Driving assistance device

Abstract

The invention relates to a driving support device, and aims to support and maintain safe driving according to the emotion of a driver. The driving support device executes: an emotion determination process for determining the emotion of the driver on the basis of the acquired detection information; an assistance determination process for determining whether or not the driver is in a state in which driving assistance is required; an assistance type determination process of determining a type of driving assistance according to the determined emotion when driving assistance is required; and a support execution control process for executing the driving support of the determined type.

Description

TECHNICAL FIELD

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

[0002] The following Patent Literature 1 describes inferring an emotion of a driver or a passenger and controlling a travel of a vehicle based on the inferred emotion.

[0003] The following Patent Literature 2 describes a driving support device capable of determining whether a driving state is suitable for a driving environment and feeding back a result of the determination.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2017-136922

[0007] Patent Literature 2: Japanese Patent Application Publication No. 2018-151911 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] An emotional state of a driver affects safe driving. For example, a person has various emotions such as uneasiness, fear, impatience, happiness, and laughter, but when these emotions are in an excessive state, safe driving is often difficult to maintain compared to a case of calm driving.

[0010] On the other hand, various driving support technologies have been developed in recent years, but it is necessary to provide appropriate driving support according to the urgency and degree of an emotion.

[0011] Therefore, the present application proposes a technology capable of appropriately determining an emotional state of a driver and performing appropriate driving support as needed.

[0012] TECHNICAL SOLUTION FOR SOLVING THE PROBLEMS

[0013] 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 processes: an emotion determination process of determining an emotion of a driver based on acquired detection information; a support determination process of determining whether the driver is in a state in which driving support is needed; a support category determination process of determining a category of the driving support according to the determined emotion when the driving support is needed; and a support execution control process of executing the determined category of the driving support.

[0014] EFFECTS OF THE INVENTION

[0015] According to the present application, after the emotion is determined and it is determined whether the state of the emotion is a state in which driving support is required, driving support selected in accordance with the emotion is performed. Thus, appropriate driving support corresponding to the emotion is executed at an appropriate timing corresponding to the state of the emotion, thereby contributing to the promotion of safe driving. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a diagram for explaining the configuration in a vehicle of an embodiment of the present application.

[0017] Figure 2 is a diagram for explaining the functional configuration of a driving support device of an embodiment.

[0018] Figure 3 is a flowchart of a reference value setting process of a driving support device of an embodiment.

[0019] Figure 4 is a flowchart of a driving support control process of a first embodiment.

[0020] Figure 5 is a flowchart of a driving support control process of a second embodiment.

[0021] Figure 6 is a diagram for explaining an example of driving support control corresponding to an emotion of an embodiment.

[0022] Figure 7 is a diagram for explaining an example of driving support control corresponding to an emotion of an embodiment.

[0023] SYMBOL EXPLANATION

[0024] 1 vehicle

[0025] 2 driving support device

[0026] 3 ECU

[0027] 5 running mechanism

[0028] 6 notification device

[0029] 7 electrical equipment portion

[0030] 10 control system

[0031] 14 in-vehicle sensor portion

[0032] 15 out-of-vehicle sensor portion

[0033] 16 vehicle sensor portion

[0034] 17 wearable sensor

[0035] 20 arithmetic portion

[0036] 21 information acquisition portion

[0037] 22 permission information calculation section

[0038] 23 determination section

[0039] 24 assistance control section

[0040] 25 stimulation control section

[0041] 30 storage section DETAILED DESCRIPTION

[0042] <Vehicle Configuration>

[0043] Figure 1 A vehicle 1 mounting a control system 10 including the driving assistance device 2 of the present embodiment is shown. The vehicle 1 is assumed to be a gasoline engine vehicle, an electric vehicle, a hybrid vehicle, a fuel cell vehicle, or the like.

[0044] The vehicle 1 has the control system 10 including the driving assistance device 2, a running mechanism 5, an electrical equipment section 6 including a notification device 7, and various sensors.

[0045] Note that, Figure 1 Only part of the configuration included in the vehicle 1 is shown, and the vehicle 1 will obviously include various configurations for running and driving.

[0046] The driving assistance device 2 is constituted by one or more processors. Specifically, it is constituted by one or more ECUs (Electronic Control Units) in the vehicle 1. The driving assistance device 2 can be configured as a driving assistance ECU dedicated to the driving assistance function, or can be implemented in other ECUs. For example, 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 an on-board battery, an engine control ECU, a display control ECU that performs display control of a display device (including a meter, etc.) possessed by the vehicle 1, a voice output control ECU that performs output control of a voice output device, an autonomous driving ECU, an air conditioning control ECU, and the like. The driving assistance device 2 can be configured in any of these ECUs in the vehicle.

