Vehicle operation support system

Abstract

To provide a vehicle operation support system 10 in which a driver can obtain an effect as if a passenger existed even when no man rides on a vehicle except the driver.SOLUTION: A vehicle operation support system 10 comprises: a display part 14 which displays a character V disposed in a virtual three-dimensional space S; first character control means which controls, when an own vehicle is in a condition of the own vehicle where avoidance is not required, behavior of the character V in a first behavior pattern that autonomously moves in the virtual three-dimensional space S; second character control means which controls, when the own vehicle safely avoids the condition of the own vehicle where avoidance is required through driving operation of a driver, the behavior of the character V in a third behavior pattern that moves to a near side of the virtual three-dimensional space S; and third character control means which controls, when the own vehicle cannot avoid safely the condition of the own vehicle where avoidance is required, the behavior of the character V in a fourth behavior pattern that substantially changes the shape relative to the first behavior pattern.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a vehicle driving assistance system that provides a driver with audio guidance based on, for example, the running behavior of a vehicle and the situation around the vehicle, thereby assisting the driver in driving operations. [Background technology]

[0002] In automobiles and other vehicles, known vehicle driving assistance systems that assist the driver in driving operations include, for example, advanced driving assistance systems that partially intervene in the driver's driving operations, and autonomous driving systems that take over driving operations from the driver under certain conditions and perform autonomous driving.

[0003] In such vehicle driving assistance systems, various types of guidance based on the situation around the vehicle, and guidance for transferring driving operations between the driver and the vehicle, are communicated not only through voice and text but also through a character that is an avatar of the vehicle.

[0004] For example, in Patent Document 1, when information to alert the driver is displayed on a display unit, the movement of an autonomously moving character displayed on the display unit is made prominent to draw the driver's attention to the display unit.

[0005] Incidentally, in vehicles such as automobiles, when there are passengers other than the driver, the driver's mentalizing, which involves paying attention to and understanding the psychological states of the driver and others, can lead to safer driving, resulting in a lower accident rate than when there are no passengers, a phenomenon known as the passenger effect.

[0006] However, since there is not necessarily always a passenger other than the driver in the vehicle, there is a problem in that it is difficult to obtain the passenger effect when there is no passenger present. Therefore, it is possible to consider having the character displayed on the display unit function as a passenger, but for example, with a character intended to make the information displayed on the display unit stand out, as in Patent Document 1, there is a risk that the driver will not fully recognize the character as a passenger, and the passenger effect cannot be expected. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 2018-197054 Summary of the Invention [Problem to be solved by the invention]

[0008] In view of the above-mentioned problems, an object of the present invention is to provide a vehicle driving assistance system that can provide a passenger effect even when no passenger other than the driver is in the vehicle. [Means for solving the problem]

[0009] The present invention is a vehicle driving assistance system comprising: a host vehicle situation detection means for detecting the host vehicle situation based on the vehicle's driving behavior and the situation around the host vehicle; and a voice guidance means for notifying the driver of the vehicle of voice guidance for an avoidance operation based on the host vehicle situation detected by the host vehicle situation detection means, the system comprising: a driving operation detection means for detecting the driving operation of the driver; a vehicle control means for controlling the vehicle's driving behavior by intervening in the driving operation by the driver based on the host vehicle situation; a display unit that is arranged in a three-dimensional virtual space and displays a character that embodies a pseudo-psychological state; and a display unit that autonomously moves within the three-dimensional virtual space when the host vehicle situation does not require an avoidance operation. a first character control means for controlling the behavior of the character with a first emotional expression behavior in which the size and shape of the character repeatedly change minutely while moving; a second character control means for controlling the behavior of the character with a second emotional expression behavior in which the character moves forward in the depth direction of the three-dimensional virtual space if the host vehicle situation requiring avoidance can be safely avoided by the driver's driving operation based on the voice guidance of the avoidance operation; and a third character control means for controlling the behavior of the character with a third emotional expression behavior in which the shape changes more greatly than the first emotional expression behavior if the host vehicle situation requiring avoidance cannot be safely avoided by the driver's driving operation based on the voice guidance of the avoidance operation.

[0010] The character refers to an object of a three-dimensional shape or a two-dimensional image displayed on the display unit, an avatar that is an incarnation of the vehicle, or an anthropomorphic character. The situation of the subject vehicle requiring avoidance means, for example, a situation in which the distance between the vehicle and the vehicle in front is too close and an avoidance operation is required to increase the distance, a situation in which the driver needs to operate the vehicle to change lanes due to a narrowing of the road width while driving assisted to follow the vehicle in front or the driving lane, or a situation in which the driver needs to perform an emergency avoidance operation when another vehicle suddenly cuts in front of the subject vehicle.

[0011] The inability to safely avoid the host vehicle situation that requires avoidance means that the host vehicle situation that requires avoidance cannot be safely avoided even if the vehicle's driving behavior is controlled by partially intervening in the driver's driving operation, or that the host vehicle situation that requires avoidance cannot be safely avoided because the driver's driving operation is dangerous.

[0012] According to this invention, the driver can recognize a character in a three-dimensional virtual space as a passenger, thereby improving the driver's mentalizing, and therefore the passenger effect can be obtained even when there are no passengers other than the driver on board.

[0013] Specifically, when the vehicle situation does not require avoidance, the character moves autonomously through the three-dimensional virtual space, and by performing a first emotional expression action in which the size and shape repeatedly change slightly, the character can move with initiative, like a pet dog moving around freely.

[0014] On the other hand, if the driver can safely avoid a situation requiring avoidance through driving operations based on the voice guidance for the avoidance operation, the character can embody a pseudo-psychological state, such as joy or gratitude toward the driver's actions, by performing a second emotional expression action of moving toward the front in the depth direction of the three-dimensional virtual space.

[0015] Alternatively, if the vehicle cannot safely avoid a situation that requires avoidance, the character can embody a pseudo-psychological state of being confused about the avoidance situation, for example, by using a third emotional expression action that changes its shape more significantly than the first emotional expression action.

[0016] In this way, the vehicle driving assistance system can give the character the ability to express emotions towards the driver by having the character move autonomously in normal times when the vehicle's situation does not require avoidance, but by having the character act in a manner based on the vehicle's situation requiring avoidance.

[0017] Furthermore, since the character moves at a different timing than when, for example, voice guidance for evasive maneuvers is announced, the vehicle driving assistance system can make the driver recognize the character's movements as an emotional expression directed at the driver, rather than movements corresponding to voice guidance for evasive maneuvers.

