Driving assistance device

Abstract

The invention relates to a driving support device, and aims to help a driver to correctly drive a vehicle when a certain trouble is estimated to occur. A driving assistance device includes one or more processors, and a storage medium storing a program executed by the one or more processors. Wherein the program includes one or more instructions that cause the one or more processors to perform: a process of acquiring driver information about a driver of the vehicle; processing for determining the psychological state of the driver on the basis of the driver information; deducing the trouble according to the psychological state; and a voice output process for outputting a voice corresponding to the psychological state on the basis of the estimated trouble.

Description

TECHNICAL FIELD

[0001] The present application relates to a driving support device that assists a driver in driving a vehicle. BACKGROUND

[0002] Patent Literature 1 discloses a technology that, when a failure of a vehicle is detected, outputs a message indicating the occurrence of the failure and the content of the failure, for example, by voice guidance.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Laid-Open No. 2000-67347 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] When a vehicle is running, various troubles can occur. Among the troubles that can occur when a vehicle is running, for example, aggressive driving is difficult to detect immediately from the running condition of the vehicle. In addition, if a trouble causes a driver to be unable to maintain a normal mental state, it can hinder normal driving of the vehicle.

[0008] Therefore, an object of the present application is to assist a driver in correctly driving a vehicle when it is presumed that a certain trouble will occur.

[0009] TECHNICAL SOLUTION FOR SOLVING THE PROBLEMS

[0010] A driving support device according to an embodiment of the present application includes one or more processors, and a storage medium storing a program executed by the one or more processors. The program includes one or more instructions that cause the one or more processors to execute the following processing: processing of acquiring driver information about a driver of a vehicle; processing of determining a mental state of the driver based on the driver information; processing of presuming a trouble based on the mental state; and voice output processing of outputting a voice corresponding to the mental state based on the presumed trouble.

[0011] EFFECT OF THE INVENTION

[0012] According to the present application, since a voice corresponding to a mental state is output based on a presumed trouble, when the occurrence of a certain trouble is presumed based on a mental state of a driver, it is possible to assist the driver in correctly driving a vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a block diagram of a vehicle configuration according to an embodiment of the present application.

[0014] Figure 2is a flowchart of a processing example of the driving support device of the embodiment.

[0015] Figure 3 is an explanatory diagram showing an example of a mental state determination table of the embodiment.

[0016] Figure 4 is an explanatory diagram showing an example of a trouble estimation algorithm of the embodiment.

[0017] Figure 5 is an explanatory diagram showing an example of a trouble estimation table of the embodiment.

[0018] Figure 6 is an explanatory diagram showing an example of a voice announcement selection table of the embodiment.

[0019] Symbol explanation

[0020] 1 … vehicle

[0021] 10 … driving support device DETAILED DESCRIPTION

[0022] <Vehicle configuration>

[0023] Figure 1 A vehicle 1 equipped with the driving support device 10 of the embodiment is shown.

[0024] The vehicle 1 includes the driving support device 10, an operation section 11, a display section 12, a voice output section 13, an in-vehicle sensor section 14, an out-of-vehicle sensor section 15, a vehicle sensor section 16, and a communication section 17.

[0025] Note that, Figure 1 Only a part of the configuration possessed by the vehicle 1 is shown, and the vehicle 1 will obviously include various configurations for running and driving.

[0026] The driving support device 10 is constituted by one or a plurality of processors. Specifically, it is constituted by one or a plurality of ECUs (Electronic Control Units) in the vehicle 1. As the ECUs possessed by the vehicle 1, there can be included a running control ECU, a charging control ECU that performs charging control of a vehicle-mounted battery and the like, an engine control ECU, a display control ECU that performs display control of a display device (including a meter and the like) possessed by the vehicle 1 and the like, a voice output control ECU that performs output control of a voice output device and the like, a driving support ECU, an autonomous driving ECU, an air conditioning control ECU, and various ECUs. The driving support device 10 can be configured in any one of these ECUs in the vehicle, or an ECU dedicated to the function of the embodiment.