[0047] The ECU 3 shown separately from the driving assistance device 2 represents an ECU other than the ECU that functions as the driving assistance device 2 among the various ECUs described above.

[0048] The drive assist device 2 and the other ECUs 3 include a CPU (Central Processing Unit), a ROM (Read Only 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. The RAM also appropriately stores data and the like required for the CPU to execute various processes.

[0049] The drive assist device 2 and the other ECUs 3 are communicably connected to each other through a bus 4. The bus 4 is configured as a bus capable of communication through CAN [Controller Area Network (registered trademark)], for example, and is capable of transmitting and receiving information between devices.

[0050] The drive assist device 2 and the other ECUs 3 are configured to be able to exert a prescribed function by installing a software program.

[0051] A control system 10 in the vehicle 1 is constituted by these drive assist device 2 and the other ECUs 3, and the actions of the respective parts are controlled by the control system 10, that is, the running mechanism 5, the electric equipment part 6, the notification device 7, and the like are controlled by the control system 10.

[0052] The running mechanism 5 includes each part related to the running of the vehicle 1. Specifically, an engine or motor mechanism, an accelerator mechanism, a brake mechanism, a transmission mechanism, a power steering mechanism, a suspension mechanism, and the like related to the running action of an automobile are shown in general. The running mechanism 5 also includes an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and the like, which are driving operation devices for running.

[0053] The electric equipment part 6 shows all the electric equipment parts provided in the vehicle 1 in general. Specifically, an air conditioner, a navigation device, a so-called audio or the like, a display device such as an MFD (Multi Function Display), an electric power window device, an electric seat mechanism, a vibration mechanism, and the like are assumed. Note that the vibration mechanism is, for example, a mechanism that slightly vibrates a driving operation unit such as a steering wheel and a pedal, and a mechanism that slightly vibrates a seat, and the like.

[0054] The notification device 7 shows a device capable of notifying a driver in any manner such as characters, images, voices, and the like. This is, for example, a display part of an MFD or a navigation device as an electric equipment, a voice output part of an audio or a navigation device, and the like.

[0055] These running mechanisms 5, electric equipment sections 6, and notification devices 7 are shown as sites that the driving support device 2 causes to perform certain actions and processes in accordance with the emotional state of the driver. Specific examples of the running mechanisms 5, electric equipment sections 6, and notification devices 7 are not limited to the examples shown.

[0056] Figure 1 The in-vehicle sensor section 14, the outside-vehicle sensor section 15, the vehicle sensor section 16, and the wearable sensor section 17 are shown as various sensors.

[0057] The in-vehicle sensor section 14 is composed of various sensors that detect the state of the 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), and specific examples include an in-vehicle camera sensor for detecting the expression, line-of-sight direction (movement of the eyeball), blinking, and the like of the driver, an on-vehicle microphone for acquiring information of the voice 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 sweating state of the driver, a temperature sensor for detecting the temperature in the vehicle cabin, a sensor for detecting the pressure and pressure distribution of the seat, and the like. Furthermore, for example, a fingerprint sensor provided on a steering wheel or the like, a voiceprint sensor that detects the voice of the driver and analyzes the voiceprint, and the like can be provided.

[0058] 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.

[0059] The outside-vehicle sensor section 15 is composed of various sensors that detect the state outside the vehicle 1. For example, the outside-vehicle sensor section 15 includes an outside-vehicle camera sensor for detecting other vehicles such as a preceding vehicle, a pedestrian, an object in the lane, and the like that exist outside the vehicle, an outside-vehicle temperature sensor for detecting the temperature outside the vehicle, a gyro sensor, and the like for detecting the gradient of the travel path of the vehicle.

[0060] As information on other vehicles such as a preceding vehicle that exist outside the vehicle, it is also possible to determine the state of traffic congestion, cut-in, inter-vehicle distance, road rage driving, and the like.

[0061] The above-described various sensors are examples, and the outside-vehicle sensor section 15 can include only a part of the above-described sensors or can include sensors other than the above-described sensors. For example, the outside-vehicle sensor section 15 can include a millimeter wave radar or a sonar for detecting an object.