[0018] This allows the vehicle driving assistance system to improve the driver's mentalizing, as the character in the three-dimensional virtual space becomes more easily recognized by the driver as a passenger in the vehicle. Therefore, the vehicle driving assistance system can obtain the passenger effect even when there is no passenger other than the driver on board.

[0019] As an aspect of the present invention, a fourth character control means may be provided which, when the driver's driving operation is able to avoid the vehicle situation requiring emergency avoidance, controls the character's behavior with a fourth emotional expression behavior that changes shape faster and more significantly than the third emotional expression behavior.

[0020] According to this configuration, the fourth emotional expression action can embody the simulated psychological state of the character who is surprised by the driver's driving operation to avoid an emergency, thereby further endowing the character with the ability to express emotions toward the driver and allowing the character to behave as a passenger who sympathizes with the driver's psychological state.

[0021] This allows the vehicle driving assistance system to make the driver recognize the character in the three-dimensional virtual space as a passenger, thereby improving the driver's mentalizing and improving the passenger effect.

[0022] In another aspect of the present invention, the third character control means may be configured to control the behavior of the character with the third emotional expression behavior when the vehicle situation requiring avoidance cannot be safely avoided by controlling the vehicle using the vehicle control means.

[0023] With this configuration, for example, when the driver is required to perform an evasive maneuver during driving assistance, the third emotional expression action can embody the simulated psychological state of the character asking the driver for help, thereby improving the character's ability to express emotions toward the driver.

[0024] This allows the vehicle driving assistance system to reliably allow the driver to recognize the character in the three-dimensional virtual space as a passenger, thereby improving the driver's mentalizing and improving the passenger effect.

[0025] In another aspect of the present invention, the third character control means may be configured to control the behavior of the character with the third emotional expression behavior when the driver's driving operation is unable to safely avoid the vehicle situation that requires avoidance.

[0026] According to this configuration, the third emotional expression action can embody the simulated psychological state of the character who is confused that the driver's driving operation is not an operation that safely avoids the vehicle situation, thereby improving the character's ability to express emotions toward the driver.

[0027] This allows the vehicle driving assistance system to reliably allow the driver to recognize the character in the three-dimensional virtual space as a passenger, thereby improving the driver's mentalizing and improving the passenger effect.

[0028] As another aspect of the present invention, the game device may further comprise a voice information output means for reporting voice information based on the vehicle status detected by the vehicle status detection means in association with the action of the character. As another aspect of the present invention, the game device may further comprise character information output means for outputting character information based on the vehicle status detected by the vehicle status detection means to the display unit in association with the character's actions.

[0029] According to this configuration, not only can the character's pseudo-psychological state be embodied according to the vehicle situation, but the character's pseudo-psychological state can also be expressed using audio or text information, thereby further improving the character's ability to express emotions toward the driver.

[0030] This allows the vehicle driving assistance system to reliably allow the driver to recognize the character in the three-dimensional virtual space as a passenger, thereby improving the driver's mentalizing and improving the passenger effect. [Effects of the Invention]

[0031] The present invention can provide a vehicle driving assistance system that can provide the passenger effect even when there is no passenger other than the driver on board. [Brief explanation of the drawings]

[0032] [Figure 1] FIG. 2 is a front view showing the exterior of the vehicle driving assistance system as seen from inside the vehicle cabin. [Figure 2] FIG. 1 is a block diagram showing the internal configuration of a vehicle driving assistance system. [Figure 3] FIG. 3 is an explanatory diagram illustrating an outline of a character displayed on a display unit. [Figure 4] FIG. 1 is an explanatory diagram illustrating an outline of the passenger effect in the present invention. [Figure 5] FIG. 2 is a schematic explanatory diagram illustrating an outline of speech and behavior data. [Figure 6] 10 is a flowchart showing the processing operation of the ECU regarding the behavior and speech of a character. [Figure 7] 10 is a flowchart showing an emotional expression control process. [Figure 8] FIG. 10 is an explanatory diagram illustrating the behavior of characters. [Figure 9] FIG. 10 is an explanatory diagram illustrating the behavior of characters. [Figure 10] FIG. 10 is an explanatory diagram illustrating the behavior of characters. DETAILED DESCRIPTION OF THE INVENTION

[0033] An embodiment of the present invention will be described below with reference to the drawings. In this embodiment, a vehicle driving assistance system 10 that provides a driver with voice guidance based on the driving behavior of a vehicle 1 and the situation around the vehicle, thereby assisting the driver in driving operations, will be described with reference to FIGS. 1 to 5.

[0034] Note that Figure 1 shows a front view of the vehicle driving assistance system 10 as seen from inside the cabin of the vehicle 1, Figure 2 shows a block diagram of the vehicle driving assistance system 10, and Figure 3 shows an explanatory diagram outlining the character V displayed on the display unit 14. Furthermore, FIG. 4 shows an explanatory diagram outlining the passenger effect in the present invention, and FIG. 5 shows a schematic explanatory diagram outlining the speech and behavior data 27.

[0035] First, as shown in FIG. 1, the interior of a vehicle 1 is provided with an instrument panel 2 extending in the vehicle width direction (reference numerals omitted), and a center console 3 extending from approximately the center of the instrument panel 2 in the vehicle width direction toward the rear of the vehicle. Furthermore, the vehicle 1 is provided with a steering wheel 4 in the cabin, which is disposed in front of a driver's seat (not shown) and receives steering operations from a passenger seated in the driver's seat.

[0036] As shown in FIG. 2, the vehicle driving assistance system 10 in such a vehicle 1 includes an engine 11, a brake device 12, and a steering device 13 arranged outside the vehicle cabin, a display unit 14 provided at approximately the center of the instrument panel 2 in the vehicle width direction, and a speaker 15 arranged inside the vehicle cabin.

[0037] Furthermore, as shown in FIG. 2, the vehicle driving assistance system 10 is equipped with an accelerator opening sensor 16, a brake pedal stroke sensor 17, a vehicle speed sensor 18, a steering angle sensor 19, an acceleration sensor 20, and a yaw rate sensor 21 for detecting the driving behavior of the vehicle.

[0038] In addition, as shown in FIG. 2, the vehicle driving assistance system 10 includes an exterior camera 22 and a millimeter wave radar 23 for acquiring information about the area in front of the vehicle, an interior camera 24 and a microphone 25 for detecting the driver's condition, and an electronic control unit (EC) for controlling the operation of each of the above-mentioned components. The ECU 26 is a control unit (hereinafter referred to as "ECU") that controls the speed of the vehicle.

