to changes in playback method, it is possible to select sound source data for music C, for which changes in playback method are somewhat easy to notice, and music D, for which changes in playback method are easy to notice. Also, if the driver has a "low" sensitivity to changes in playback method, it is possible to select only sound source data for music D, for which changes in playback method are easy to notice.

[0069] Based on the data table, the playback music setting unit 65 narrows down the selectable sound source data according to the driver's sensitivity to changes in the playback method. Then, the playback music setting unit 65 sets playback music in which the number of times that the timing of the division of the bar or part overlaps with the time period during which the vehicle runs through the stable running section is equal to or greater than a predetermined standard. This makes it possible to make the driver aware of the change in the playback method of the sound source data being played, and to increase the certainty that the driver recognizes that the vehicle's behavior stability due to the driver's driving is decreasing. Therefore, the driver can be made aware of driving operations that improve the vehicle's behavior stability, and the vehicle driving operation skill can be improved.

[0070] (Data Processing Unit) The data processing unit 67 of the processing unit 53 performs predetermined data processing on the information indicating the behavior of the vehicle acquired by the acquisition unit 61. Specifically, the data processing unit 67 performs at least one of smoothing processing, absolute value conversion processing, and differentiation processing on the acquired measurement data of the vehicle speed, acceleration (longitudinal acceleration, lateral acceleration, and vertical acceleration), or angular velocity (angular velocity of yaw angle, roll angle, and pitch angle), and calculates an index value that is a value indicating the magnitude of the vehicle behavior.

[0071] For example, the data processing unit 67 performs smoothing, absolute value conversion, and differentiation on the measurement data of the vehicle speed, acceleration, or angular velocity to calculate the absolute value of the acceleration, the jerk of the absolute value of the acceleration (jerk: jerk), or the jerk of the absolute value of the angular velocity (angular acceleration). The calculated absolute value of the acceleration, angular velocity, jerk, or angular acceleration is larger as the vehicle behavior becomes larger, and is smaller as the vehicle behavior becomes smaller, and is used as an index value indicating the magnitude of the vehicle behavior. In particular, by using the absolute value of the jerk or angular acceleration as the index value, the influence of changes in the vehicle speed, acceleration, or angular velocity due to the trajectory of the road and the acceleration and deceleration of other vehicles is reduced, and the change in the vehicle behavior due to the driver's driving operation state can be evaluated more accurately.

[0072] Fig. 5 is an explanatory diagram showing an example of data conversion processing by the data processing unit 67. Fig. 5 shows an example in which a lateral jerk (lateral jerk) value found from measurement data of lateral acceleration detected by an acceleration sensor as one of the vehicle behavior measurement devices 11 is calculated as an index value indicating the magnitude of the vehicle behavior. Specifically, the data processing unit 67 performs smoothing processing and absolute value conversion processing on the measurement data of lateral acceleration detected by the acceleration sensor to convert it into absolute value data of lateral acceleration. Furthermore, the data processing unit 67 performs time differentiation processing on the absolute value data of lateral acceleration to convert the measurement data of lateral acceleration into absolute value data of lateral jerk (lateral jerk) and use it as an index value.

[0073] The data processing unit 67 may calculate one index value using multiple data of the acceleration, angular velocity, jerk, or absolute value of angular acceleration. In this case, the data processing unit 67 may replace the value of each data to be used with the same index (for example, a value between 0 and 100), and may use the average value of the values ​​obtained by replacing the values ​​of all the data to be used with the same index as the index value. In this case, the type of each data may be weighted.

[0074] In this embodiment, an example will be described in which the data processing unit 67 acquires measurement data of the lateral acceleration detected by an acceleration sensor, and calculates the lateral jerk as an index value indicating the magnitude of the vehicle behavior.

[0075] (Behavior stability judgment unit) The behavior stability determination unit 69 of the processing unit 53 executes a process of determining the behavior stability of the vehicle while the driver is driving the vehicle. In this embodiment, the behavior stability determination unit 69 determines the behavior stability of the vehicle by comparing an index value indicating the magnitude of the vehicle's behavior calculated while the vehicle is traveling with a predetermined threshold. More specifically, in this embodiment, the behavior stability determination unit 69 determines that the behavior stability of the vehicle is low when the number of times the index value exceeds the predetermined threshold reaches a predetermined reference number.

[0076] Furthermore, the behavior stability determination unit 69 generates an evaluation signal indicating the behavior stability determination result each time the vehicle travels for a predetermined period in a state where the behavior stability of the vehicle is high. In other words, the behavior stability determination unit 69 generates an evaluation signal each time the predetermined period elapses without the number of times the index value has exceeded the predetermined threshold value reaching a predetermined reference number after starting to count the predetermined period. The count for the predetermined period is reset when the predetermined period elapses and is counted up again.

[0077] The predetermined period for determining whether the vehicle's behavior stability is maintained at a high level is set to a time corresponding to each bar or part of the sound source data used. In other words, the behavior stability determination unit 69 refers to the music list data of the sound source data selected by the playback music setting unit 65, and sets the end of the bar being played as the end of the predetermined period. If the length of the bars of the sound source data is not uniform, the length of the predetermined period for determining whether the vehicle's behavior stability is maintained at a high level also changes.

[0078] The behavior stability determination unit 69 may set a threshold value used to determine the behavior stability of the vehicle based on the level of the driving skill of each driver. The smaller the threshold value, the smaller the vehicle behavior needs to be to increase the behavior stability, and the driver can be guided to further stabilize the vehicle behavior. Instead of the threshold value, or in addition to the threshold value, the reference number of times used to determine the behavior stability of the vehicle may also be set based on the level of the driving skill of the driver.

[0079] For example, the behavior stability determination unit 69 sets the threshold to a smaller value as the driver's driving skill is higher, and sets the threshold to a larger value as the driver's driving skill is lower. As a result, for example, in the case of a driver with high driving skill and stable vehicle behavior, the threshold is set to a smaller value, and in order to determine that the behavior stability is high, the vehicle behavior needs to be made smaller than that of a driver with low driving skill. Therefore, a driver with high driving skill can be guided to further stabilize the vehicle behavior. On the other hand, a driver with low driving skill can be guided to an appropriate level of behavior stability according to the driver's driving skill.