[0027] The drive assist device 10 includes a CPU (Central Processing Unit), a ROM (ReadOnly Memory), a RAM (Random Access Memory), a nonvolatile memory, an input / output interface, and the like. The CPU executes various processes in accordance with a program stored in the ROM or the nonvolatile memory. Data and the like necessary for the CPU to execute various processes are also appropriately stored in the RAM.

[0028] The operation section 11 includes, for example, various buttons or lever-type operation elements arranged in front of the driver's seat of the vehicle 1. In addition, the operation section 11 can include an MFD (Multi Function Display) having a touch panel function, a display section of a navigation device, and the like.

[0029] The display section 12 generally indicates, for example, an MFD arranged in front of the driver and other display devices for prompting information to the driver. The display section 12 performs display in accordance with an instruction from various ECUs.

[0030] The voice output section 13 generally indicates various voice output devices such as speakers arranged in the vehicle cabin. The voice output section 13 performs various voice outputs in accordance with an instruction from the drive assist device 10 and other control devices.

[0031] The in-vehicle sensor section 14 is constituted by various sensors that detect the state of an occupant in the vehicle cabin of the vehicle 1 and the state in the vehicle cabin. For example, the in-vehicle sensor section 14 is various sensors that constitute a DMS (Driver Monitoring System), including an in-vehicle camera sensor for detecting the expression of the driver and the like, an on-vehicle microphone for acquiring voice information emitted by the driver or a passenger, a pulse sensor for detecting the pulse of the driver, a body temperature sensor for detecting the body temperature of the driver, a humidity sensor for detecting the perspiration state of the driver, and a temperature sensor for detecting the temperature in the vehicle cabin.

[0032] The above-described various sensors are examples, and the in-vehicle sensor section 14 can include only a part of the above-described sensors or can include sensors other than the above-described sensors. The in-vehicle sensor section 14 can include, for example, a weight sensor or a contact sensor for detecting whether a passenger is present.

[0033] The outside-vehicle sensor section 15 is constituted by various sensors that detect the state of the outside of the vehicle 1. For example, the outside-vehicle sensor section 15 includes an outside-vehicle camera sensor that detects objects such as other vehicles, pedestrians, and roadways that exist outside the vehicle, an outside air temperature sensor that detects the outside air temperature, a gyro sensor that detects the gradient of the travel path of the vehicle, and the like.

[0034] The various sensors described above are examples, and the outside-vehicle sensor section 15 can include only a portion of the sensors described above, or can include sensors other than the sensors described above. For example, the outside-vehicle sensor section 15 can include a millimeter wave radar or a sonar that detects objects.

[0035] The vehicle sensor section 16 is constituted by various sensors that detect the travel state of the vehicle 1, including the state of each portion of the vehicle. For example, the vehicle sensor section 16 includes a vehicle speed sensor that detects the speed of the vehicle, an acceleration sensor that detects acceleration, an engine speed sensor that detects the engine speed, an accelerator opening degree sensor that detects the accelerator opening degree, a steering angle sensor that detects the steering angle, a yaw rate sensor that detects the yaw rate, a tire air pressure sensor that constitutes a TPMS (Tire Pressure Monitoring System), a GNSS (Global Navigation Satellite System) sensor such as a GPS (Global Positioning System) sensor that receives information necessary to identify the position information of the vehicle 1, and the like.

[0036] The various sensors described above are examples, and the vehicle sensor section 16 can include only a portion of the sensors described above, or can include sensors other than the sensors described above.

[0037] The drive assist device 10 performs various processing and control using various detection signals obtained by the sensor sections such as the in-vehicle sensor section 14, the outside-vehicle sensor section 15, and the vehicle sensor section 16. The drive assist device 10 performs image analysis and voice recognition, for example, based on the detection signals obtained by the sensor sections.