[0039] More specifically, the engine 11 is made up of an engine body (details of which are omitted from the drawings) and a fuel injection device that supplies fuel to the engine body. The engine output and engine speed of the engine 11 are controlled based on an output signal from the ECU 26.

[0040] The braking device 12 is composed of a brake caliper, a brake actuator, etc., which are not shown in detail. The braking device 12 is controlled to generate a braking force based on an output signal from the ECU 26.

[0041] The steering device 13 is composed of the above-mentioned steering wheel 4, an electric motor (not shown) that assists the driver in steering, etc. The steering device 13 is controlled to change the traveling direction of the vehicle based on an output signal from the ECU 26.

[0042] The display unit 14 is configured, for example, with a liquid crystal display, and has a function of displaying various information to a passenger, such as a driver, seated in the driver's seat, based on control signals from the ECU 26. For example, as shown in Fig. 1, the display unit 14 displays a character V that communicates with the driver as an incarnation of the vehicle 1.

[0043] The speaker 15 is disposed in the vehicle cabin and has a function of outputting a warning sound or voice based on a notification signal from the ECU 26 to notify the occupants. For example, the speaker 15 outputs voice information associated with the action of the character V.

[0044] The accelerator position sensor 16 is a sensor that is integrally provided on an accelerator pedal operated by the driver. The accelerator position sensor 16 has a function of detecting the displacement angle of the accelerator pedal caused by the driver's operation and a function of outputting the detected displacement angle to the ECU 26 as an accelerator position signal.

[0045] The brake pedal stroke sensor 17 is a sensor that is integrally provided on the brake pedal operated by the driver. The brake pedal stroke sensor 17 has a function of detecting the displacement angle of the brake pedal operated by the driver and a function of outputting the detected displacement angle to the ECU 26 as a brake signal.

[0046] The vehicle speed sensor 18 also has a function of detecting the rotation speed of a drive shaft connected to the wheels, for example, and a function of outputting the detected rotation speed to the ECU 26 as a rotation speed signal. The steering angle sensor 19 has a function of detecting the steering angle of the steering wheel 4 operated by the driver, and a function of outputting the detected steering angle to the ECU 26 as a steering angle signal.

[0047] In addition, the acceleration sensor 20 is arranged, for example, inside the center console 3, and has the function of detecting the longitudinal acceleration along the fore-and-aft direction of the vehicle 1 and the lateral acceleration along the width direction of the vehicle 1, and the function of outputting the detected longitudinal acceleration and lateral acceleration to the ECU 26 as acceleration signals.

[0048] The yaw rate sensor 21 is disposed, for example, inside the center console 3, and has a function of detecting the yaw rate of the vehicle 1 and a function of outputting the detected yaw rate to the ECU 26 as a yaw rate signal. The exterior camera 22 is disposed, for example, above the front windshield on the passenger compartment side, and has the function of capturing images in front of the vehicle and the function of outputting the captured video images to the ECU 26 .

[0049] The millimeter-wave radar 23 is disposed, for example, in the front bumper, and has the functions of emitting millimeter waves as irradiated waves in front of the vehicle, receiving reflected waves reflected by preceding vehicles, parked vehicles, pedestrians, etc., and outputting information obtained from the irradiated waves and reflected waves to the ECU 26 as a radar signal.

[0050] 1, the in-vehicle camera 24 is mounted on the instrument panel 2 or a front pillar (reference numeral omitted) facing the driver seated in the driver's seat. The in-vehicle camera 24 has a function of capturing an image of the driver seated in the driver's seat, focusing on the head, and a function of outputting the captured video to the ECU 26.

[0051] In addition, the microphone 25 is arranged on the top of the column cover (reference numeral omitted), for example, as shown in FIG. 1, and has the function of detecting the voice emitted by the driver seated in the driver's seat and the function of outputting the detected voice to the ECU 26 as an audio signal.

[0052] The ECU 26 is made up of hardware components such as a CPU, a memory, and a storage unit for storing various types of information, and software components such as programs and data. This ECU 26 has the function of acquiring various signals output by the above-mentioned sensors, the exterior camera 22, the millimeter-wave radar 23, the interior camera 24, and the microphone 25, and the function of performing various information processing based on the acquired signals. Furthermore, the ECU 26 has a function of controlling the operation of the display unit 14 and the speaker 15 , and a function of controlling the operation of the engine 11 , the brake device 12 and the steering device 13 .

[0053] More specifically, the ECU 26 realizes the function of detecting the driving behavior of the vehicle 1 in cooperation with the accelerator opening sensor 16, the brake pedal stroke sensor 17, the vehicle speed sensor 18, the steering angle sensor 19, the acceleration sensor 20, and the yaw rate sensor 21.

[0054] Furthermore, the ECU 26 cooperates with the accelerator opening sensor 16, the brake pedal stroke sensor 17, and the steering angle sensor 19 to realize a function of detecting driving operations by the driver.

[0055] In addition, the ECU 26 has the function of identifying the situation in front of the vehicle in cooperation with the exterior camera 22 and millimeter-wave radar 23, and the function of identifying the driver seated in the driver's seat and identifying the driver's condition in cooperation with the interior camera 24 and microphone 25.

[0056] Such an ECU 26 is configured to warn the driver and notify them of driving assistance interventions based on the driving behavior and the situation ahead of the vehicle through the words and actions of a character V displayed on the display unit 14 and voice guidance via a speaker 15, and to control the operation of the engine 11, braking device 12, and steering device 13 to provide driving assistance that assists the driver in driving operations.

[0057] The character V is an alter ego of the vehicle 1 with simulated emotions set thereon, and is controlled by the ECU 26 to behave differently depending on the running behavior and the situation ahead of the vehicle. Specifically, as shown in FIG. 3, the character V is a three-dimensional model placed in a three-dimensional virtual space S, and is formed in the shape of a teardrop lying on its side.

[0058] In other words, the character V is formed in a shape in which a substantially spherical body and a tapered tail extending from the substantially spherical body are integrally formed. The roughly spherical part of the teardrop-shaped character V lying on its side is the front side of the character V, and the tail part extending from the roughly spherical part is the rear side of the character V.

[0059] Furthermore, character V is controlled by ECU 26 to perform actions that combine scaling in size, deformation in shape, and movement within the three-dimensional virtual space S based on the driving behavior and the situation in front of the vehicle, thereby embodying a pseudo-psychological state of character V toward the driver.