[0080] The behavior stability determination unit 69 may estimate the driving skill of the driver based on at least one of information such as the driver's age, the number of years since license acquisition, driving frequency, and the number of years since the last driving. That is, when the driver's age is, for example, 70 years or older, the threshold value is increased because the driving skill is likely to have deteriorated. In addition, the threshold value is decreased because the driving skill is estimated to be higher as the number of years since license acquisition increases. In addition, the threshold value is decreased because the driving skill is estimated to be higher as the driving frequency increases. In addition, the threshold value is increased because the number of years since the last driving (blank years) increases because the driving skill is likely to have deteriorated. These pieces of information on the driver's attributes may be information input via the input device 13.

[0081] The behavior stability determination unit 69 may also estimate the driving skill of the driver based on data on behavior stability during the driver's past driving. For example, the behavior stability determination unit 69 may use information on the number or frequency of the index value calculated by the data processing unit 67 exceeding a threshold during the driver's past driving. In this case, the threshold is made smaller because the driving skill is estimated to be higher as the number or frequency of the index value exceeding the threshold decreases.

[0082] Furthermore, the behavior stability determination unit 69 may set conditions for data processing by the data processing unit 67 based on information on the driving skill of the driver. For example, the behavior stability determination unit 69 may set the number of types of data used when the data processing unit 67 calculates an index value indicating the magnitude of the vehicle's behavior based on information on the driving skill of the driver. Specifically, the behavior stability determination unit 69 increases the types of data used to calculate the index value as the driver's driving skill is higher, and decreases the types of data used to calculate the index value as the driver's driving skill is lower. Thereby, for example, in the case of a driver who has high driving skill and whose vehicle behavior is stable, the behavior stability is determined based on more types of data, and the driver can be guided to further stabilize the vehicle behavior. On the other hand, for a driver with low driving skill, the behavior stability is determined based on a relatively small number of data, so that the driver can be guided to an appropriate level of behavior stability according to the driver's driving skill.

[0083] Even when the types of data used to calculate the index value are increased or decreased, regardless of the number of types of data used, the driver's steering operation state is easily evaluated by preferentially using the data on the lateral jerk or the angular acceleration of the yaw angle. Also, the driver's accelerator operation and brake operation states are easily evaluated by preferentially using the data on the longitudinal jerk or the angular acceleration of the roll angle.

[0084] FIG. 6 is an explanatory diagram showing an example of a method for setting a threshold value and a reference number of times based on information on attributes of a driver whose driving skill can be estimated, and a method for increasing or decreasing the type of data used to calculate an index value. As shown in FIG. 6, when the driver's age is older than a preset age, the threshold is increased by a predetermined number and the types of data used to calculate the index value are reduced. Also, the longer the number of years since license acquisition, the smaller the threshold is decreased by a predetermined number and the types of data used to calculate the index value are increased. On the other hand, the shorter the number of years since license acquisition, the larger the threshold is increased by a predetermined number and the types of data used to calculate the index value are reduced. Also, the more frequently the driver drives, the smaller the threshold is decreased by a predetermined number and the types of data used to calculate the index value are increased. On the other hand, the less frequently the driver drives, the larger the threshold is increased by a predetermined number and the types of data used to calculate the index value are reduced. Also, the longer the number of years since the last drive (number of blank years) is, the larger the threshold is increased by a predetermined number and the types of data used to calculate the index value are reduced.

[0085] For example, when evaluating the behavior stability using one threshold, the behavior stability determination unit 69 increases or decreases the threshold based on information on the driver's attributes and increases or decreases the type of data with respect to a preset reference value of the threshold. For example, when calculating an index value of 0 to 100, the reference value of the threshold may be set to 50, and the threshold may be increased or decreased by multiplying it by a coefficient less than 1 or a coefficient greater than 1 based on each piece of information. Alternatively, when the data usable for evaluating the behavior stability are 12 items, namely, longitudinal acceleration, lateral acceleration, vertical acceleration, angular velocity of the yaw angle, angular velocity of the pitch angle, angular velocity of the roll angle, longitudinal jerk, lateral jerk, vertical jerk, angular acceleration of the yaw angle, angular acceleration of the pitch angle, and angular acceleration of the roll angle, the number of reference data may be set to 5, and the number of data to be used may be increased or decreased by one based on each piece of information.

[0086] Increasing or decreasing the threshold value can be replaced by increasing or decreasing the reference count. Alternatively, both the threshold value and the reference count may be changed. Note that the coefficients used when increasing or decreasing the threshold value or the reference count, and the increase or decrease in the number of data types may be constant regardless of the information, or may be weighted according to the information. However, the threshold value and the number of data types are increased or decreased within the ranges of maximum and minimum values ​​set in advance, respectively.

[0087] (Music playback processing unit) The music playback processing unit 71 of the processing unit 53 executes music playback processing to advance to the next measure or next part in a predetermined order and normally play the playback music at a constant playback volume and a constant playback speed when the vehicle behavior is stable, and to play the playback music in a playback method different from the normal playback when the vehicle behavior is unstable. For example, the music playback processing unit 71 plays back measures or parts different from the predetermined order, or plays the playback music with a different playback volume or playback speed, as a playback method different from the normal playback when the vehicle behavior is unstable.

[0088] As a result, while the vehicle continues to be driven with high stability, the music is normally played back at a constant volume and speed, allowing the driver to listen to the music without feeling strange and comfortably. On the other hand, when the vehicle's stability decreases, the music is played back in a different way from the normal playback, causing the driver to feel strange about the music. This makes the driver conscious of maintaining high stability in the vehicle's behavior, and increases his motivation to improve his driving skills.

[0089] At this time, the music playback processor 71 changes the playback conditions to different ones from normal playback at the timing of the bar or part division. Since the playback music is set so that the number of overlaps between the bar or part division and the timing when the vehicle is running in the stable driving section increases, the playback conditions are changed at a timing when the driver's attention is not being diverted by the driving operation or the surrounding environment. Therefore, the driver can easily notice the change in the playback conditions, and in turn, the driver can be made aware of the deterioration of the vehicle's behavior stability due to his or her driving operation.

[0090] In this embodiment, if an evaluation signal is generated by the behavior stability determination unit 69 at the end of each bar of the played music after the playback start of the music, the music playback processing unit 71 moves to the next bar and continues normal playback of the played music. On the other hand, if an evaluation signal is not generated by the behavior stability determination unit 69 at the end of each bar of the played music, the music playback processing unit 71 plays the played music using a playback method different from normal playback.

[0091] However, when repeating the same bar, the music playback processing unit 71 may also change at least one of the playback speed and the playback volume. Alternatively, the music playback processing unit 71 may sequentially change the playback speed or the playback volume when the vehicle behavior is not stable even after repeating the same bar a predetermined number of times. This gradually increases the sense of discomfort felt by the driver, and allows the driver to recognize that the time period during which the vehicle behavior is not stable is increasing.