[0038] The communication section 17 performs network communication and inter-vehicle communication. The communication section 17 can acquire various information such as the surrounding environment information of the current position, weather information, road information, and the like through network communication via the Internet and the like. The drive assist device 10 performs various processing and control using the information acquired by the communication section 17.

[0039] <Processing Examples>

[0040] The processing of the embodiment realized in the driving support device 10 described above will be described below.

[0041] Various troubles can occur while the vehicle 1 is running. The troubles herein refer to various difficulties and phenomena that arise due to the involvement of external factors of the driver. The external factors of the driver refer to factors other than the driver, such as other vehicles, road surface conditions, and environmental conditions such as weather, and the like. Such troubles are, for example, aggressive driving caused by other vehicles, tire blowouts and separations, vehicle breakdowns, weather (weather) that makes driving difficult such as heavy rain and heavy snow.

[0042] The troubles are, for example, aggressive driving, which is difficult to immediately detect from the running conditions of the vehicle 1. In addition, if the troubles cause the driver to be unable to maintain a normal mental state, it can interfere with the normal driving of the vehicle 1.

[0043] Therefore, in the processing of the embodiment, the mental state of the driver is determined during the running of the vehicle 1, and the troubles are presumed from the mental state. Furthermore, based on the presumed troubles, a voice corresponding to the mental state is output.

[0044] Figure 2 is an example of processing performed by the driving support device 10. The driving support device 10, for example, repeatedly performs the processing shown in Figure 2 at regular intervals during the running of the vehicle 1.

[0045] In step S101, the driving support device 10 acquires driver information.

[0046] The driver information refers to information about the driver of the vehicle 1. The driver information is obtained through detection signals of the in-vehicle sensor portion 14 and analysis of the detection signals. The driver information is, for example, driver expression information obtained through image analysis, voice information uttered by the driver obtained through voice recognition, biological information such as the sweating state and heart rate of the driver, temperature information in the vehicle cabin where the driver is located.

[0047] In step S102, the driving support device 10 performs a mental state determination process.

[0048] The driving support device 10 determines the mental state of the driver from the driver information acquired in step S101 as the mental state determination process.

[0049] The mental state of the driver refers to a state that speculates the feelings or emotions held by the driver.

[0050] In the processing of the present embodiment, a mental state that implies occurrence of some trouble is taken as a determination object. Such a mental state includes, for example, anger, surprise (nervousness), disgust, and fear (anxiety). An example of taking "anger", "surprise", "disgust", and "fear" as the mental states of the determination object will be described below.

[0051] The driving support device 10 determines the mental state of the driver from the driver information, for example, with reference to a predetermined mental state determination table.

[0052] Figure 3 An example of the mental state determination table is shown. The mental state determination table is stored in a storage area such as a ROM or a nonvolatile memory of the driving support device 10, for example.

[0053] In the mental state determination table of Figure 3 , for each of the mental states of "anger", "surprise", "disgust", and "fear", a determination value is set as a prescribed parameter. As the parameter, there are set a keyword, a change in mouth corner, a change in eyebrow tilt, a change in eyebrows up and down, a state of perspiration, and a change in temperature in the vehicle. The keyword mentioned here refers to a word or phrase that the driver is likely to utter in each mental state.

[0054] In the example of Figure 3 , for the mental state of "anger", values for determining "anger" are set for each of the parameters of the change in mouth corner, the change in eyebrow tilt, the state of perspiration, and the change in temperature in the vehicle. In addition, as the keyword corresponding to the mental state of "anger", there are set "danger", "this bastard", and "what the hell".

[0055] The driving support device 10, for example, calculates the values of the parameters from the acquired driver information, and if there is a determination object mental state that matches in the mental state determination table, determines that the mental state of the driver is the determination object mental state.

[0056] When it is determined that the mental state of the driver is the determination object mental state, the driving support device 10 proceeds to step S103 to perform processing.