[0060] By embodying this pseudo-psychological state of character V toward the driver through the movements of character V, the vehicle driving assistance system 10 of this embodiment makes the driver recognize character V as a passenger, thereby achieving the passenger effect even when there are no passengers other than the driver on board.

[0061] In more detail, the applicant has conducted various experiments and verifications and found that when there are passengers other than the driver in the vehicle, the driver recognizes the passengers as "passengers" by perceiving the passengers' agency and ability to express emotions.

[0062] Furthermore, according to the applicant, the passenger's recognition activates the driver's mPFC (medial prefrontal cortex), which is thought to improve the driver's mentalizing and result in the passenger effect.

[0063] Therefore, the present invention invented by the applicant allows the driver to recognize character V as a passenger by controlling the movement of character V displayed on display unit 14 so that the driver perceives character V as having agency and the ability to express emotions, as shown in Figure 4.

[0064] For example, when a traffic jam ahead of the vehicle clears and the vehicle speed begins to increase, the present invention controls the movement of character V to make it appear as if the character is happy that the traffic jam has cleared, as input information to the driver, thereby making the driver recognize character V as a passenger.

[0065] As a result, the present invention activates the driver's mPFC (medial prefrontal cortex) in the same way as when there is a passenger other than the driver in the vehicle, thereby improving the driver's mentalization. In this way, the present invention indirectly inputs changes in the surrounding situation of the vehicle 1 to the driver through the movement of the character V, and also encourages the driver to drive safely and independently, thereby achieving the passenger effect.

[0066] In order to obtain the passenger effect from the movement of the character V, the ECU 26 stores speech and behavior data 27 in which the lines and actions of the character V are registered, as shown in FIG.

[0067] As shown in Figure 5, the speech and behavior data 27 is composed of a classification column indicating the classification of the simulated psychological state of character V, a movement pattern column indicating the type of movement of character V toward the driver, and a lines column indicating a message to the driver. In this speech and behavior data 27, the classification of the simulated psychological state in the classification column, the movement of the character V in the action pattern column, and the message in the dialogue column are registered in association with each other.

[0068] Furthermore, although not shown in detail, flags indicating the vehicle situation, such as the driving behavior and the situation ahead of the vehicle, are added to the speech data 27 in association with the messages in the dialogue column. In addition, even if the type of movement of the character V is the same, different messages are registered in the speech and behavior data 27 depending on the situation of the host vehicle, such as the driving behavior and the situation ahead of the host vehicle.

[0069] Specifically, as shown in Figure 5, the speech and behavior data 27 has four categories registered in the classification column as classifications of the simulated psychological states of character V toward the driver: "Waiting," which indicates waiting for a change in the vehicle's situation or a call from the driver; "Happiness / Gratitude," which indicates joy and gratitude toward the driver; "Confused," which indicates confusion about the vehicle's situation; and "Surprised," which indicates surprise about the vehicle's situation.

[0070] Furthermore, in the speech and behavior data 27, the "first movement pattern" described below is registered in the movement pattern column as the movement of character V corresponding to "waiting" in the classification column, and "(no lines)", indicating silence, is registered in association with the lines column as a message for character V moving in the "first movement pattern".

[0071] Furthermore, in the speech and behavior data 27, the "second movement pattern" and "third movement pattern" described below are registered in the movement pattern column as movements of character V corresponding to "joy / gratitude" in the classification column, and different messages depending on the driving behavior and the situation in front of the vehicle are registered in association with the dialogue column as messages of character V moving in the "second movement pattern" or "third movement pattern."

[0072] For example, in the speech and behavior data 27, a welcome message such as "Hello! Let's go for a drive together!" is registered as a message for character V operating in the "second behavior pattern," and a thank-you message such as "Thank you for helping me" is registered as a message for character V operating in the "third behavior pattern."

[0073] In addition, in the speech and behavior data 27, the "fourth movement pattern" described below is registered in the movement pattern column as the movement of character V corresponding to "confusion" in the classification column, and different messages depending on the driving behavior and the situation in front of the vehicle are registered in association with the dialogue column as messages of character V moving in the "fourth movement pattern."

[0074] For example, the speech and behavior data 27 includes messages for character V operating in the "fourth behavior pattern," such as a message asking the driver for help, "There is construction ahead, so I need help changing lanes," and a message requesting the driver, "Please keep a safe distance from the vehicle ahead."

[0075] In addition, the message of character V operating in the "fourth movement pattern" also includes "(no dialogue)" so that the driver does not feel that their driving operation is being denied by the message directed at the driver.

[0076] Furthermore, in the speech and behavior data 27, the "fifth movement pattern" described below is registered in the movement pattern column as a movement of character V corresponding to "surprise" in the classification column, and different messages depending on the driving behavior and the situation in front of the vehicle are registered in association with the dialogue column as messages of character V moving in the "fifth movement pattern."

[0077] For example, the speech and behavior data 27 includes a message registered for character V operating in the "fifth behavior pattern," such as "I was surprised, and my heart is still beating hard," which sympathizes with the driver's psychological state.

[0078] Here, the above-mentioned movements of the character V, ie, the "first movement pattern," "second movement pattern," "third movement pattern," "fourth movement pattern," and "fifth movement pattern," will be explained.

[0079] First, the first movement pattern is a movement in which the character V autonomously floats in the three-dimensional virtual space S, like a dog or cat moving freely around in a predetermined space. At this time, the character V moves in the three-dimensional virtual space S with a predetermined movement characteristic, while its size is slightly enlarged or reduced by 1 / f fluctuation, and its shape is also slightly changed by 1 / f fluctuation.

[0080] The predetermined movement characteristics include, for example, one or more of the following: goal directionality, which means moving in a straight line towards a target point; finality, which means moving along a different path each time when moving towards a target point; self-propulsion, which means moving without the influence of an external force; and violation of the laws of physics, which means moving in a way that ignores the laws of physics.

[0081] The second movement pattern is a movement in which the character V repeatedly moves up and down within the three-dimensional virtual space S, as if jumping up and down to welcome the driver's action (see FIG. 8(a)). At this time, the character V repeatedly moves up and down within the three-dimensional virtual space S with the approximately spherical portion facing the driver.

[0082] In addition, the third movement pattern is a movement in which the character V moves toward the driver in the depth direction of the three-dimensional virtual space S as seen from the driver, for example, running up to the driver to express joy or gratitude (see Figure 8(b)). At this time, the character V moves toward the front side of the three-dimensional virtual space S so that the approximately spherical portion faces the driver.

