Drive supporting device

Abstract

To support a driver in properly driving a vehicle when an occurrence of some kind of trouble is suspected.SOLUTION: A drive supporting device comprises: one or more processors; and a storage medium on which a program executed by one or more processors is stored. The program includes one or more commands. The command instructs the one or more processors to execute: processing that obtains driver information about a driver of a vehicle; processing that determines a psychological state of the driver based on the driver information; processing that suspects a problem from the psychological state: and voice output processing that outputs voice corresponding to the psychological state based on the suspected problem.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device that assists a driver in driving a vehicle. [Background technology]

[0002] Patent Document 1 discloses a technique in which, when a vehicle malfunction is detected, a message indicating the occurrence of the malfunction and the details of the malfunction is output by voice guidance, for example. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-67347 Summary of the Invention [Problem to be solved by the invention]

[0004] Various types of troubles can occur when a vehicle is traveling. Some of the troubles that can occur when a vehicle is traveling, such as tailgating, are difficult to immediately detect from the driving conditions of the vehicle alone. Furthermore, if a trouble causes the driver to lose their normal mental state, it may interfere with the proper driving of the vehicle. Therefore, an object of the present invention is to support a driver so that the driver can drive the vehicle appropriately when the occurrence of some kind of trouble is predicted. [Means for solving the problem]

[0005] A driving assistance device in one embodiment of the present invention comprises one or more processors and a storage medium on which a program executed by the one or more processors is stored, the program including one or more instructions that cause the one or more processors to execute the following processes: acquiring driver information about a vehicle driver; determining the psychological state of the driver from the driver information; estimating trouble from the psychological state; and, based on the estimation of trouble, outputting a sound corresponding to the psychological state. [Effects of the Invention]

[0006] According to the present invention, a voice corresponding to the driver's psychological state is output based on the estimation of a problem, so that the driver can be assisted in driving the vehicle appropriately when the occurrence of some kind of problem is estimated from the driver's psychological state. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram of a vehicle configuration according to an embodiment of the present invention; [Figure 2] 4 is a flowchart of a processing example of the driving assistance device according to the embodiment. [Figure 3] FIG. 10 is an explanatory diagram illustrating an example of a psychological state determination table according to the embodiment. [Figure 4] FIG. 2 is an explanatory diagram illustrating an example of a trouble estimation algorithm according to an embodiment. [Figure 5] FIG. 4 is an explanatory diagram illustrating an example of a trouble estimation table according to the embodiment; [Figure 6] FIG. 2 is an explanatory diagram illustrating an example of a voice announcement selection table according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] <Vehicle configuration> FIG. 1 shows a vehicle 1 equipped with a driving assistance device 10 according to the present embodiment. The vehicle 1 includes a driving assistance device 10, an operation unit 11, a display unit 12, an audio output unit 13, an in-vehicle sensor unit 14, an out-vehicle sensor unit 15, a vehicle sensor unit 16, and a communication unit 17. It should be noted that FIG. 1 shows only a portion of the configuration of the vehicle 1, and it goes without saying that the vehicle 1 is equipped with various configurations for traveling and driving.

[0009] The driving assistance device 10 is configured with one or more processors. Specifically, it is configured with one or more ECUs (Electronic Control Units) in the vehicle 1. The ECUs provided in the vehicle 1 may include various types such as a driving control ECU, a charge control ECU that controls charging of an on-board battery, an engine control ECU, a display control ECU that controls display of display devices (including meters, etc.) provided in the vehicle 1, an audio output control ECU that controls output of audio output devices, a driving assistance ECU, an autonomous driving ECU, and an air conditioning control ECU. The driving assistance device 10 may be configured with any of these ECUs in the vehicle, or an ECU specialized for the functions of this embodiment.

[0010] The driving assistance device 10 is configured with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), non-volatile memory, an input / output interface, etc. The CPU executes various processes according to programs stored in the ROM and non-volatile memory. The RAM stores data and other information necessary for the CPU to execute various processes.