[0062] The vehicle sensor section 16 is constituted by various sensors that detect the state of the vehicle 1, including the state of each part 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. Further, the vehicle driving action is based on the driving operation of the driver. That is, the operation of the driving operation devices such as the steering wheel, the shift lever, the accelerator pedal, and the brake pedal. The vehicle sensor section 16 also includes sensors that detect the operation amount, the number of operations, the frequency of operations, and the like of the driver with respect to these driving operation devices.

[0063] The above-described various sensors are examples, and the vehicle sensor section 16 can include only a part of the above-described sensors, or can include sensors other than the above-described sensors.

[0064] These in-vehicle sensor section 14, the outside-vehicle sensor section 15, and the vehicle sensor section 16 each transmit the detected information to the control system 10, that is, the driving support device 2 and the other ECUs 3.

[0065] The wearable sensor section 17 indicates sensors mounted on the body of the driver, and is not necessarily equipped in the vehicle 1. For example, it is a wearable sensor device such as a watch type. The wearable sensor section 17 can detect the pulse, the respiratory rate, the body temperature, the amount of sweat, the skin temperature, the brain wave, and the like of the driver.

[0066] Regardless of the form of the wearable sensor section 17, the wearable sensor section 17 can at least detect some biological information of the driver, and transmit the detected biological information to the driving support device 2.

[0067] The driving support device 2 performs driving support control based on the detected information from the in-vehicle sensor section 14, the outside-vehicle sensor section 15, the vehicle sensor section 16, the wearable sensor section 17, and the information notified by the other ECUs 3. In the present embodiment, in particular, the driving support device 2 determines the emotion of the driver, and performs driving support in accordance with the emotional state. Also, the content of the driving support corresponds to the determined emotional state.

[0068] Figure 2A block diagram showing the functions of the microprocessor as the driving support device 2 is shown. The microprocessor as the driving support device 2 includes an arithmetic unit 20 and a storage unit 30, and the arithmetic unit 20 realizes the functions illustrated by the program. That is, becomes an information acquisition unit 21, a permission information calculation unit 22, a determination unit 23, and a support control unit 24. Note that a stimulation control unit 25 is not required in the processing of the first embodiment described later, and is described later. Figure 5 The functions related to the processing of the second embodiment described later are not required in the processing of the first embodiment described in Figure 4 The functions related to the processing of the second embodiment described later are not required in the processing of the first embodiment described in

[0069] In addition, the program that realizes the functions of the information acquisition unit 21, the permission information calculation unit 22, the determination unit 23, the support control unit 24, and the stimulation control unit 25 in the arithmetic unit 20 is stored in the storage unit 30, for example.

[0070] The specific form of the storage unit 30 is not specified. For example, the storage unit 30 can be an internal memory of the microprocessor as the driving support device 2, or can be an external memory.

[0071] The information acquisition unit 21 has a function of acquiring detection information from the above-mentioned in-vehicle sensor unit 14, the outside-vehicle sensor unit 15, the vehicle sensor unit 16, and the wearable sensor unit 17 (hereinafter collectively referred to as "various sensors"). The information acquisition unit 21 mainly acquires, as information for estimating the driver's emotion, biological information such as the driver's pulse, respiratory rate, body temperature, and amount of sweating, information such as expression and line of sight, information on the driver's operation of a steering wheel, a brake pedal, an accelerator pedal, and the like, information on the seat pressure distribution of the driver's seat, and the like, from the various sensors.

[0072] Note that, as information for estimating the driver's emotion, information other than the above-mentioned information can also be considered. For example, as information from the outside-vehicle sensor unit 15, information on surrounding vehicles, information on traffic congestion conditions, information on weather, information on road conditions, information on light (morning, sunset, etc.), information on night / day, information on the area where the vehicle is currently traveling, and the like can also be used for estimating the emotion.

[0073] The permission information calculation unit 22 has a function of calculating, for each driver, the allowable range and degree of the detection information from the various sensors acquired by the information acquisition unit 21. For example, based on the learning processing, the upper limit or range of biological information, the range of seat pressure distribution information, the range of driving operation, and the like in the calm emotional state of the driver are calculated.

[0074] Specifically, the permission information calculation unit 22 sets, for example, the following information as the permission information on the driver's biological information based on the learning processing:

[0075] • an upper limit value of heart rate;

[0076] • upper limit value of the respiration frequency;

[0077] • upper limit value of the skin temperature change;

[0078] • upper limit value of the amount of sweat increase;

[0079] • upper limit value of the eye movement amount;

[0080] • upper limit value of the blink frequency.

[0081] The above information, when below the upper limit value, becomes an index that the emotional state or condition of the driver is normal.