[0083] In addition, the fourth movement pattern is a movement in which the character V deforms by embracing the approximately spherical part with a greater deformation amount than the first movement pattern, as if holding his head in confusion at the situation of the vehicle or the driver's actions (see Figure 9(a)). Specifically, when the approximately spherical portion of the character V faces the driver, the character V repeatedly deforms so as to embrace the approximately spherical portion with multiple protrusions protruding radially from the approximately spherical portion.

[0084] The fifth movement pattern is a movement in which the character V repeatedly performs a larger deformation than the fourth movement pattern at a faster deformation speed than the fourth movement pattern, as if surprised by the situation of the vehicle or the driver's actions, for example (see Figure 10). Specifically, when the approximately spherical portion of the character V faces the driver, the character V deforms by repeatedly expanding and contracting multiple needle-like protrusions that protrude radially from the approximately spherical portion.

[0085] Next, the processing operation of the ECU 26 in the vehicle driving assistance system 10 having the above-described configuration will be described with reference to FIGS. 6 shows a flowchart of the processing operation of the ECU 26 regarding the behavior of the character V, FIG. 7 shows a flowchart of the emotional expression control process, and FIGS. 8, 9 and 10 show explanatory diagrams for explaining the behavior of the character V.

[0086] First, when power is supplied to the ECU 26 from the battery, the ECU 26 executes a predetermined program stored therein and starts a processing operation for controlling the behavior and speech of the character V. The ECU 26, which has started the processing operation for controlling the behavior of the character V, identifies the driver seated in the driver's seat based on the video image from the in-vehicle camera 24 and the audio signal from the microphone 25, as shown in FIG. 6 (step S101).

[0087] After identifying the driver, the ECU 26 displays the character V placed in the three-dimensional virtual space S on the display unit 14 inside the vehicle cabin (step S102), and then controls the behavior of the character V in the three-dimensional virtual space S using a second movement pattern for a predetermined period of time (step S103). As a result, the ECU 26 embodies the pseudo-psychological state of the character V welcoming the driver seated in the driver's seat.

[0088] At this time, the ECU 26 extracts from the speech and behavior data 27 messages associated with the second behavior pattern based on the flags attached to the messages in the speech and behavior data 27. Furthermore, the ECU 26 displays the extracted message on the display unit 14 by superimposing it on the three-dimensional virtual space S, and outputs the extracted message to the speaker 15 as the lines of the character V associated with the character V's actions.

[0089] For example, as shown in Figure 8(a), ECU 26 outputs to display unit 14 a character V moving in a second movement pattern such as jumping around in the three-dimensional virtual space S, and a message extracted from speech and behavior data 27 saying, "Hello! Let's go for a drive together!"

[0090] After that, the ECU 26 determines whether or not a predetermined time has elapsed since the character V started moving in the second movement pattern (step S104). If the time elapsed since the start of operation in the second operation pattern has not yet reached the predetermined time (step S104: No), the ECU 26 puts the process on hold until the predetermined time has elapsed since the start of operation in the second operation pattern.

[0091] On the other hand, if the elapsed time since the start of operation in the second operation pattern has exceeded a predetermined time (step S104: Yes), ECU 26 controls the behavior and speech of character V in the three-dimensional virtual space S using the first operation pattern (step S105), entering a standby state in which the vehicle waits for a change in the vehicle's situation or a call from the driver.

[0092] At this time, since the message associated with the first movement pattern of the speech and behavior data 27 is "(no dialogue)", the ECU 26 does not display the message on the display unit 14 or output it to the speaker 15, and only displays the character V, which moves as if floating in the three-dimensional virtual space S, on the display unit 14.

[0093] Thereafter, the ECU 26 determines whether the vehicle is currently moving or not based on the accelerator opening signal from the accelerator opening sensor 16 and the rotation speed signal from the vehicle speed sensor 18 (step S106).

[0094] If the current vehicle status is not moving (step S106: No), the ECU 26 returns the process to step S105 and repeats the processes from step S105 to step S108 (described later) until the supply of electric power is interrupted.

[0095] On the other hand, if the current vehicle situation is that the vehicle is moving (step S106: Yes), the ECU 26 determines whether the current vehicle situation is safe or not based on the vehicle behavior and the situation ahead of the vehicle (step S107). Specifically, the ECU 26 detects the driving behavior based on various signals from the accelerator opening sensor 16 , the brake pedal stroke sensor 17 , the vehicle speed sensor 18 , the steering angle sensor 19 , the acceleration sensor 20 and the yaw rate sensor 21 .

[0096] Furthermore, the ECU 26 detects the situation ahead of the vehicle based on video images from the exterior camera 22 and radar signals from the millimeter-wave radar 23, and then determines whether the current vehicle situation is safe or not based on the driving behavior and the situation ahead of the vehicle.

[0097] For example, the ECU 26 determines that the current vehicle situation is unsafe when driving assistance is required, such as providing operational guidance to avoid the current vehicle situation or partially intervening in the driver's driving operation.

[0098] Alternatively, when the ECU 26 is controlling the driving behavior of the vehicle 1 by partially intervening in the driver's driving operations, such as during driving assistance to follow the vehicle in front or the lane, and assistance from the driver's driving operations is required, the ECU 26 determines that the current vehicle situation is unsafe.

[0099] Alternatively, the ECU 26 determines that the current vehicle situation is unsafe when there is not enough time to provide guidance on avoidance operations to avoid the current vehicle situation, such as when another vehicle suddenly cuts in front of the vehicle, and emergency avoidance is required through an avoidance operation by the driver.

[0100] If the current vehicle situation is safe (step S107: Yes), the ECU 26 returns the process to step S105 and repeats the processes from step S105 to step S108, which will be described later, until the supply of electric power is interrupted.

[0101] On the other hand, if the current vehicle situation is not safe (step S107: No), ECU 26 starts an emotional expression control process to control the character V, which moves autonomously in the three-dimensional virtual space S using a first movement pattern, to express emotions using a movement pattern according to the current vehicle situation (step S108).

[0102] When the emotional expression control process is started, as shown in FIG. 7, the ECU 26 determines whether the current vehicle situation is one in which driving assistance is required, whether the current vehicle situation is one in which driving assistance is being performed, or whether a vehicle situation requiring emergency avoidance has been avoided by the driver's driving operation (step S111).

[0103] In step S111, if the current vehicle situation requires driving assistance (step S111:1), ECU 26 determines whether or not there is enough time to provide driving assistance by providing voice guidance regarding driving operations, as shown in FIG. 7 (step S112).