[0092] Fig. 7 is an explanatory diagram showing an example of the behavior stability determination process by the behavior stability determination unit 69 and the music playback process by the music playback processing unit 71. Fig. 7 shows an example in which the behavior stability determination unit 69 generates an evaluation signal each time the vehicle travels through each bar when the vehicle's behavior stability is high. "Seg" in the figure indicates a bar.

[0093] When the music playback processing unit 71 starts playing music at a predetermined playback speed and a playback volume set by the driver or the like, the behavior stability determination unit 69 determines whether or not the absolute value (index value) of the lateral jerk exceeds a threshold value thre_A while the vehicle is being driven. The behavior stability determination unit 69 counts the number of times that the index value exceeds the threshold value thre_A during the playback time T (seconds) of each bar seg. In the example shown in FIG. 7, the reference number of times is set to four times so that the vehicle's behavior stability is determined to be low when the number of times that each index value exceeds the threshold value thre_A reaches four times.

[0094] In bar seg0, which has a bar number of zero, the playback time T (seconds) has elapsed without the index value exceeding the threshold thre_A, so the behavior stability determination unit 69 generates an evaluation signal at the end time of bar seg0. In response to the generation of the evaluation signal, the music playback processing unit 71 advances the playback bar to the next bar seg1 while maintaining the playback speed. As long as the playback volume setting has not been changed, the music playback processing unit 71 also maintains the playback volume.

[0095] Next, since the playback time T (seconds) has elapsed without the index value exceeding the threshold thre_A even in bar seg1 with bar number 1, the behavior stability determination unit 69 generates an evaluation signal at the end time of bar seg1. In response to the generation of the evaluation signal, the music playback processing unit 71 advances the playback bar to the next bar seg2 while maintaining the playback speed. As long as the playback volume setting has not been changed, the music playback processing unit 71 also maintains the playback volume.

[0096] Next, in bar seg2 with bar number 2, the index value exceeds the threshold thre_A four or more times, so the behavior stability determination unit 69 does not generate an evaluation signal at the end time of bar seg2. In response to the end of the playback time of bar seg2 without generating an evaluation signal, the music playback processing unit 71 repeats playback of the same bar seg2 again. In the example shown in Fig. 7, the playback speed is maintained, but the music playback processing unit 71 may change the playback speed. Furthermore, the music playback processing unit 71 may also change the playback volume.

[0097] In the second played bar seg2, the playback time T (seconds) has elapsed without the index value exceeding the threshold thre_A, so the behavior stability determination unit 69 generates an evaluation signal at the end time of bar seg2. In response to the generation of the evaluation signal, the music playback processing unit 71 advances the playback bar to the next bar seg3 while maintaining the playback speed. At this time, if the playback speed or playback volume has been changed, the music playback processing unit 71 returns the playback speed and playback volume to the speed or volume before the change.

[0098] Next, in bar seg3 with bar number 3, the playback time T (seconds) has elapsed without the index value exceeding the threshold thre_A, so the behavior stability determination unit 69 generates an evaluation signal at the end time of bar seg3. In response to the generation of the evaluation signal, the music playback processing unit 71 advances the playback bar to the next bar seg4 while maintaining the playback speed. As long as the playback volume setting has not been changed, the music playback processing unit 71 also maintains the playback volume.

[0099] In this way, after the playback of the music starts, the behavior stability determination unit 69 determines the behavior stability of the vehicle for each bar played, and generates an evaluation signal when it is determined that the behavior of the vehicle has continued to be stable. Also, during the playback of the music, if the behavior stability determination unit 69 generates an evaluation signal at the end time of each bar, the music playback processing unit 71 advances the bar to be played to the next bar, but if no evaluation signal is generated, the music playback processing unit 71 repeatedly plays the same bar. This makes the driver aware of the need to maintain high behavior stability of the vehicle, and increases his motivation to improve his driving skills.

[0100] The basic playback speed during normal playback is the speed set by the playback music setting unit 65. The basic playback volume during normal playback may be set by the driver, for example, or may be a fixed value set in advance. The music playback processing unit 71 may correct the playback volume of the playback music according to the surrounding conditions of the vehicle. Since the driving support device 1 according to this embodiment is configured to make the driver recognize the vehicle's behavior stability by making the driver listen to the playback music, if the driver is in a situation where it is difficult for him to notice a change in the playback method of the playback music, the effect of the support process may be reduced. For this reason, if the surrounding conditions in which the vehicle is traveling are predetermined surrounding conditions in which it is difficult for the driver to notice a change in the playback method, the music playback processing unit 71 may determine the playback volume of the playback music according to the surrounding conditions.

[0101] For example, the music playback processing unit 71 determines whether the predetermined surrounding conditions in which a change in the playback method is difficult to notice are conditions in which the driver's driving operation amount or driving operation items are large. Specifically, based on the information on the surrounding conditions of the vehicle transmitted from the surrounding condition detection device 15, the music playback processing unit 71 determines that the surrounding conditions are conditions in which the driver's driving operation amount or operation items are large when there are many other vehicles, pedestrians, bicycles, and other traffic participants around the vehicle.

[0102] Furthermore, the music playback processing unit 71 determines whether the predetermined situation in which a change in the playback method is difficult to notice is any of the following situations. Specifically, the music playback processing unit 71 determines whether the situation is a loud situation around the vehicle, a loud situation of the vehicle running, a heavy rainfall situation, or a fast wind speed situation, based on the information on the situation around the vehicle transmitted from the surrounding situation detection device 15.

[0103] When the music playback processing unit 71 determines that the situation around the vehicle corresponds to a predetermined situation, it increases the playback volume of the music being played. By increasing the playback volume, the music can be more easily heard by the driver, and the driver can more easily notice the change in the playback method of the music.

[0104] In order to prevent the playback volume from changing so frequently that it becomes difficult to distinguish between changes in playback conditions due to the vehicle's behavior stability and changes in playback volume due to changes in the surroundings, a minimum time for maintaining the playback volume is set. After setting the playback volume, music playback processing unit 71 does not change the playback volume due to changes in the surroundings until the minimum time has elapsed.

[0105] <1-3. Processing operation of driving support device> So far, an example of the configuration of the driving support device 1 according to this embodiment has been described. Next, the processing operation of the driving support device 1 will be described along with a specific example.