[0082] Further, the allowable information calculation portion 22 sets, for example, based on the learning processing, the following information as the allowable information of the pressure distribution of the seat:

[0083] • upper limit value of the difference from the ideal pressure distribution;

[0084] • upper limit value of the difference from the current pressure distribution at the start of driving;

[0085] • upper limit value of the pressure distribution difference between the left and right and front and rear;

[0086] • upper limit value of the deviation of the pressure distribution and the deviation of the center of gravity position.

[0087] The above information, when below the upper limit value, becomes an index that the emotional state or condition of the driver is normal.

[0088] Further, the allowable information calculation portion 22 sets, for example, based on the learning processing, the following information as the allowable information regarding the driving operation device:

[0089] • upper limit value of the number of steering operations per unit time;

[0090] • upper limit value of the number of brake and acceleration operations per unit time;

[0091] • upper limit value of the brake and acceleration operation frequency for the inter-vehicle distance with the preceding vehicle;

[0092] • upper limit value of the brake and acceleration operation frequency for the inter-vehicle distance with the following vehicle.

[0093] The above information, when below the upper limit value, becomes an index that the emotional state or condition of the driver is normal.

[0094] The above is an example, and the allowable information can also be set with an upper limit value or range related to other detection information, such as the outside environment of the vehicle, for example, traffic congestion or weather.

[0095] As described above, the permission information calculating section 22 calculates permission information as an emotion determination index, but it is assumed that the permission information differs for each person. Therefore, the permission information calculating section 22 also makes a personal determination based on detection information from various sensors of the driver, learns the behavior of each person while driving, and updates the permission information of each person.

[0096] The permission information as an initial value and the permission information of each person updated through learning are stored in the storage section 30.

[0097] The determination section 23 performs an emotion determination process of determining the emotion of the driver based on acquired detection information, and a support determination process of determining whether the driver is in a state requiring driving support. That is, the determination section 23 estimates the emotion of the driver based on detection information from various sensors. As an algorithm of emotion estimation, various publicly known algorithms can be used, and in emotion estimation, not only information such as biological information, line of sight, expression, and the like, driving operation information, seat pressure distribution information, and the like directly indicating the state and behavior of the driver, but also information of the environment outside the vehicle and the like can be used to improve determination accuracy.

[0098] The determination section 23 also determines whether the estimated emotional state (degree of anger, degree of laughter, and the like) is a degree requiring driving support. In this case, the determination section 23 refers to the permission information of the driver, and determines whether it is a state requiring driving support based on the presence or absence or the number of items exceeding the upper limit value.

[0099] When the determination section 23 determines that the driver is in an emotional state requiring driving support, the support control section 24 determines the category of driving support operation in accordance with the emotion of the driver, and performs control processing to execute the driving support.

[0100] For example, the support control section 24 issues an instruction to the ECU 3 that controls the driving mechanism 5 and the electric equipment section 6 in the manner of the driving support operation determined thereby.

[0101] Further, the support control section 24 issues an instruction to the ECU 3 that controls the notification device 7 to execute an operation of notifying the driver of the emotion in the notification device 7.

[0102] Examples of the category of driving support determined in accordance with the emotion by the support control section 24 will be described later, and as control objects, the following examples can be considered:

[0103] • Drive force control of the engine / motor;

[0104] • Brake / regenerative brake / accelerator brake and drive instruction control;

[0105] • Steering characteristic control;

[0106] • Suspension control;

[0107] • ADAS (Advanced driver-assistance systems) control.

[0108] Then, it is assumed that the response speed and the like at the time when a danger is assumed to occur are improved by moving these control thresholds to the high side or moving the control time to the short side or the like.

[0109] <Processing example of first embodiment>

[0110] A processing example of the driving support device 2 as the first embodiment will be described below with reference to Figure 3 and Figure 4 . The processing described below is a processing example performed by the driving support device 2 through the function of the arithmetic unit 20 described above. Figure 2

[0111] The driving support device 2 performs processing for preparing for the determination of the Figure 3 at the stage when the vehicle 1 starts running, for example, at the time point after the ignition is turned on or just after the ignition is turned on.

[0112] In step S101, the driving support device 2 performs personal identification of the driver. For example, the driver is identified using face authentication based on face detection information of the in-vehicle sensor unit 14, luster authentication based on an eye image, fingerprint sensor information, voiceprint information, and the like of the driver.

[0113] This is personal identification for determining whether the learned permitted information has been stored. For example, by associating face information and the like for personal identification with the learned permitted information, and by comparing with the detection information of the driver this time, it can be determined whether the driver this time is the driver who has learned the permitted information.