[0057] On the other hand, when it is determined that the mental state of the driver does not match any of the determination object mental states, that is, when the mental state of the driver is not the determination object mental state, the driving support device 10 ends the processing of Figure 2 . That is, when the mental state of the driver does not imply occurrence of any trouble, the driving support device 10 does not perform the processing after step S103.

[0058] In step S103, the driving support device 10 performs a trouble presumption processing.

[0059] The driving support device 10 narrows down the trouble candidates from the psychological state determined in step S102 as a trouble estimation process. The following description will take "road rage driving", "blowout / tire fall-off", "vehicle breakdown", and "heavy rain / snow" as examples of the troubles to be estimated.

[0060] Here, a processing example of the trouble estimation process will be described.

[0061] In this processing example, the driving support device 10 first narrows down the trouble candidates that can occur from the psychological state with reference to a prescribed trouble estimation algorithm.

[0062] Figure 4 An example of the trouble estimation algorithm is shown. The trouble estimation algorithm is stored in a storage area of the driving support device 10, for example.

[0063] In the trouble estimation algorithm, one or more troubles that can occur are associated with each psychological state. In Figure 4 In the example, "road rage driving" is associated with the psychological state "anger", and "blowout / tire fall-off" and "vehicle breakdown" are associated with the psychological state "surprise", for example.

[0064] By using such a trouble estimation algorithm, the trouble candidates that can occur can be narrowed down to a certain degree or to one from the psychological state.

[0065] Subsequently, the driving support device 10 acquires vehicle information of the vehicle 1.

[0066] The vehicle information refers to information on the state of the vehicle 1 such as the running condition of the vehicle 1 and the condition outside the vehicle 1. The vehicle information includes, in addition to the information obtained through the detection signals of the outside sensor section 15 and the vehicle sensor section 16 or the analysis of the detection signals, the operation signals through the operation section 11 and the information obtained through the communication section 17. The vehicle information is, for example, information on the running state of the vehicle 1 such as the position information of the vehicle 1, the attitude change of the vehicle body, the vehicle speed / vehicle body speed change, the TPMS air pressure, the wiper operation condition, the lighting state of the vehicle-mounted light, and information on the external condition of the vehicle 1 such as the outside air temperature, the weather information, and the outside object detection information.

[0067] Subsequently, the driving support device 10 estimates the trouble from the vehicle information with reference to a prescribed trouble estimation table.

[0068] Figure 5 An example of the trouble estimation table is shown. The trouble estimation table is stored in a storage area of the driving support device 10, for example.

[0069] In Figure 5In the illustrated trouble presumption table, for each of the troubles of "aggressive driving", "blowout / tire separation", "vehicle breakdown", and "heavy rain / snow", the determination value is set to a prescribed parameter. As the parameter, there are provided position information, attitude change, vehicle speed / vehicle body speed change, outside air temperature, weather information, TPMS air pressure, wiper operation state, and outside object detection information.

[0070] In Figure 5 the example, for the trouble "aggressive driving", the values for determining "aggressive driving" are set to each of the parameters of position information, attitude change, vehicle speed / vehicle body speed change, and outside object detection information.

[0071] For example, the driving support device 10 narrows down the candidates of the possible troubles to a plurality according to the psychological state, obtains the values of each parameter from the acquired vehicle information, and presumes the trouble by selecting an appropriate trouble from the candidates by referring to the trouble presumption table.

[0072] In addition, for example, the driving support device 10 can also narrow down the candidates of the possible troubles to one according to the psychological state, obtain the values of each parameter from the acquired vehicle information, and presume the trouble by selecting the candidate when it is appropriate by referring to the trouble presumption table.

[0073] The above describes an example in which the driving support device 10 presumes a trouble according to the psychological state and the vehicle information as a processing example of the trouble presumption processing, but the example of the trouble presumption processing is not limited to the above example. For example, the driving support device 10 can presume a trouble according to only the psychological state. Further, the driving support device 10 can presume a trouble by referring to a table or the like that integrates information of both the psychological state and the vehicle information, for example, without distinguishing between the processing using the psychological state and the processing using the vehicle information.