[0106] 8 and 9 are flowcharts showing the processing routine of the processing unit 53 of the information processing device 50. FIG. First, the processing unit 53 determines whether to start execution of a process for presenting the driver's behavior stability to the driver through auditory stimulation (hereinafter, also referred to as "auditory stimulation output process") (step S11). The condition for starting execution of the auditory stimulation output process is not particularly limited. For example, when the auditory stimulation output process is always executed while the driving system of the vehicle is activated, the processing unit 53 may determine to start execution of the auditory stimulation output process when the driving system is activated. Alternatively, the processing unit 53 may determine to start execution of the auditory stimulation output process when it is detected that the driver is seated in the driver's seat based on an output signal from a driver imaging camera or a load sensor installed in the driver's seat. In addition, when an occupant such as a driver can switch on and off the execution of the auditory stimulation output process, the processing unit 53 may determine to start execution of the auditory stimulation output process when the execution of the auditory stimulation output process is switched from off to on.

[0107] When it is not determined that the execution of the auditory stimulation output process is to be started (S11 / No), the processing unit 53 repeatedly executes the determination process of step S11. When it is determined that the execution of the auditory stimulation output process is to be started (S11 / Yes), the driving schedule estimation unit 62 executes a process of estimating the vehicle's driving schedule (step S13).

[0108] FIG. 10 shows a flowchart of the travel schedule estimation process. The driving schedule estimation unit 62 acquires information on the vehicle's destination and driving route from the navigation system 19 (step S41). Next, the driving schedule estimation unit 62 extracts stable driving sections, which are driving sections with low driving load on the driver, from the acquired planned driving route (step S43).

[0109] Specifically, the driving schedule estimation unit 62 reads out information related to traffic, such as information related to roads on the planned driving route, from the map data stored in the map data storage unit 58. In addition, the driving schedule estimation unit 62 extracts sections corresponding to sections with little change in driving operation, sections with few targets to which the driver should pay attention, and sections where the driver should pay little attention, based on data on road shape (curvature radius, lane width, number of lanes on one side, etc.), road type (expressway, main road, residential area, shopping street, etc.), vehicle traffic volume, and traffic participant volume.

[0110] Next, the driving schedule estimation unit 62 acquires information on the expected vehicle speed of the vehicle while traveling along the planned travel route (step S45). For example, when the driving data storage unit 59 has recorded driving data when the driver has traveled the same route in the past, the driving schedule estimation unit 62 sets the vehicle speed data for each predetermined section in the recorded driving data as the expected vehicle speed for the predetermined section. When the driving data storage unit 59 has recorded a plurality of driving data when the driver has traveled the same route in the past, the driving schedule estimation unit 62 may set the average value of the recorded vehicle speed data for each predetermined section as the expected vehicle speed for the predetermined section. In this case, the driving schedule estimation unit 62 may set the average value of the vehicle speed data for the most recent predetermined number of times as the expected vehicle speed, or may set the average value of the vehicle speed data for driving data under the same environmental conditions such as the season or weather as the expected vehicle speed.

[0111] In addition, when the driving data storage unit 59 does not record driving data when the driver has driven the same route in the past, the driving schedule estimation unit 62 may extract driving data of a road with similar road conditions from the driving data stored in the driving data storage unit 59 for each predetermined section of the planned driving route, and may set the vehicle speed or the average value of the vehicle speed as the expected vehicle speed. In this case, driving data with similar driving conditions, such as the curvature radius of the road, the width of the lane, the number of lanes on one side, the speed limit (legal speed), and environmental conditions such as the season or weather, may be used. Driving data with similar driving conditions is defined as driving data in which, for example, half or more of the above-mentioned multiple items match, but the driving schedule estimation unit 62 may determine whether the driving conditions are similar based on other conditions.

[0112] Next, the driving schedule estimation unit 62 estimates the time period during which the vehicle will travel through the stable driving section (step S47). Specifically, the driving schedule estimation unit 62 assumes that the vehicle travels through each of the predetermined sections at a respectively set assumed vehicle speed, and estimates the time period during which the vehicle will travel through the stable driving section by integrating the required time for each of the predetermined sections. The estimated time period may be calculated as the elapsed time after the vehicle starts traveling from the current location, or may be calculated as the time of passing through the predetermined section based on the time when the vehicle starts traveling from the current location.

[0113] 11 and 12 are explanatory diagrams showing an example of a driving schedule estimation process. As shown in Fig. 11, when four straight sections S1 to S4 and three curve sections C1 to C3 alternately exist on a planned driving route from the current location of the vehicle Ve to the destination, the driving schedule estimation unit 62 extracts the straight sections S1 to S4 as stable driving sections. The driving schedule estimation unit 62 calculates the times T_P1_A to T_P4_A, T_P1_B to T_P4_B at which the vehicle passes through the midpoints P1 to P4 of the four straight sections S1 to S4, respectively, based on the average speeds of the drivers A and B, the lengths of the four straight sections S1 to S4 and the three curve sections C1 to C3, and the current time.

[0114] Then, the driving schedule estimation unit 62 sets a predetermined margin before and after each of the times T_P1_A to T_P4_A, T_P1_B to T_P4_B, and estimates the time period during which the vehicle will travel through the four straight sections S1 to S4 when each driver A, B is driving the vehicle. The time margin may be a fixed value, or may be variably set according to the length of each stable driving section. In addition, the method of calculating the time period during which the vehicle will travel through the stable driving section driven by each driver A, B is not limited to the above example.

[0115] Returning to FIG. 8, after the running schedule estimation process is executed, the playback music setting unit 65 executes a process for setting playback music (step S15).

[0116] FIG. 13 shows a flowchart of the playback music setting process. The playback music setting unit 65 acquires information on the driver's sensitivity to changes in the playback method (step S51). For example, the playback music setting unit 65 identifies the driver based on the driver's facial features extracted from an image captured by an in-vehicle camera or the driver's information input by the driver via the input device 13, and reads out the information on the driver's sensitivity to changes in the playback method recorded in the storage unit 55 in association with the driver's identification information. This determines whether the driver's sensitivity to changes in the playback method is "low," "slightly low," "slightly high," or "high."

[0117] Next, the playback music setting unit 65 selects sound source data selectable as playback music from among the multiple sound source data stored in the sound source data storage unit 57 based on the driver's sensitivity to changes in the playback method (step S53). Specifically, the playback music setting unit 65 refers to the data table shown in Fig. 4 and selects sound source data corresponding to the driver's sensitivity to changes in the playback method as selectable sound source data.