[0104] If driving assistance by audio guidance can be provided in time (step S112: Yes), the ECU 26 provides audio guidance regarding driving operations required to avoid the current vehicle situation to the driver via the speaker 15 (step S113).

[0105] Thereafter, the ECU 26 determines whether the situation requiring avoidance of the host vehicle has been safely avoided by the driver's appropriate driving operation in accordance with the voice guidance (step S114).

[0106] If the driver's appropriate driving operation allows the vehicle to safely avoid a situation that requires avoidance (step S114: Yes), ECU 26 controls the behavior and speech of character V, which moves autonomously in the three-dimensional virtual space S, using the third movement pattern for a predetermined period of time (step S115). As a result, the ECU 26 embodies the pseudo-psychological state of the character V who is grateful for the driver's action.

[0107] At this time, the ECU 26 extracts messages associated with the third operation pattern from the speech and behavior data 27 based on the current state of the vehicle and the flags attached to the messages in the speech and behavior data 27. Furthermore, the ECU 26 displays the extracted message on the display unit 14 by superimposing it on the three-dimensional virtual space S, and outputs the extracted message to the speaker 15 as the lines of the character V associated with the character V's actions.

[0108] For example, as shown in Figure 8(b), ECU 26 outputs to display unit 14 a character V moving in a third movement pattern in which the character V moves in the three-dimensional virtual space S toward the driver, and a message of gratitude such as "Thank you for helping me" extracted from speech and behavior data 27.

[0109] Thereafter, as shown in FIG. 7, the ECU 26 ends the emotional expression control process, proceeds to step S105 in FIG. 6, and then repeatedly performs the processes from step S105 to step S108, which will be described later, until the power supply is interrupted.

[0110] On the other hand, if driving assistance through voice guidance is not possible in time in step S112 (step S112: No), or if the vehicle is unable to safely avoid a situation that requires avoidance in step S114 (step S114: No), ECU 26 controls the behavior of character V, which moves autonomously in the three-dimensional virtual space S, using the fourth movement pattern for a predetermined period of time (step S116).

[0111] As a result, EUC 26 embodies the pseudo-psychological state of character V, who is confused about the situation of the vehicle or the driver's driving operations. At this time, the ECU 26 extracts from the speech and behavior data 27 "(no lines)" associated with the fourth action pattern based on the current situation of the vehicle and the flag attached to the message in the speech and behavior data 27.

[0112] Therefore, the ECU 26 does not display the message on the display unit 14 or output it to the speaker 15, but controls the movement of the character V on the display unit 14 in a fourth movement pattern that deforms by a larger amount than the first movement pattern.

[0113] For example, as shown in Figure 9(a), ECU 26 outputs to display unit 14 a character V moving in a fourth movement pattern in a three-dimensional virtual space S, in which the character V deforms in such a way that it embraces an approximately spherical portion with a larger deformation amount than the first movement pattern.

[0114] Thereafter, as shown in FIG. 7, the ECU 26 ends the emotional expression control process, proceeds to step S105 in FIG. 6, and then repeatedly performs the processes from step S105 to step S108, which will be described later, until the power supply is interrupted.

[0115] In addition, in step S111, if the current situation of the host vehicle is that driving assistance is being performed (step S111:2), the ECU 26 determines whether the current situation of the host vehicle is one in which assistance from the driver's driving operation is required (step S117), as shown in FIG. 7.

[0116] If the current vehicle situation does not require assistance from the driver's driving operation (step S117: No), ECU 26 terminates the emotional expression control process, proceeds to step S105 in FIG. 6, and then repeats the process from step S105 to step S108 described below until the power supply is interrupted.

[0117] On the other hand, if the situation requires assistance from the driver's driving operation (step S117: Yes), ECU 26 controls the behavior and speech of character V, which moves autonomously in the three-dimensional virtual space S, using the fourth movement pattern for a predetermined period of time, and issues audio guidance to the driver via speaker 15 requesting help (step S118). As a result, the ECU 26 embodies the pseudo-psychological state of the character V who is confused about the current situation of the vehicle and asks the driver for help.

[0118] At this time, the ECU 26 extracts from the speech and behavior data 27 a message associated with the fourth operation pattern based on the current state of the vehicle and the flag attached to the message in the speech and behavior data 27. Furthermore, the ECU 26 displays the extracted message on the display unit 14 by superimposing it on the three-dimensional virtual space S, and outputs the extracted message to the speaker 15 as the lines of the character V associated with the character V's actions.

[0119] For example, as shown in Figure 9(b), ECU 26 outputs to display unit 14 a character V moving in a fourth movement pattern in which the character V deforms in a manner that embraces the approximately spherical portion with a larger deformation amount than that of the first movement pattern, and a message of request to the driver extracted from speech and behavior data 27 saying, "There is construction ahead, so I need your help changing lanes."

[0120] Thereafter, as shown in FIG. 7, the ECU 26 proceeds to the above-mentioned step S114 to determine whether or not the host vehicle situation requiring avoidance has been safely avoided, and then proceeds to step S115 or step S116 to terminate the emotional expression control processing. Then, the ECU 26 advances the process to step S105 in FIG. 6, and then repeatedly performs the processes from step S105 to step S108, which will be described later, until the supply of electric power is interrupted.

[0121] Also, in step S111, if a vehicle situation requiring emergency avoidance is avoided by the driver's driving operation (step S111:3), the ECU 26 controls the behavior of the character V, which moves autonomously in the three-dimensional virtual space S, using a fifth movement pattern for a predetermined period of time, as shown in Figure 7 (step S119). As a result, the ECU 26 embodies the pseudo-psychological state of the character V who is surprised by the emergency avoidance.

[0122] At this time, the ECU 26 extracts messages associated with the fifth operation pattern from the speech and behavior data 27 based on the current state of the vehicle and the flags attached to the messages in the speech and behavior data 27. Furthermore, the ECU 26 displays the extracted message on the display unit 14 by superimposing it on the three-dimensional virtual space S, and outputs the extracted message to the speaker 15 as the lines of the character V associated with the character V's actions.

[0123] For example, as shown in Figure 10, ECU 26 outputs to display unit 14 a character V moving in a three-dimensional virtual space S in a fifth movement pattern that repeats a larger deformation than the fourth movement pattern at a faster deformation speed than the fourth movement pattern, and a message of surprise to the driver extracted from speech and behavior data 27, such as "That was a surprise, I'm still nervous."

[0124] Thereafter, as shown in FIG. 7, the ECU 26 ends the emotional expression control process, proceeds to step S105 in FIG. 6, and then repeatedly performs the processes from step S105 to step S108, which will be described later, until the power supply is interrupted.