[0011] The operation unit 11 includes, for example, various types of buttons, levers, and other operators arranged in front of the driver's seat of the vehicle 1. The operation unit 11 may also include an MFD (Multi Function Display) with a touch panel function, a display unit of a navigation device, or the like.

[0012] The display unit 12 comprehensively represents, for example, an MFD installed in front of the driver and other display devices for presenting information to the driver. The display unit 12 displays information based on instructions from various ECUs.

[0013] The audio output unit 13 collectively represents audio output devices such as various speakers installed in the vehicle cabin. The audio output unit 13 outputs various sounds based on instructions from the driving assistance device 10 or other control devices.

[0014] The interior sensor unit 14 is configured with various sensors that detect the status of occupants in the cabin of the vehicle 1 and the status inside the cabin. For example, the interior sensor unit 14 is a variety of sensors that make up a DMS (Driver Monitoring System), and includes an interior image sensor for detecting the driver's facial expression, etc., an in-vehicle microphone for acquiring information on the voices emitted by the driver and passengers, a pulse sensor for detecting the driver's pulse, a body temperature sensor for detecting the driver's body temperature, a humidity sensor for detecting the driver's sweating state, and a temperature sensor for detecting the temperature inside the cabin. The various sensors described above are merely examples, and the interior sensor unit 14 may include only some of the sensors described above, or may include sensors other than those described above. The interior sensor unit 14 may also include, for example, a weight sensor or a contact sensor for detecting the presence or absence of a passenger.

[0015] The external sensor unit 15 is composed of various sensors that detect the conditions outside the vehicle 1. For example, the external sensor unit 15 includes an external image capture sensor for detecting objects outside the vehicle, such as other vehicles, such as a preceding vehicle, pedestrians, and lanes, weather outside the vehicle, such as sunny, rainy, or snowy weather, and conditions such as flooding and snow accumulation, an external air temperature sensor for detecting the temperature outside the vehicle, and a gradient sensor, such as a gyro sensor, for example, for detecting the gradient of the road on which the vehicle is traveling. The various sensors described above are merely examples, and the vehicle exterior sensor unit 15 may include only some of the sensors described above, or may include sensors other than those described above. For example, the vehicle exterior sensor unit 15 may include millimeter-wave radar or sonar for object detection.

[0016] The vehicle sensor unit 16 is configured with various sensors that detect the driving conditions of the vehicle 1, including the states of each part of the vehicle. For example, the vehicle sensor unit 16 includes a vehicle speed sensor that detects the speed of the vehicle itself, an acceleration sensor that detects acceleration, an engine rotation speed sensor that detects the engine rotation speed, an accelerator opening sensor that detects the accelerator opening, a steering angle sensor that detects the steering angle, a yaw rate sensor that detects the yaw rate, a tire pressure sensor that constitutes a TPMS (Tire Pressure Monitoring System), and a GNSS (Global Navigation Satellite System) sensor that receives information necessary for recognizing the position information of the vehicle 1, such as a GPS (Global Positioning System) sensor. The above-mentioned various sensors are merely examples, and the vehicle sensor unit 16 may include only some of the above-mentioned sensors, or may include sensors other than those mentioned above.

[0017] The driving assistance device 10 performs various processes and controls using various detection signals obtained by the sensor units, such as the in-vehicle sensor unit 14, the out-vehicle sensor unit 15, and the vehicle sensor unit 16. The driving assistance device 10 performs, for example, image analysis and voice recognition based on the detection signals obtained by the sensor units.

[0018] The communication unit 17 performs network communication and vehicle-to-vehicle communication. The communication unit 17 can acquire various information, such as surrounding environment information about the current location, weather information, road information, etc., through network communication such as the Internet. The driving assistance device 10 executes various processes and controls using the information acquired by the communication unit 17.

[0019] <Processing example> The processing of the embodiment implemented in the driving support device 10 will be described.

[0020] Various types of troubles may occur while the vehicle 1 is traveling. The troubles referred to here are various difficulties and phenomena that occur due to factors external to the driver. Factors external to the driver are factors other than the driver, such as other vehicles, road conditions, weather, and other environmental conditions. Such troubles include, for example, tailgating by other vehicles, flat or derailed tires, getting stuck, and weather conditions that make driving difficult, such as heavy rain or snowstorms.