[0118] Next, the playback music setting unit 65 calculates the number of times that the measure or part boundary of each selected sound source data overlaps with the time period during which the vehicle travels through the stable driving section (step S55). For example, the playback music setting unit 65 assumes that playback of the playback music starts at the vehicle's current location or an arbitrary music playback start point, and calculates the number of times that the timing of the measure or part boundary of each sound source data overlaps with the time period during which the vehicle travels through the stable driving section estimated in step S13.

[0119] At this time, the playback music setting unit 65 may change the playback speed of the sound source data so that at least one sound source data in which the number of times that the timing of the measure or part division overlaps with the time period during which the vehicle runs through the stable running section is equal to or exceeds a predetermined standard can be selected. At this time, it is preferable that the playback music setting unit 65 adjusts the playback speed within the adjustment range of the playback speed set according to the sound source data.

[0120] Next, the playback music setting unit 65 selects as playback music the sound source data whose timing of the measure or part division overlaps most frequently with the time period during which the vehicle travels through the stable driving section (step S57). However, the playback music setting unit 65 may select as playback music the sound source data that has been selected the least number of times in the past among the sound source data that satisfy a predetermined criterion, may select the sound source data randomly, or may select the sound source data that resulted in the highest vehicle behavior stability when the auditory stimulation output process was performed in the past.

[0121] Returning to FIG. 8, next, the playback music setting unit 65 sets the playback conditions of the music to be played in accordance with the situation around the vehicle (step S17). FIG. 14 shows a flowchart of the playback condition setting process. First, the playback music setting unit 65 determines whether or not a predetermined time has elapsed since the playback condition setting was changed in the previous playback condition setting process (step S61). The predetermined time is set so that the playback conditions are not frequently changed in accordance with the situation around the vehicle, and is set to a value within a range of, for example, 60 to 300 seconds.

[0122] When the playback music setting unit 65 does not determine that a predetermined time has elapsed since the setting of the playback conditions was changed by the previous playback condition setting process (S61 / No), it ends the playback condition setting process as it is. On the other hand, when the playback music setting unit 65 determines that a predetermined time has elapsed since the setting of the playback conditions was changed by the previous playback condition setting process (S61 / Yes), it acquires information on the surrounding situation of the vehicle (step S63). Specifically, the playback music setting unit 65 acquires information on the surrounding situation transmitted from the surrounding situation detection device 15. In addition, the playback music setting unit 65 acquires information on the surrounding situation of the vehicle based on the position information of the vehicle detected by the position detection sensor 17 and the information recorded in the map data storage unit 58. In addition, the playback music setting unit 65 may communicate with a server installed outside the vehicle to acquire the surrounding situation of the vehicle.

[0123] Next, the playback music setting unit 65 judges whether the surroundings of the vehicle are predetermined surroundings in which a change in the playback method is difficult to notice (step S65). If the playback music setting unit 65 does not judge that the surroundings of the vehicle are predetermined surroundings in which a change in the playback method is difficult to notice (S65 / No), it sets the correction values ​​of the playback volume and playback speed to zero (no correction) and ends the playback condition setting process.

[0124] On the other hand, when the playback music setting unit 65 determines that the situation around the vehicle is a predetermined situation in which a change in the playback method is difficult to notice (S65 / Yes), it sets a correction value to increase the playback volume (step S67). The correction value to increase the playback volume may be a correction coefficient for increasing the playback volume of the selected playback music, or may be a correction value to be added. After setting the correction value, the playback music setting unit 65 ends the playback condition setting process.

[0125] Returning to Fig. 8, the music playback processing unit 71 then refers to the music list data (see Fig. 3) of the selected sound source data, and acquires the playback start position (time) and playback end position (time) of the bar to be played from the sound source data (step S19). For example, before starting playback of the playback music, the music playback processing unit 71 acquires information on the playback start position (0 seconds) and playback end position (10 seconds) of bar seg0, which has a bar number of zero. After starting playback of the playback music, the music playback processing unit 71 acquires information on the playback start position (0 seconds) and playback end position (10 seconds) of the bar seg to be played next.

[0126] Next, the music playback processing unit 71 plays the sound source from the playback start position (time) of the selected playback music at the set playback speed and playback volume (step S21).

[0127] Next, the behavior stability determination unit 69 executes a process for determining the behavior stability of the vehicle (step S23). Fig. 15 is a flowchart showing a routine of the behavior stability determination process. First, the behavior stability determination unit 69 resets a counter C that counts the number of times the behavior of the vehicle becomes unstable (step S71).

[0128] Next, the acquisition unit 61 acquires data indicating the behavior of the vehicle transmitted from the vehicle behavior measurement device 11 (step S73). In this embodiment, the acquisition unit 61 acquires data on the vehicle speed, the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the angular velocity of the roll angle, the angular velocity of the pitch angle, and the angular velocity of the yaw angle.

[0129] Next, the data processing unit 67 performs smoothing, absolute value conversion, and differentiation on each of the acquired data to calculate an index value indicating the magnitude of the vehicle behavior (step S75). The data processing unit 67 replaces each of the data to be used with the same index (for example, a value between 0 and 100), and sets the average value of all the data to be used as the index value.

[0130] Next, the behavior stability determination unit 69 determines whether the obtained index value exceeds the threshold value thre_A (step S77). If the index value does not exceed the threshold value thre_A (S77 / No), the behavior stability determination unit 69 proceeds directly to step S81. If the index value exceeds the threshold value thre_A (S77 / Yes), the behavior stability determination unit 69 counts up (plus 1) the counting counter C (step S79).

[0131] Next, the behavior stability determination unit 69 determines whether or not the currently played bar segment of the played music has ended (step S81). For example, the behavior stability determination unit 69 determines whether or not the playback position of the played music is a playback end position that corresponds to the end position of the bar segment. When the behavior stability determination unit 69 does not determine that the currently played bar segment of the played music has ended (S81 / No), the behavior stability determination unit 69 returns to step S73. On the other hand, when the behavior stability determination unit 69 determines that the currently played bar segment of the played music has ended (S81 / Yes), the behavior stability determination unit 69 determines whether or not the counter value of the counting counter C has reached the reference number C0 (step S83).