[0114] In the case where the driver is the driver who has learned the permitted information, the driving support device 2 proceeds from step S102 to step S103, reads the permitted information on the driver from the storage unit 30, and uses it as the permitted information used in the processing of Figure 4 .

[0115] In the case where the driver is not the driver who has learned the permitted information, the driving support device 2 proceeds from step S102 to step S104, reads the general permitted information from the storage unit 30, and uses it as the permitted information used in the processing of Figure 4 .

[0116] ​Note that the recognition information at the time of recognizing the individual in step S101, such as face recognition information, light color information, fingerprint information, and the like, needs to be stored in the storage section 30 in association with the permission information updated by the result of the learning process later.

[0117] Figure 4 is a processing example in which the driving support device 2 performs during driving. The driving support device 2 repeatedly executes the processing of Figure 4 until it is determined in step S210 that the support processing is ended.

[0118] In step S201, the driving support device 2 acquires detection information from various sensors.

[0119] In step S202, the driving support device 2 performs emotion determination processing of the driver. This is processing in which the driving support device 2 estimates emotions such as happiness, surprise, anger, fear, sadness, and the like, based on the detection information received from various sensors. As described above, emotions can be estimated mainly using biological information, gaze information, information of driving operation behavior, and the like. Furthermore, information of the surrounding environment such as traffic congestion, road rage, weather, and the like can be used for emotion estimation.

[0120] In step S203, the driving support device 2 determines the condition of the driver.

[0121] This processing example is an example in which not only the emotion of the driver is determined but also the physical condition, drowsiness, fatigue, and the like, of the driver are determined, so that driving support for further improvement of safety can be realized. As with emotion determination, condition determination can also use biological information, gaze information, behavior information of driving operation, and the like, of the driver, so that condition determination can be performed together with emotion determination. For example, the center of gravity of the body of the driver can be calculated from seat pressure or the like, so that the degree of physical fatigue can be calculated.

[0122] In step S204, the driving support device 2 determines whether the determined emotion of the driver is a state in which support is needed. For example, the emotions of people such as happiness, surprise, anger, fear, sadness, and the like, are of degrees, and even if there is some happiness or anger, it does not lead to inability to drive calmly. On the other hand, if the emotion of happiness or laughter is too large, it leads to driving carelessness. The same is true for emotions of anger and fear, and the larger the degree, the more it affects safe driving.

[0123] Therefore, the driving support device 2 compares the detection information acquired from various sensors for emotion determination with the permission information updated by the result of the learning process later, and determines whether the driver is in a state in which support is needed. Figure 3The permissible information obtained in step S103 or step S104 is compared to determine whether the emotional state is at a level requiring driving assistance. For example, each piece of detection information is compared with the upper limit value of the permissible information listed above to determine whether or not the detection information exceeds the upper limit value, or which detection information exceeds the upper limit value, and a comprehensive determination is made as to whether the judgment benchmark value for the necessity of support is exceeded.

[0124] For example, for each piece of detection information, it is determined whether it exceeds the set allowable information or the amount exceeded, and a score is assigned. Then, a predetermined calculation is performed using each score to determine whether the calculation result exceeds a judgment threshold indicating whether support is needed. In this case, each piece of detection information can be weighted. When the calculation result exceeds the judgment threshold, it is determined that driving support is required.

[0125] In the algorithm for determining this situation, it's also possible to consider reflecting the external conditions of the vehicle. For example, in cases where vehicles cut in front of you, the weighting of scores related to anger could be increased.

[0126] In addition, factors such as the in-vehicle environment and the relationship with passengers can also be considered. The driver support device 2 also assesses the passengers' emotions, and lowers the judgment benchmark or changes the weight of each score when the driver and passengers are in a dangerous situation.

[0127] It should be noted that in step S203, the driving support device 2 also determines the driver's condition. Therefore, it can consider not only the driver's emotional state but also the overall condition to determine whether support is needed. For example, if the driver is determined to be in poor physical condition or fatigued, the upper limit of the allowable information used as the determination criterion can be lowered to expedite support. Alternatively, allowable information can be set for detection information indicating poor physical condition, fatigue, drowsiness, etc., so that even if the driver's mood is normal, if the allowable information regarding the condition is exceeded, driving support will still be determined to be needed.

[0128] In other words, it can determine whether driving assistance is needed based on the perspective of emotion, or it can make a determination by combining the judgment calculations of emotion and situation, or it can make judgments of both the perspective of emotion and the perspective of situation at the same time.