[0021] Some troubles, such as tailgating, are difficult to immediately detect from the driving conditions of the vehicle 1. Furthermore, if a trouble causes the driver to lose his or her normal mental state, this may hinder the driver from driving the vehicle 1 appropriately. Therefore, in the process of the embodiment, the psychological state of the driver is determined while the vehicle 1 is traveling, and a trouble is inferred from the psychological state. Furthermore, based on the inference of a trouble, a voice corresponding to the psychological state is output.

[0022] 2 shows an example of processing executed by the driving assistance device 10. The driving assistance device 10 periodically and repeatedly executes the processing of FIG. 2 while the vehicle 1 is traveling, for example.

[0023] In step S101, the driving assistance device 10 acquires driver information. The driver information is information about the driver of the vehicle 1. The driver information is obtained by detection signals and analysis of the detection signals by the interior sensor unit 14. The driver information is, for example, information about the driver's facial expression obtained by image analysis, information about the voice uttered by the driver obtained by voice recognition, biological information such as the driver's sweating state and heart rate, and temperature information inside the vehicle cabin where the driver is located.

[0024] In step S102, the driving assistance device 10 executes a psychological state determination process. As the psychological state determination process, the driving assistance device 10 determines the psychological state of the driver from the driver information acquired in step S101.

[0025] The psychological state of the driver is the state of emotions and mood that the driver is presumed to be experiencing. In the process of the embodiment, a psychological state that suggests the occurrence of some kind of trouble is determined as a judgment target. Such psychological states are, for example, anger, surprise (tension), disgust, and fear (impatience). In the following, an example will be described in which "anger," "surprise," "disgust," and "fear" are set as the psychological states to be determined.

[0026] The driving support device 10 determines the driver's psychological state from the driver information, for example, by referring to a predetermined psychological state determination table.

[0027] An example of the psychological state determination table is shown in Fig. 3. The psychological state determination table is stored in a storage area such as a ROM or non-volatile memory of the driving assistance device 10, for example. In the psychological state determination table of Fig. 3, values ​​such as determination values ​​are set for predetermined parameters for each psychological state of "anger," "surprise," "disgust," and "fear." The parameters include keywords, changes in the corners of the mouth, changes in the inclination of the eyebrows, changes in the up and down of the eyebrows, sweating state, and changes in the temperature inside the vehicle. The keywords here refer to words and phrases that the driver may utter in each psychological state. In the example of Figure 3, for the psychological state "anger," values ​​used to determine "anger" are set for the parameters of changes in the corners of the mouth, changes in the tilt of the eyebrows, sweating, and changes in the temperature inside the car. Additionally, the keywords corresponding to the psychological state "anger" are set as "dangerous," "damn it," and "what are you doing?" The driving assistance device 10, for example, obtains the value of each parameter from the acquired driver information, and if there is a corresponding psychological state to be judged in the psychological state judgment table, judges that the driver's psychological state is the psychological state to be judged.

[0028] If it is determined that the psychological state of the driver is the psychological state to be determined, the driving assistance device 10 proceeds to step S103. On the other hand, if the psychological state of the driver does not correspond to any of the psychological states to be determined, that is, if it is determined that the psychological state of the driver is not a psychological state to be determined, the driving support device 10 ends the processing in Fig. 2. In other words, if the psychological state of the driver does not suggest the occurrence of any trouble, the driving support device 10 does not perform the processing from step S103 onwards.

[0029] In step S103, the driving assistance device 10 executes a trouble estimation process. As a trouble estimation process, the driving assistance device 10 estimates a trouble from the psychological state of the driver determined in step S102. In the following, an example will be described in which "tailgating," "flat tire / slip-off," "stuck," and "heavy rain / snowstorm" are set as troubles to be estimated.

[0030] An example of the trouble estimation process will now be described. In this processing example, the driving support device 10 first refers to a predetermined trouble estimation algorithm to narrow down possible troubles that may have occurred based on the driver's psychological state.