[0132] If the counter value of the counting counter C has not reached the reference number C0 (S83 / No), the behavior stability determination unit 69 generates an evaluation signal indicating that the behavior of the vehicle was stable while the playback music was being played from the set playback start position to the playback end position (evaluation signal=1) (step S87). On the other hand, if the counter value of the counting counter C has reached the reference number C0 (S83 / Yes), the behavior stability determination unit 69 does not generate an evaluation signal (evaluation signal=0) (step S85) because the behavior of the vehicle was not stable while the playback music was being played from the set playback start position to the playback end position.

[0133] After the currently played bar seg ends and the behavior stability determination unit 69 performs the process of generating or not generating an evaluation signal, the process returns to step S71 to reset the counting counter C, and then continues the behavior stability determination process.

[0134] Returning to FIG. 9, while the behavior stability determination unit 69 is executing the behavior stability determination process, the music playback processing unit 71 determines whether or not the playback of the currently playing bar seg will end (step S25). The music playback processing unit 71 determines whether or not the playback position of the playback music is the playback end position of the playback music corresponding to the end position of the currently playing bar seg. If the music playback processing unit 71 does not determine that the playback of the currently playing bar seg will end (S25 / No), it returns to step S23. On the other hand, if the music playback processing unit 71 determines that the playback of the currently playing bar seg will end (S25 / Yes), it determines whether or not an evaluation signal has been generated by the behavior stability determination unit 69 (step S27).

[0135] When the music playback processor 71 determines that an evaluation signal has been generated (S27 / Yes), it advances the bar seg to be played back by one (step S29). On the other hand, when the music playback processor 71 determines that an evaluation signal has not been generated (S27 / No), it sets the bar to be played back to the same bar as the current setting (step S31). This sets the next bar seg to be played back.

[0136] Next, the music playback processing unit 71 determines whether or not to end the auditory stimulation output process (step S33). If the music playback processing unit 71 does not determine to end the auditory stimulation output process (S33 / No), the process returns to step S17 and plays back the set bar. On the other hand, if the music playback processing unit 71 determines to end the auditory stimulation output process (S33 / Yes), the sensitivity determination unit 63 determines the sensitivity of the driver to the change in the playback method, and updates the sensitivity data recorded in the storage unit 55 (step S35).

[0137] For example, the sensitivity determination unit 63 determines the degree of change in vehicle behavior stability before and after the music playback processing unit 71 changes the playback method of the music being played during the period from the start to the end of the auditory stimulation output process. The sensitivity determination unit 63 assigns the sensitivity of the change in the playback method to one of "low," "slightly low," "slightly high," or "high" depending on the ratio of the number of times that the vehicle behavior stability has changed to the number of times that the playback method of the music being played has been changed. The sensitivity determination unit 63 records the information on the determination result in the storage unit 55 in association with the driver's identification information.

[0138] The recorded information on the sensitivity to the change in the playback method is used the next time the auditory stimulation output process is performed. After the sensitivity determination unit 63 determines the driver's sensitivity to the change in the playback method, the processing unit 53 stops the auditory stimulation output process and ends this routine.

[0139] <1-4. Effects of this embodiment> As described above, the driving support device 1 according to the present embodiment acquires information indicating the behavior of the vehicle while the vehicle is traveling, and when the behavior of the vehicle is stable, the playback music is played normally at a constant playback volume and a constant playback speed by progressing to the next measure or next part in a predetermined order, and when the behavior of the vehicle is not stable, the playback music is played in a different playback method from the normal playback. Therefore, the driver who is driving can be made to recognize the behavior stability of the vehicle in real time. In addition, since the auditory stimulation does not include text information such as display or voice, the driver can intuitively recognize the behavior stability through the auditory stimulation, and a decrease in attention can be suppressed. In addition, when the behavior of the vehicle is stable, the playback music is played normally at a constant playback volume and a constant playback speed by progressing to the next measure or next part in a predetermined order, so that the driver can be motivated to perform a driving operation that makes the behavior of the vehicle more stable.

[0140] In addition, when executing the above-mentioned auditory stimulation output process, the driving support device 1 according to this embodiment estimates a time period during which the vehicle will travel through a stable driving section, which is a driving section where the driver's driving load on the planned driving route is low, based on information on the planned driving route and information on the expected vehicle speed. The driving support device 1 also refers to sound source data in which information on a plurality of pieces of music, each of which includes information on bar or part boundaries, is recorded, and sets playback music and playback conditions for the playback music such that the number of times the bar or part boundary overlaps with the time period during which the vehicle will travel through the stable driving section is equal to or greater than a predetermined standard. This makes it easier to change the playback method of the playback music when the driver's attention is not directed to anything other than the playback music, making it easier for the driver to notice a decrease in the vehicle's behavior stability due to his or her driving operation.

[0141] In addition, the driving support device 1 according to the present embodiment can select two or more pieces of music from the sound source data, and can also set the music to be played by connecting bars or parts of two or more pieces of music. This allows the music to be set so that the number of overlaps between the boundaries of the bars or parts and the time period during which the vehicle is traveling in the stable driving section is equal to or exceeds a predetermined standard. This makes it easier for the driver to notice a decrease in the stability of the vehicle's behavior due to his or her driving operation.

[0142] In addition, the driving support device 1 according to the present embodiment can set the playback speed of the music so that the number of overlaps between the bar or part boundary and the time period during which the vehicle travels through the stable driving section is equal to or greater than a predetermined standard, and can play the music. This allows the playback conditions of the music to be set so that the number of overlaps between the bar or part boundary and the time period during which the vehicle travels through the stable driving section is equal to or greater than a predetermined standard. This makes it easier for the driver to notice a decrease in the vehicle's behavior stability due to his or her driving operation.

[0143] In addition, the driving support device 1 according to the present embodiment acquires information on the driver's sensitivity to changes in the playback method, and selects sound source data to be played from among a plurality of sound source data according to the driver's sensitivity. Therefore, even if the driver has a low sensitivity to changes in the playback method, sound source data that is easy to notice the change in the playback method is selected, and the reliability of allowing the driver to recognize the behavior stability of the vehicle due to the driving operation of the driver can be increased.

[0144] In addition, the driving support device 1 according to this embodiment compares an index value obtained from measurement data acquired while the vehicle is traveling with a predetermined threshold, and regards the number of times the index value exceeds the predetermined threshold as information on the behavior stability. This makes it possible to avoid judging that the behavior stability of the vehicle has decreased when the index value exceeds the threshold only once, and to correctly evaluate the behavior stability due to the driving operation of the driver.