[0125] In this way, the character V moves autonomously in the three-dimensional virtual space S in a behavior pattern that corresponds to the vehicle situation that requires avoidance, and the vehicle driving assistance system 10 gives the character V the ability to express emotions toward the driver, making it easier for the driver to recognize the character V as a passenger in the vehicle 1.

[0126] As described above, the vehicle driving assistance system 10 of this embodiment includes a vehicle situation detection means (ECU 26) that detects the vehicle situation based on the driving behavior of the vehicle 1 and the situation around the vehicle, and a voice guidance means (ECU 26 and speaker 15) that notifies the driver of the vehicle 1 of voice guidance for avoidance operations based on the vehicle situation detected by the vehicle situation detection means.

[0127] Furthermore, the vehicle driving assistance system 10 is equipped with a driving operation detection means (accelerator opening sensor 16, brake pedal stroke sensor 17, steering angle sensor 19 and ECU 26) that detects the driver's driving operation, and a vehicle control means (ECU 26) that intervenes in the driver's driving operation based on the vehicle situation and controls the driving behavior of the vehicle 1.

[0128] Furthermore, the vehicle driving assistance system 10 is equipped with a display unit 14 that is placed in a three-dimensional virtual space S and displays a character V that embodies a pseudo-psychological state, and a first character control means (ECU 26) that, when the vehicle situation does not require avoidance, controls the behavior of the character V in a first behavior pattern in which the size and shape repeatedly change slightly while autonomously moving in the three-dimensional virtual space S.

[0129] In addition, the vehicle driving assistance system 10 is equipped with a second character control means (ECU 26) that controls the movement of the character V in a third movement pattern of moving toward the front in the depth direction of the three-dimensional virtual space S when the vehicle situation requiring avoidance can be safely avoided by the driver's driving operation based on the voice guidance of the avoidance operation.

[0130] The vehicle driving assistance system 10 is equipped with a third character control means (ECU 26) that controls the behavior of the character V in a fourth movement pattern that changes shape more significantly than the first movement pattern when the vehicle cannot safely avoid a situation that requires avoidance.

[0131] According to this configuration, the driver can recognize the character V in the three-dimensional virtual space S as a passenger, improving the driver's mentalization, so that the passenger effect can be obtained even when there are no passengers other than the driver on board.

[0132] Specifically, when the vehicle situation does not require avoidance, the character V moves autonomously through the three-dimensional virtual space S using a first movement pattern in which its size and shape repeatedly change slightly, allowing it to move with initiative, like a pet dog moving around freely.

[0133] On the other hand, if the driver can safely avoid a situation requiring avoidance through driving operations based on voice guidance for avoidance operations, the character V can embody a pseudo-psychological state such as joy or gratitude toward the driver's actions through a third movement pattern in which the character V moves toward the front in the depth direction of the three-dimensional virtual space S.

[0134] Alternatively, if the vehicle cannot safely avoid a situation that requires avoidance, the character V can embody a pseudo-psychological state of being confused about the avoidance situation, for example, by using a fourth movement pattern that changes its shape more significantly than the first movement pattern.

[0135] In this way, the vehicle driving assistance system 10 can give the character V the ability to express emotions towards the driver by having the character V, which moves autonomously in normal times when the vehicle situation does not require avoidance, act in a manner based on the vehicle situation requiring avoidance.

[0136] Furthermore, since the character V moves at a timing different from the timing at which voice guidance for evasive maneuvers is announced, the vehicle driving assistance system 10 can make the driver recognize the movement of the character V as an emotional expression directed at the driver, rather than as a movement corresponding to the voice guidance for evasive maneuvers.

[0137] As a result, the vehicle driving assistance system 10 makes it easier for the driver to recognize the character V in the three-dimensional virtual space S as a passenger in the vehicle 1, thereby improving the driver's mentalizing. Therefore, the vehicle driving assistance system 10 can obtain the passenger effect even when there is no passenger other than the driver on board.

[0138] In addition, the vehicle driving assistance system 10 is equipped with a fourth character control means (ECU 26) that controls the behavior of character V in a fifth movement pattern that changes shape faster and more significantly than the fourth movement pattern when the driver is able to avoid a vehicle situation requiring emergency avoidance through driving operations.

[0139] According to this configuration, the fifth movement pattern can embody the simulated psychological state of character V who is surprised by the driver's driving operation to avoid an emergency, thereby further giving character V the ability to express emotions toward the driver and making character V behave as a passenger who sympathizes with the driver's psychological state.

[0140] As a result, the vehicle driving assistance system 10 allows the driver to recognize the character V in the three-dimensional virtual space S as a passenger, thereby improving the driver's mentalizing and improving the passenger effect.

[0141] Furthermore, the third character control means (ECU 26) is configured to control the behavior of the character V in the fourth behavior pattern when a situation requiring avoidance of the host vehicle cannot be safely avoided by controlling the vehicle 1 by the vehicle control means.

[0142] According to this configuration, for example, when the driver is required to perform an evasive maneuver during driving assistance, the fourth movement pattern can embody the simulated psychological state of character V asking the driver for help, thereby improving character V's ability to express emotions toward the driver.

[0143] As a result, the vehicle driving assistance system 10 can reliably allow the driver to recognize the character V in the three-dimensional virtual space S as a passenger, thereby improving the driver's mentalizing and improving the passenger effect.

[0144] Furthermore, the third character control means (ECU 26) is configured to control the behavior of the character V in the fourth behavior pattern when the host vehicle situation that requires avoidance cannot be safely avoided by the driver's driving operation.

[0145] According to this configuration, the fourth movement pattern can embody the simulated psychological state of character V, who is confused that the driver's driving operations are not operations that safely avoid the vehicle situation, thereby improving character V's ability to express emotions toward the driver.

[0146] As a result, the vehicle driving assistance system 10 can reliably allow the driver to recognize the character V in the three-dimensional virtual space S as a passenger, thereby improving the driver's mentalizing and improving the passenger effect.

[0147] The vehicle driving assistance system 10 also includes a voice information output means (ECU 26 and speaker 15) that notifies the driver of the lines of the character V based on the vehicle situation detected by the vehicle situation detection means in association with the character V's actions. The vehicle driving assistance system 10 also includes a character information output means (ECU 26) that outputs a message based on the vehicle status detected by the vehicle status detection means to the display unit 14 in association with the character V's actions.