[0129] In step S204, the driving support device 2 determines whether driving support, as described above, is needed. If it determines that support is not needed, it proceeds to step S211 for learning processing. This involves setting the current detection information as the value for a situation where support is not needed as the data to be learned, performing learning processing, and updating the permission information corresponding to the individual driver. For example, in each step S211 of the learning process, the value of each detection information is stored. Then, in step S211 at a certain point in time, the previously stored detection information values ​​can be used for learning processing to correct the upper limit of the permission information that allows the driver to perform normal driving, and to update the permission information associated with the individual driver.

[0130] When it is determined in step S204 that driving assistance is needed, the driving assistance device 2 proceeds to step S205, whereby the type of driving assistance is determined based on the determined condition. In other words, it determines what kind of driving assistance control needs to be performed. For example, in steering assistance control, braking assistance control, accelerator assistance control, etc., it determines the part to be controlled, its control amount, and the control direction (up / down, etc.).

[0131] Then, in order to execute the support controls determined in step S206, the driving support device 2 instructs the ECU 3 of the control unit to perform these controls. For example, when executing brake support control, the driving support device 2 instructs the ECU 3 that controls the braking mechanism to perform control related to the braking mechanism.

[0132] Therefore, appropriate categories of driving support are implemented based on the driver's mood. An example of implementing different support controls based on different moods will be provided using... Figure 6 and Figure 7 This will be explained later.

[0133] exist Figure 4 In step S207, the driver support device 2 performs emotion notification control. This is control that notifies the driver of their emotions or emotional state. Therefore, the driver support device 2 sends an instruction to the ECU3 of the control notification device 7 to perform emotion notification. The ECU3 of the control notification device 7 performs control according to the instruction to make the notification device 7 perform emotion notification.

[0134] For example, based on assessments of emotions such as joy, fear, and anger, the system can notify the driver of excessive excitement or agitation through characters, icons, or voice prompts. This allows the driver to recognize their heightened emotions and prompts them to return to calm driving. In addition to emotions, the system can also notify the driver of their physical condition, fatigue, drowsiness, etc.

[0135] Driving support device 2 repeats the above. Figure 4 The process continues until support ends. End of support, for example, refers to a situation where driving has ended.

[0136] <Processing example of the second embodiment>

[0137] The second embodiment is an embodiment in which the driving support device 2 adds processing by the function of the stimulus control section 25 to the above-described first embodiment. Figure 2

[0138] The stimulus control section 25 has a function of exerting a slight stimulus, stress, to the driver according to the emotion.

[0139] The stimulus in this case refers to a visual stimulus caused by display or light emission, an auditory stimulus caused by sound or voice, an air environment stimulus in the vehicle cabin caused by a change in temperature or air volume of the air conditioner, opening of the window, and the like. In addition, there are a somatic stimulus caused by the action of the seat, a change in the angle of the headrest, a slight vibration of the steering wheel, a change in the position of the lumbar support, and the like. A smell stimulus caused by spraying of a fragrance or the like can also be considered.

[0140] It is well known that the human brain reacts physically to a stimulus such as seeing light or hearing sound. It is well known that opening the window and blowing the air or pressing the acupoint can eliminate or relieve drowsiness. It is well known that the body reacts to a change in homeostasis.

[0141] It is well known that these slight stresses help to wake up the brain, and giving one or a combination of the slight stresses helps to calm the emotion, wake up the brain, and promote safe driving.

[0142] Therefore, the driving support device 2 performs processing of Figure 5 It should be noted that in the second embodiment, the driving support device 2 performs processing of Figure 3 and then performs processing of Figure 5

[0143] Figure 5 The processing example in which steps S208, S209 are added to the processing of Figure 4 is the same as the other processing, the same step numbers are attached, and a detailed description will not be given.

[0144] When it is determined that the emotional state is in a state in which driving support is required, the driving support device 2 performs steps S208, S209 in addition to the processing of steps S205 to S207.

[0145] In step S208, the driving support device 2 determines the category of the stimulus to be exerted to the driver according to the emotion of the driver that is determined.

[0146] ​​Then, in step S209, the driving support device 2 instructs the ECU 3 that controls the stimulus application mechanism to perform these controls to apply the determined stimulus. For example, when changing the air volume of the air conditioner, the ECU 3 that controls the air conditioner is instructed of the control content to perform the control of the air volume change.

[0147] Thus, the stimulus application of an appropriate category is performed in accordance with the emotion of the driver. Examples of what stimulus is applied in accordance with what emotion will be described later.