[0074] Based on the trouble presumed in step S103, the driving support device 10 proceeds to step S104 to perform processing.

[0075] In step S104, the driving support device 10 selects a voice announcement.

[0076] The driving support device 10 selects a voice announcement based on the presumed trouble. For example, the driving support device 10 selects a voice announcement based on a prescribed voice announcement selection table.

[0077] Figure 6 An example of a voice announcement selection table is shown. In Figure 6 In the illustrated voice announcement selection table, for each of the troubles of "aggressive driving", "blowout / tire separation", "vehicle breakdown", and "heavy rain / snow", a psychological support announcement is set for each psychological state. In addition, for each trouble, an operation support announcement is set.

[0078] Psychological support announcements are voice announcements to drivers. For example, they include advice or instructions to help drivers regain a normal mental state. More specifically, they are appeals to drivers who are in a state of mind, such as anger, to calm down or reassure them.

[0079] Operational support announcements are voice announcements that provide instructions for the driving operation of vehicle 1. For example, these announcements may include instructions for the driving operation of vehicle 1 to respond to a predicted emergency (e.g., evacuating to a safe area or turning on the hazard lights). It should be noted that in addition to instructions for the driver to operate vehicle 1, operational support announcements may also include instructions for passenger actions (e.g., alerting the police).

[0080] exist Figure 6 For example, in the voice announcement selection table, for the troublesome "aggressive driving," psychological support announcements such as "Ignore the other person, calm down. Take a deep breath." are set for the "angry" and "disgusted" states. For the "fear" state, a psychological support announcement such as "It's okay. Calm down, take a deep breath." Furthermore, for the troublesome "aggressive driving," an operational support announcement such as "Please seek shelter in a safe area. Passengers, please call the police." is set.

[0081] Based on the trouble estimated in step S103, the driving support device 10 refers to the voice announcement selection table and selects a psychological support announcement as the voice announcement corresponding to the psychological state determined in step S102 and the trouble estimated in step S103. Furthermore, the driving support device 10 selects an operational support announcement as the voice announcement corresponding to the trouble estimated in step S103.

[0082] It should be noted that, in the example where vehicle information is used in the trouble estimation process in step S103 as in this embodiment, the voice announcement corresponding to the trouble is also a voice announcement corresponding to the vehicle information (ie, the vehicle state indicated by the vehicle information).

[0083] For example, when the presumed trouble is "aggressive driving" and the determined psychological state is "anger", the driving support device 10 refers to the voice broadcast selection table and selects "Ignore the other party, please calm down. Take a deep breath." set for "aggressive driving" as the psychological support broadcast corresponding to "anger".

[0084] Here, even if the presumed problem is "aggressive driving," if the determined psychological state is "fear," the driving support device 10 will select "It's okay. Calm down, take a few deep breaths." Different drivers may experience different psychological states in response to the same problem. Therefore, by providing different psychological support messages based on the psychological state for the same problem, effective psychological support can be provided tailored to each driver's psychological state.

[0085] Further, when the estimated trouble is "aggressive driving", the driving support device 10 selects "Please take refuge in a safe zone. Passengers, please call the police." as the operation support announcement corresponding to the trouble, with reference to the voice announcement selection table.

[0086] Here, even if the judged psychological state is "fear", the driving support device 10 selects "Please turn off the engine and turn on the warning light. Please seek support from a nearby dealer or road service provider." as the operation support announcement in the case where the estimated trouble is a different "tire burst / tire separation". Even if in the same psychological state, the appropriate response measures such as the driving operation differ depending on the trouble and the actual vehicle state. Therefore, by setting different operation support announcements for each trouble, effective operation support can be performed according to each trouble and the vehicle state.