[0148] According to this configuration, not only can the pseudo-psychological state of character V be embodied according to the vehicle situation, but the pseudo-psychological state of character V can also be expressed through the lines or messages of character V, thereby further improving character V's ability to express emotions toward the driver.

[0149] As a result, the vehicle driving assistance system 10 can reliably allow the driver to recognize the character V in the three-dimensional virtual space S as a passenger, thereby improving the driver's mentalizing and improving the passenger effect.

[0150] In correspondence between the configuration of this invention and the above-mentioned embodiment, The vehicle status detection means, vehicle control means, first character control means, second character control means, third character control means, fourth character control means and character information output means of the present invention correspond to the ECU 26 of the embodiment, Similarly, The voice guidance means and the voice information output means correspond to the speaker 15 and the ECU 26, The driving operation detection means corresponds to the accelerator opening sensor 16, the brake pedal stroke sensor 17, the steering angle sensor 19, and the ECU 26. the first emotional expression movement corresponds to a first movement pattern; The second emotional expression movement corresponds to the third movement pattern, The third emotional expression movement corresponds to the fourth movement pattern, The fourth emotional expression movement corresponds to the fifth movement pattern, The audio information corresponds to the lines of character V, The text information corresponds to the message, The present invention is not limited to the configurations of the above-described embodiments, and many other embodiments can be obtained.

[0151] For example, in the above-described embodiment, the character V displayed on the display unit 14 is a three-dimensional model in the shape of a teardrop lying on its side, but this is not limited to this, and the shape of the character V may be any suitable shape or design. Furthermore, instead of the three-dimensional model character V, a two-dimensional image character, an avatar or a personified character that personifies the vehicle 1, or the like may be displayed on the display unit 14.

[0152] Furthermore, the vehicle driving assistance system 10 is not limited to the configuration described above, and may include, for example, a camera, millimeter wave radar, or a sensor that detects the situation behind or to the sides of the vehicle. Furthermore, the vehicle driving assistance system 10 may include, for example, a navigation system, which assists the driver in driving operations based on the vehicle position and map data.

[0153] Furthermore, the speech and behavior data 27 shown in FIG. 5 is an example, and is not limited to this, and may have a configuration in which appropriate behavior patterns and messages are registered. Furthermore, the second movement pattern of the character V is a jumping movement, but it is not limited to this, and any appropriate movement may be used as long as it welcomes the driver's action.

[0154] Furthermore, the third movement pattern of the character V is a movement toward the front (driver's side) in the depth direction of the three-dimensional virtual space S, but this is not limited to this, and the movement may be a combination of a movement toward the driver's side with another movement, as long as the movement is such as running up to the driver to express joy or gratitude. For example, the third movement pattern may be a movement of the character V that combines a movement toward the driver with a jumping movement like the second movement pattern.

[0155] Furthermore, although the fourth movement pattern of character V is described as deforming into a shape that embraces the approximately spherical portion, this is not limited to this, and character V may be deformed into any appropriate shape as long as the deformation amount is greater than that of the first movement pattern.

[0156] Furthermore, although the fifth movement pattern of character V is described as deforming so that the approximately needle-shaped protrusions protruding from the approximately spherical portion repeatedly expand and contract, this is not limited to this, and character V may be deformed into any appropriate shape as long as it repeatedly performs a larger deformation than the fourth movement pattern at a faster deformation speed than the fourth movement pattern.

[0157] Furthermore, the processing flow in the processing operation that controls the words and actions of character V in Figure 6 and the processing flow in the emotional expression processing in Figure 7 are examples, and are not limited to these. Any appropriate processing flow may be used as long as it is based on the vehicle situation, such as the driving behavior and the situation in front of the vehicle.

[0158] Although not mentioned in the above embodiment, the color of the character V may be different depending on the movement pattern. For example, the first movement pattern may be green, the second and third movement patterns may be pink, the fourth movement pattern may be a warning color with a gradation of green and black, and the fifth movement pattern may be a warning color with a gradation of red and black. [Explanation of symbols]

[0159] 1...Vehicle 10...Vehicle driving assistance system 14...Display section 15...Speaker 16...Accelerator opening sensor 17...Brake pedal stroke sensor 19...Steering angle sensor 26...ECU S...3D virtual space V...Character

Claims

1. A vehicle driving assistance system including: a host vehicle situation detection means for detecting a host vehicle situation based on a driving behavior of the vehicle and a situation around the host vehicle; and a voice guidance means for notifying a driver of the vehicle of voice guidance for an avoidance operation based on the host vehicle situation detected by the host vehicle situation detection means, a driving operation detection means for detecting a driving operation of the driver; a vehicle control means for controlling the driving behavior of the vehicle by intervening in the driving operation by the driver based on the vehicle status; a display unit that is arranged in a three-dimensional virtual space and displays a character that embodies a simulated psychological state; a first character control means for controlling an action of the character with a first emotion expressing action that repeatedly and minutely changes in size and shape while autonomously moving in the three-dimensional virtual space when the situation of the host vehicle does not require avoidance; a second character control means for controlling an action of the character with a second emotion expressing action of moving the character toward a front side in a depth direction of the three-dimensional virtual space when the situation requiring avoidance of the host vehicle can be safely avoided by a driving operation of the driver based on the voice guidance of the avoidance operation; and third character control means for controlling the behavior of the character with a third emotional expression action that causes a greater change in shape than the first emotional expression action when the host vehicle situation requiring avoidance cannot be safely avoided. Vehicle driving assistance system.

2. and a fourth character control means for controlling the character's behavior with a fourth emotional expression action that changes its shape faster and more drastically than the third emotional expression action when the driver has successfully avoided the situation requiring emergency avoidance through driving operations of the vehicle. The vehicle driving assistance system according to claim 1 .

3. The third character control means When the situation requiring avoidance of the host vehicle cannot be safely avoided by controlling the vehicle by the vehicle control means, the action of the character is controlled by the third emotion expressing action. The vehicle driving assistance system according to claim 1 .

4. The third character control means When the driver is unable to safely avoid the situation requiring avoidance of the host vehicle through the driving operation of the driver, the action of the character is controlled by the third emotion expressing action. The vehicle driving assistance system according to claim 1 .

5. and a voice information output means for outputting voice information based on the vehicle status detected by the vehicle status detection means in association with the character's action.

3. A vehicle driving assistance system according to claim 1 or 2.

6. character information output means for outputting character information based on the vehicle status detected by the vehicle status detection means to the display unit in association with the character's action; 3. A vehicle driving assistance system according to claim 1 or 2.

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