[0148] As Figure 5 shown, by combining the driving support control with the stimulus application corresponding to the emotion, the return to the safe emotional state and the sober state is promoted.

[0149] <Specific Driving Support Examples>

[0150] Examples of the driving support control and the stimulus application category corresponding to various emotions will be given below. Note that, Figure 6 examples of the driving support are shown, Figure 7 examples of the stimulus to be applied are shown. In addition, in each figure, not only the emotion but also examples of the control category when drowsy and tired are added.

[0151] When the determined emotion is "happy", the driving behavior of the driver can be overlooking, carelessness, or the like. In this case, the category of the driving support control includes the improvement of the brake responsiveness. This is a control to improve the brake responsiveness when performing the brake operation, for example, by increasing the brake pressure. Further, as the category of the driving support control, there are the reduction of the steering responsiveness and the reduction of the drive force responsiveness. These are controls to prevent the excessive performance of the steering operation or the accelerator operation.

[0152] As the stimulus application in the case of "happy", the reduction of the set temperature of the air conditioner, the increase of the air volume, the reduction of the audio volume, or the like can be considered. That is, this is a stimulus to calm down.

[0153] If the determined emotion is "expectation", for example, excitement, the driving behavior of the driver can be overlooking, carelessness, or the like. In this case, the category of the driving support control includes the improvement of the brake responsiveness, the reduction of the steering responsiveness, the reduction of the drive force responsiveness, and the like.

[0154] As the stimulus application in the case of "expectation", the reduction of the set temperature of the air conditioner, the increase of the air volume, the reduction of the audio volume, or the like can be considered.

[0155] When the determined emotion is "angry", for example, in the case of anger or aversion to other vehicles, as the driving behavior of the driver, there are road rage, urging, or the like. Further, in the case of impatience or boredom, as the driving behavior of the driver, there are sudden steering, sudden acceleration, sudden braking, or the like, which are impulsive operations.

[0156] In these "angry" cases, the category of the drive support control includes an increase in brake responsiveness, an increase in the notification sensitivity of the vehicle to the front and rear, a decrease in drive force responsiveness, an increase in suspension stiffness, and the like.

[0157] As the stimulus application, it is possible to consider a decrease in the set temperature of the air conditioner, an increase in the air volume, a decrease in the audio volume, and the like.

[0158] If the determined emotion is "disgust", such as impatience, confusion, distress, or unhappiness, the driving behavior of the driver can be overlooking, carelessness, and the like. In this case, the category of the drive support control includes an increase in brake responsiveness, a decrease in steering responsiveness, a decrease in drive force responsiveness, and the like.

[0159] When the determined emotion is "sadness", as the driving behavior of the driver, there can be a sluggish driving operation. In this case, the category of the drive support control includes an increase in brake responsiveness, an increase in steering responsiveness, an increase in drive force responsiveness, an increase in suspension stiffness, and the like. In order to prevent the driving operation from becoming sluggish, smooth driving should be promoted as much as possible.

[0160] When the determined emotion is "surprise", as the driving behavior of the driver, there can be an unintentional driving operation. In this case, the category of the drive support control includes an increase in brake responsiveness, a decrease in steering responsiveness, a decrease in drive force responsiveness, and the like.

[0161] It is possible to consider an increase in the audio volume and the like as the stimulus application.

[0162] When the determined emotion is "fear", the driving behavior of the driver can be overlooking, carelessness, a sluggish driving operation, and the like. In this case, the category of the drive support control includes an increase in brake responsiveness, an increase in steering responsiveness, an increase in drive force responsiveness, an increase in suspension stiffness, and the like.

[0163] It is possible to consider an increase in the audio volume and the like as the stimulus application.

[0164] If the determined emotion is "trust", such as an excessively relaxed feeling, the driving behavior of the driver can be overlooking, carelessness, and the like. In this case, the category of the drive support control includes an increase in brake responsiveness, an increase in steering responsiveness, an increase in drive force responsiveness, an increase in suspension stiffness, and the like.

[0165] In the case where drowsiness or fatigue is determined by the situation determination, as the driving behavior of the driver, there can be a delay in the driving operation, an unintentional driving operation, and the like. In this case, the category of the drive support control includes an increase in brake responsiveness, an increase in the notification sensitivity of the vehicle to the front and rear, a decrease in steering responsiveness, a decrease in drive force responsiveness, and the like.

[0166] As the stimulus application, it is possible to consider flickering at the instrument, MFD, in the room, and the like, lowering the set temperature of the air conditioner, increasing the air volume, slightly lowering the window, applying vibration such as steering wheel vibration, pedal vibration, seat vibration, changing the seat angle, increasing the audio volume, and the like.