[0087] Note that, Figure 6 While an example in which one operation support announcement is set for one trouble is described, different operation support announcements can also be set for each psychological state for one trouble, for example. Further, for example, an operation support announcement corresponding to vehicle information such as the lighting state of the on-vehicle light can be set.

[0088] Further, in the example of Figure 6 , the psychological support announcement corresponding to one psychological state is the same regardless of the category of the trouble, but different psychological support announcements can also be set for one psychological state according to each trouble, for example.

[0089] Further, in the example of Figure 6 , voice data actually output as the voice announcement is set, but instead of the voice data, an instruction of a keyword or an announcement content to be included in the voice announcement can also be set. In this case, the driving support device 10 can generate voice data of the voice announcement based on the instruction of the keyword or the announcement content.

[0090] Based on the voice announcement selected in step S104, the driving support device 10 proceeds to step S105 to perform processing.

[0091] In step S105, the driving support device 10 performs voice output processing of outputting the voice announcement. The driving support device 10, for example, causes the voice output section 13 to output the psychological support announcement and the operation support announcement selected in step S104 as the voice output processing.

[0092] Through the above Figure 2 processing, the psychological support announcement and the operation support announcement are output based on the trouble estimated from the psychological state of the driver.

[0093] In the above-described embodiment, the following effects can be obtained.

[0094] The driving support device 10 of the embodiment executes the following processing: processing of acquiring driver information on a driver of the vehicle 1; processing of determining a psychological state of the driver from the driver information; processing of estimating trouble from the psychological state; and voice output processing of outputting a voice (voice announcement) corresponding to the psychological state on the basis of the estimated trouble (see steps S101 to S105 in Figure 2 ).

[0095] Thus, since the voice (voice announcement) corresponding to the psychological state is output on the basis of the estimation of the trouble, when the occurrence of some trouble is estimated from the psychological state of the driver, the driver can be helped to drive the vehicle 1 correctly. In particular, since the voice announcement corresponding to the psychological state is output, appropriate support suitable for the psychological state of the driver can be provided. Further, since the trouble is estimated from the psychological state, even for the trouble that is difficult to detect the occurrence immediately from the running state of the vehicle 1, the possibility of the occurrence is easily detected.

[0096] Note that the voice (voice announcement) corresponding to the psychological state includes, in addition to the announcement selected in accordance with the psychological state (psychological support announcement of the embodiment), an announcement selected in accordance with the trouble estimated from the psychological state (operation support announcement of the embodiment).

[0097] Further, in the embodiment, an example in which the voice announcement corresponding to the psychological state is selected on the basis of one trouble (i.e., the type of trouble) estimated in the trouble estimation processing is described. On the other hand, even in a case where the type of trouble cannot be estimated, for example, because the probability of the candidate trouble narrowed down from the psychological state is low from the viewpoint of the vehicle information, the voice (voice announcement) corresponding to the psychological state can be selected on the basis of the fact that some trouble has occurred from the psychological state. In such an embodiment, even in a case where the type of trouble cannot be estimated, the driver not in the normal psychological state can be given appropriate support suitable for the psychological state on the basis of the estimated trouble.

[0098] Further, in the embodiment, an example in which the driving support device 10 executes the processing of acquiring the vehicle information of the vehicle 1, and as the voice output processing, the processing of outputting the voice (voice announcement) corresponding to the vehicle information from the estimated trouble is executed (see steps S103 to S105 in Figure 2 , Figure 6 ) is described.

[0099] Thus, in addition to the voice corresponding to the psychological state (e.g., the psychological support announcement), the voice (the operation support announcement) corresponding to the vehicle information is output. By outputting the voice announcement in which the vehicle information is added to the voice on the basis of the psychological state, appropriate support corresponding to the state of the vehicle indicated by the vehicle information can be made.