[0145] In addition, the driving support device 1 according to the present embodiment plays music in a different order than the normal playback when the vehicle behavior is unstable, or plays music with a different playback volume or speed. This makes the driver feel uncomfortable when the vehicle behavior is unstable, and motivates the driver to perform driving operations that will make the vehicle behavior more stable.

[0146] In addition, the driving support device 1 according to this embodiment determines whether the surrounding conditions in which the vehicle is traveling are predetermined surrounding conditions in which a change in the playback method is difficult to notice, and if the surrounding conditions are predetermined surrounding conditions, determines the playback volume or playback speed of the music according to the surrounding conditions. Therefore, it is possible to increase the certainty that the driver is made aware of an unstable state of the vehicle behavior through a change in the playback method of the music.

[0147] <<2. Second embodiment>> The driving support device according to the second embodiment sets the playback music and the playback conditions of the playback music such that the number of overlaps between the bar or part boundary and the time period during which the vehicle travels through the stable driving section is equal to or greater than a predetermined standard, as in the driving support device according to the first embodiment. In addition, when the vehicle's behavior is stable, the driving support device advances to the next bar or part in a predetermined order and normally plays the playback music at a constant playback volume and a constant playback speed, and when the vehicle's behavior is not stable, changes the playback method to a different playback method from the normal playback at the timing of the bar or part boundary. In this embodiment, when the playback conditions are changed at the bar or part boundary, the device has a configuration in which the playback music and the playback conditions of the playback music are reset so that the number of overlaps between the time period during which the vehicle travels through the stable driving section in the planned driving route after the point at which the playback conditions are changed and the bar or part boundary of the playback music is equal to or greater than a predetermined standard.

[0148] Since the length of each stable driving section and the distance from one stable driving section to the next stable driving section are not uniform in the planned driving route to the destination, the interval between the time periods during which the stable driving sections are driven varies. Therefore, even if the playback music and the playback conditions of the playback music are set so that the number of overlaps between the bar or part boundary and the time period during which the stable driving section is driven is equal to or greater than a predetermined standard at the time when the playback music starts to be played, if the playback conditions are changed midway, the number of overlaps between the bar or part boundary thereafter and the time period during which the stable driving section is driven may decrease. Therefore, when the playback conditions are changed at the bar or part boundary, the driving assistance device of this embodiment resets the playback music and the playback conditions of the playback music so that the number of overlaps between the bar or part boundary of the playback music and the time period during which the stable driving section is driven in the planned driving route after the point where the playback conditions are changed is equal to or greater than a predetermined standard.

[0149] The configuration of a vehicle to which the driving support device according to this embodiment can be applied and the basic configuration of the driving support device may be the same as the configurations of the vehicle and the driving support device according to the first embodiment. Hereinafter, the processing operation of the driving support device according to this embodiment will be described, focusing on the differences from the first embodiment.

[0150] 16 and 17 are flowcharts showing the processing operation of the driving support device according to this embodiment. The flowchart shown in Fig. 16 can be substituted for the flowchart in Fig. 9 in the first embodiment. In this embodiment, the driving assistance device executes the same procedures as steps S11 to S31 described with reference to the flowcharts in Fig. 8 to 9. In this embodiment, in step S31, the music playback processing unit 71 sets the bar to be played back to the same bar as the current setting, and then the playback music setting unit 65 executes a process of resetting the music to be played back (step S32).

[0151] FIG. 17 shows a flowchart of a process for resetting the music being played. When the playback music setting unit 65 maintains the playback music setting in the state after changing the playback conditions in step S31, it recalculates the number of overlaps between each bar or part boundary after the playback conditions are changed and the stable running section (step S91). For example, in step S31, when the music playback processing unit 71 sets the bar to be played to the same bar, it recalculates the number of overlaps between the subsequent bar or part boundary and the stable running section when the set playback music is played normally thereafter.

[0152] Next, the playback music setting unit 65 judges whether the recalculated number of repetitions is equal to or greater than a predetermined standard (step S93). For example, the playback music setting unit 65 judges whether the recalculated number of repetitions is equal to or greater than a predetermined ratio (e.g., 80%) of the total number of subsequent bars or parts. When the playback music setting unit 65 judges that the recalculated number of repetitions is equal to or greater than the predetermined standard (S93 / Yes), it maintains the settings of the playback music and the playback conditions of the playback music (step S95).

[0153] On the other hand, if the playback music setting unit 65 does not determine that the recalculated number of repetitions is equal to or greater than the predetermined standard (S93 / No), it executes a playback music setting process (step S95). The playback music setting process is executed according to the flowchart shown in Fig. 13. At this time, the playback music setting unit 65 may prioritize changing the playback music and reset the playback music so that the number of repetitions is equal to or greater than the predetermined standard, or may prioritize maintaining the playback music and reset the playback speed so that the number of repetitions is equal to or greater than the predetermined standard.

[0154] Returning to FIG. 16, after the playback music setting section 65 resets the playback music, the processing section 53 executes the processes from step S33 onward in accordance with the above-mentioned procedure.

[0155] As described above, the driving support device according to this embodiment changes the playback conditions after starting playback of the music, and resets the playback music or the playback speed when the number of overlaps between the stable driving section in the planned driving route and the bar or part division of the music being played thereafter is less than a predetermined standard. This suppresses an increase in the number of occasions when the playback conditions are changed at a timing when the driver's attention is diverted to something other than the music being played thereafter, and prevents a decrease in the effect of the driving support device according to the first embodiment.

[0156] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the attached drawings, the technology of the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field to which the present disclosure belongs can conceive of various modified or amended examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0157] For example, in each of the above embodiments, the vehicle behavior measurement device 11 of the driving assistance device 1 is a sensor provided in the vehicle, the output device 21 is a speaker system provided in the vehicle, and the information processing device 50 is communicably connected to the vehicle behavior measurement device 11 and the output device 21 via a communication bus such as CAN, but the technology of the present disclosure is not limited to this example. For example, the driving assistance device 1 may be configured as a mobile terminal device such as a smartphone. By configuring the driving assistance device 1 as a mobile terminal device, it becomes possible to use the auditory stimulation output processing regardless of the vehicle being driven, which increases the opportunities for improving the driver's driving skills and improves the driving skills when driving different vehicle models.