[0167] When the emotion is determined to be "not caring, unconscious", the driving behavior of the driver can be overlooking, carelessness, driving operation delay, unconscious driving operation, and the like. In this case, the category of the driving support control includes improvement of brake responsiveness, improvement of notification sensitivity of the vehicle to the front and rear, reduction of steering responsiveness, reduction of driving force responsiveness, and the like.

[0168] As the stimulus application, it is possible to consider the same stimulus category as in the case of drowsiness or fatigue.

[0169] Note that, Figure 7 It is shown that "state notification" is performed in any emotion or situation, which means that the emotion or situation is notified by the notification device 7.

[0170] <Effects of Embodiments>

[0171] As described above, the driving support device 2 of the present embodiment performs the following processing: emotion determination processing of determining the emotion of the driver based on the acquired detection information; support determination processing of determining whether or not the driver is in a state in which driving support is needed; support category determination processing of determining the category of the driving support according to the determined emotion when the driving support is needed; and support execution control processing of executing the determined category of the driving support.

[0172] Thereby, when it is determined that the driver is not calmly focused on driving, in an emotional state in which driving support is needed, appropriate driving support is executed according to the emotion. Therefore, it is possible to improve the safety when the emotion of the driver becomes unsuitable for driving.

[0173] In particular, the processing of the present embodiment does not only determine the state of the driver's wakefulness. As the state of wakefulness, even if the cognitive state is normal, the driving behavior is affected by the level of driving attention under the influence of the emotion. For example, the brake operation is delayed, the accelerator operation and the steering are rougher than usual. In the present embodiment, in correspondence with these, support corresponding to the emotion can be provided.

[0174] When the driving support is needed, the driving support device 2 of the present embodiment performs notification control processing to perform notification corresponding to the determined emotion to the driver.

[0175] By notifying the determined emotional state of the driver, the driver can be aware that his or her emotion is not normal. Thereby, it is possible to arouse the driver's awareness of calmly focusing on driving.

[0176] As described in the process in the second embodiment, the driving support device 2 executes the stimulus category determination process of determining the category of the stimulus in accordance with the determined emotion when driving support is required, and executes the stimulus execution control process of providing the determined category of the stimulus to the driver.

[0177] In accordance with the determined emotional state of the driver, appropriate stimulus, such as slight stress corresponding to the emotion, is applied to the driver. Thereby, activation of the driver's brain can be promoted, and the driver can be brought back to an emotional state in which safe driving is possible.

[0178] In the support determination process, the driving support device 2 of the embodiment executes a process of comparing the acquired detection information with the set allowable information, and determining whether it is a state in which driving support is required using the comparison result.

[0179] The threshold values of various detection information in the normal state of the driver are set as the allowable information, and compared with the various detection information during driving. Thereby, it is possible to more accurately determine whether the driver is in a normal emotional state in which safe driving is possible or in a state in which driving support is required.

[0180] In the embodiment, the driving support device 2 executes a process of updating the allowable information in accordance with the learning process for each driver.

[0181] Since there are individual differences in the allowable information, the detection information in the normal emotional state is learned for each driver, and the allowable information is updated. Thereby, it is possible to perform emotion determination that reflects individual differences.

Claims

1. A driving support device comprising: 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, the instructions causing the one or more processors to execute: an emotion determination process of determining an emotion of a driver based on acquired detection information; a support determination process of determining whether the driver is in a state requiring driving support; a support category determination process of determining a category of driving support in accordance with the determined emotion when the driving support is required; and a support execution control process of executing the determined category of driving support. The instructions cause the one or more processors to execute a notification control process of performing notification to the driver corresponding to the determined emotion when the driving support is required.

2. The driving support apparatus according to claim 1, wherein The instructions cause the one or more processors to execute:

3. The driving support apparatus according to claim 1, wherein a stimulus category determination process of determining a category of stimulus in accordance with the determined emotion when the driving support is required; a stimulus execution control process of executing a stimulus application action of providing the determined category of stimulus to the driver. In the support determination process, the instructions cause the one or more processors to execute a process of comparing the acquired detection information with set allowable information, and determining whether it is the state requiring the driving support using a result of the comparison.

4. The driving support apparatus according to any one of claims 1 to 3, wherein The instructions cause the one or more processors to execute a process of updating the allowable information for each driver in accordance with a learning process.

5. The driving support apparatus according to claim 4, wherein ​

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