[0100] In the present embodiment, an example is presented in which the driving support device 10 estimates the trouble in the trouble estimation process on the basis of the psychological state and the vehicle information (see steps S103 in Figure 2 ). In this case, the trouble is estimated on the basis of the psychological state using the vehicle information as well, and thus the accuracy of the trouble estimation can be improved. On the other hand, even in the case where the vehicle information is not used in the trouble estimation process, the vehicle information can be acquired separately and the voice (operation support announcement) corresponding to the vehicle information can be output.

[0101] In the present embodiment, an example is presented in which, as the voice output process, the driving support device 10 performs a process of outputting a voice (voice announcement) corresponding to the estimated trouble on the basis of the estimated trouble (see steps S104 to S105 in Figure 2 , Figure 6 ).

[0102] Thus, the voice (voice announcement) corresponding to the estimated trouble is output. In the present embodiment, an example is presented in which the voice announcement is selected with reference to a table in which the operation support announcement and the psychological support announcement according to the psychological state are set for the trouble. By selecting and outputting the voice announcement in which the estimated trouble is added on the basis of the psychological state, appropriate support can be provided according to the situation in which the driver is placed.

[0103] In the present embodiment, an example is presented in which the voice (voice announcement) includes the psychological support announcement to the driver and the operation support announcement indicating the operation of the vehicle 1 (see steps S104 to S105 in Figure 2 , Figure 6 ).

[0104] Thus, on the basis of the estimated trouble, both the psychological support announcement and the operation support announcement are output. In this case, the driver can be supported from both the psychological and the driving operation aspects.

[0105] Note that, although an example is described in the present embodiment in which both the psychological support announcement and the operation support announcement are output, only one of the announcements selected according to the psychological state can be output.

[0106] In the present embodiment, an example is presented in which the driver information includes the driver facial expression information and the information of the voice uttered by the driver (see steps S101 in Figure 2 , Figure 3 ).

[0107] By acquiring the driver's facial expression information and the information of the voice uttered by the driver as the driver information, the driver's psychological state can be accurately determined. Further, for example, the information that can be acquired by the DMS mounted on the vehicle 1 for the purpose of preventing the driver from dozing off or the like can be effectively utilized.

[0108] Note that the driving support device 10 can acquire only part of the driver information exemplified in the embodiments, or can acquire other information about the driver as the driver information.

[0109] Note that the settings of the parameters and the parameter values in the psychological state determination table and the trouble estimation table explained in the embodiments are examples. Further, as these tables, the voice announcement selection table, and the trouble estimation algorithm, for example, a predetermined table or algorithm set by the supplier of the driving support device 10 can be used, or a table or algorithm customized for the driver can be used.

[0110] Examples of causing the voice output section 13 to output the voice announcement corresponding to the psychological state have been explained in other embodiments, but in addition to or instead of the voice announcement, the display section 12 can also be caused to display a similar announcement corresponding to the psychological state.

Claims

1. A driving support device comprising: - one or more processors; and - a storage medium storing a program to be executed by the one or more processors, wherein the program includes one or more instructions that cause the one or more processors to execute the following processing: - processing of acquiring driver information about a driver of a vehicle; - processing of determining a psychological state of the driver from the driver information; - processing of inferring trouble from the psychological state; - voice output processing of outputting a voice corresponding to the psychological state based on the inferred trouble.

2. The driving support device according to claim 1, wherein the instructions cause the one or more processors to execute processing of acquiring vehicle information of the vehicle, the instructions cause the one or more processors to execute, as the voice output processing, processing of outputting a voice corresponding to the vehicle information from the inferred trouble. the instructions cause the one or more processors to execute, as the voice output processing, processing of outputting a voice corresponding to the inferred trouble based on the inferred trouble.

3. The driving support apparatus according to claim 1 or 2, wherein the voice includes a psychological support announcement to the driver, and an operation support announcement indicating a driving operation of the vehicle.

4. The driving support apparatus according to claim 1 or 2, wherein the driver information includes facial information of the driver, and voice information emitted by the driver.

5. The driving support apparatus according to claim 1 or 2, wherein ​

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