[0158] In this case, a speaker mounted on the mobile terminal device may be used as the output device 21, or a speaker system of the vehicle connected to the mobile terminal device via wireless or wired communication means may be used as the output device 21. In addition, when the driving assistance device 1 is configured as a mobile terminal device, for example, sensors such as an acceleration sensor mounted on the mobile terminal device may be used as the vehicle behavior measurement device 11. In this case, the information processing device 50 is configured to be able to execute a process of converting the axial direction of the sensor mounted on the mobile terminal device to a predetermined direction so that the vehicle behavior can be accurately estimated by the sensor. For example, when the vehicle is stopped on a horizontal road, the direction of gravitational acceleration may be detected by the sensor mounted on the mobile terminal device, information on the deviation between the direction of the gravitational acceleration and the axial direction of the sensor may be recorded, and the axial direction of the sensor may be converted to a predetermined direction based on the information on the deviation. Alternatively, during the execution of the auditory stimulation output process, a process of guiding the mobile terminal device to be placed in the vehicle so that the axial direction of the sensor mounted on the mobile terminal device coincides with the front-rear direction or the left-right direction of the vehicle may be performed.

[0159] For example, in the above embodiment, an example in which the information processing device of the driving assistance device is configured as one device has been described, but the technology of the present disclosure is not limited to such an example. A part or all of the functions of the information processing device 50 may be provided in an external server installed outside the vehicle.

[0160] In addition, the technology disclosed herein can also be realized as a vehicle equipped with the driving assistance device described in the above embodiment, a driving assistance processing method by the driving assistance device, a computer program that causes a computer to function as the above driving assistance device, and a non-transitory tangible recording medium on which the computer program is recorded. [Explanation of symbols]

[0161] 1: Driving support device 10: Vehicle 11: Vehicle behavior measurement device 21: Output device 50: Information processing device 51: Communications Department 53: Processing section 55: Storage section 57: Sound source data storage unit 58: Map data storage unit 59: Driving data storage unit 61: Acquisition part 62: Driving schedule estimation unit 63: Sensitivity determination unit 65: Playback music settings section 67: Data processing section 69: Behavior stability judgment unit 71: Music playback processing unit

Claims

1. A driving support device that presents a vehicle behavior stability to a driver through auditory stimulation, one or more processors; and one or more memories communicatively coupled to the one or more processors; the one or more processors: a driving schedule estimation process for acquiring information on a planned driving route of the vehicle and information on an expected vehicle speed of the vehicle, and estimating a time period during which the vehicle will travel through a stable driving section, which is a driving section in which the driver's driving load is low, on the planned driving route based on the information on the planned driving route and the information on the expected vehicle speed; a playback music setting process for setting playback music and playback conditions for the playback music in which the number of overlaps between the measure or part boundary and the time period during which the vehicle runs through the stable running section is equal to or exceeds a predetermined threshold by referring to information on a plurality of sound source data, each of which includes information on the boundary between the measure or part. A behavior stability determination process for determining a stability of a behavior of the vehicle; a music playback process for playing the music normally under predetermined playback conditions by progressing to the next measure or next part in a predetermined order when the behavior of the vehicle is stable, and changing the playback conditions to different playback conditions from the normal playback at the timing of the break between the measure or part when the behavior of the vehicle is not stable; A driving assistance device that performs the following:

2. the one or more processors: In the playback music setting process, selecting two or more pieces of the sound source data from the sound source data, and connecting the bars or the parts of the two or more pieces of the sound source data to set the music to be played; The driving assistance device according to claim 1 .

3. the one or more processors: In the playback music setting process, setting a playback speed of the music so that the number of overlaps between the measure or part boundary and the time period during which the vehicle travels through the stable travel section is equal to or greater than a predetermined standard; In the music playback process, the music is played back at the set playback speed. The driving assistance device according to claim 1 .

4. the one or more processors: When the playback condition is changed after the playback music and the playback condition are set and the music playback process is started, resetting the playback music and the playback conditions of the playback music so that the number of times that a time period during which the vehicle travels through the stable driving section in the planned driving route after the point at which the playback conditions are changed overlaps with a division of the bar or part of the playback music is equal to or greater than a predetermined standard; The driving assistance device according to claim 1 .

5. The sound source data is classified into the plurality of sound source data according to the driver's sensitivity to a change in a reproduction condition of the reproduced music, the one or more processors: In the playback music setting process, and setting the music to be reproduced and the reproduction conditions from among the sound source data according to the driver's sensitivity to changes in the reproduction conditions. The driving assistance device according to claim 1 .

6. the one or more processors: In the music playback process, determining whether or not the surroundings of the vehicle are predetermined surroundings in which the driver is likely to notice a change in the regeneration condition; changing the playback conditions when the predetermined surrounding circumstances are met; The driving assistance device according to claim 1 .

7. The stable driving section is a section where the vehicle travels on a road where the changes in road shape, road surface condition, and road width are below a predetermined standard. The driving assistance device according to claim 1 .

8. The stable driving section is a section on a road without road signs and traffic lights. The driving assistance device according to claim 1 .

9. The computer acquiring information on a planned driving route of the vehicle and information on an expected vehicle speed of the vehicle, and estimating a time period during which the vehicle will travel through a stable driving section, which is a driving section in which the driver's driving load is low, on the basis of the information on the planned driving route and the information on the expected vehicle speed; Referencing information on a plurality of sound source data, each of which includes information on a measure or part boundary, and setting playback music and playback conditions for the playback music such that the number of times that the measure or part boundary overlaps with a time period during which the vehicle travels through the stable running section is equal to or exceeds a predetermined standard; Determining a stability of a behavior of the vehicle; When the behavior of the vehicle is stable, the playback music is played normally under predetermined playback conditions by progressing to the next measure or next part in a predetermined order, and when the behavior of the vehicle is not stable, the playback conditions are changed to different playback conditions from the normal playback at the timing of the break between the measure or the part; A driving assistance processing method for performing the above.

10. On the computer, acquiring information on a planned driving route of the vehicle and information on an expected vehicle speed of the vehicle, and estimating a time period during which the vehicle will travel through a stable driving section, which is a driving section in which the driver's driving load is low, on the basis of the information on the planned driving route and the information on the expected vehicle speed; Referencing information on a plurality of sound source data, each of which includes information on a measure or part boundary, and setting playback music and playback conditions for the playback music such that the number of times that the measure or part boundary overlaps with a time period during which the vehicle travels through the stable running section is equal to or exceeds a predetermined standard; Determining a stability of a behavior of the vehicle; When the behavior of the vehicle is stable, the playback music is played normally under predetermined playback conditions by progressing to the next measure or next part in a predetermined order, and when the behavior of the vehicle is not stable, the playback conditions are changed to different playback conditions from the normal playback at the timing of the break between the measure or the part; A computer program that executes the following:

Images