[0031] An example of a trouble estimation algorithm is shown in Fig. 4. The trouble estimation algorithm is stored in a storage area of ​​the driving assistance device 10, for example. In the trouble prediction algorithm, one or more possible troubles are associated with each psychological state. In the example in Figure 4, for example, one trouble, "tailgating," is associated with the psychological state of "anger," and two troubles, "flat tire / spinning off" and "stuck," are associated with the psychological state of "surprise." By using such a trouble estimation algorithm, it is possible to narrow down the possible troubles that may be occurring to some extent or to just one based on the psychological state.

[0032] Next, the driving assistance device 10 acquires vehicle information of the vehicle 1. The vehicle information is information relating to the state of the vehicle 1, such as the driving status of the vehicle 1 and the status outside the vehicle 1. The vehicle information is obtained by detecting signals from the external sensor unit 15 and the vehicle sensor unit 16 and analyzing the detection signals, as well as by operating signals via the operating unit 11 and information obtained by the communication unit 17. The vehicle information is, for example, information relating to the driving status of the vehicle 1, such as position information of the vehicle 1, changes in vehicle body posture, vehicle speed / vehicle body speed changes, TPMS air pressure, wiper operation status, and on / off status of vehicle lamps, and information relating to the status outside the vehicle 1, such as outside temperature, weather information, and outside object detection information.

[0033] Next, the driving support device 10 refers to a predetermined trouble estimation table and estimates the trouble from the vehicle information.

[0034] 5 shows an example of the trouble estimation table. The trouble estimation table is stored in a storage area of ​​the driving assistance device 10, for example. In the trouble estimation table in Figure 5, values ​​such as judgment values ​​are set for predetermined parameters for each of the troubles: "tailgating," "flat tire / slip-off," "stuck," and "heavy rain / snowstorm." The parameters include location information, posture change, vehicle speed / vehicle body speed change, outside temperature, weather information, TPMS air pressure, wiper operation status, and outside object detection information. In the example of Figure 5, for the problem of "tailgating," values ​​used to determine "tailgating" are set for each parameter: location information, posture change, vehicle speed / vehicle speed change, and external object detection information.

[0035] For example, the driving assistance device 10 narrows down the possible troubles to multiple candidates based on the driver's psychological state, calculates the values ​​of each parameter from the acquired vehicle information, and refers to a trouble estimation table to select a reasonable trouble from the candidates, thereby estimating the trouble. In addition, the driving assistance device 10 may, for example, narrow down the possible troubles that may have occurred to one based on the psychological state, calculate the values ​​of each parameter from the acquired vehicle information, and refer to a trouble estimation table to select the candidate if it is appropriate, thereby inferring the trouble.

[0036] The above describes an example of the trouble estimation process in which the driving assistance device 10 estimates trouble from psychological states and vehicle information, but the example of the trouble estimation process is not limited to the above. For example, the driving assistance device 10 may estimate trouble from psychological states alone. Furthermore, the driving assistance device 10 may estimate trouble by referring to a table that incorporates information on both psychological states and vehicle information, without separating the process using psychological states from the process using vehicle information.

[0037] Based on the estimation of a trouble in step S103, the driving assistance device 10 advances the process to step S104.

[0038] In step S104, the driving assistance device 10 selects a voice announcement. The driving assistance device 10 selects a voice announcement based on the estimated trouble. The driving assistance device 10 selects a voice announcement based on, for example, a predetermined voice announcement selection table.

[0039] An example of the voice announcement selection table is shown in Figure 6. In the voice announcement selection table shown in Figure 6, psychological support announcements are set for each psychological state for each of the following troubles: "tailgating," "flat tire / slip-off," "stuck," and "heavy rain / snowstorm." Operational support announcements are also set for each trouble. Psychological support announcements are voice announcements for drivers. For example, they refer to advice or words of encouragement to help drivers regain a normal psychological state. More specifically, they refer to calls to calm and reassure drivers who are in a psychological state such as "anger." The operation assistance announcement is a voice announcement that instructs the driver to operate the vehicle 1. For example, it refers to instructions to operate the vehicle 1 in response to an estimated trouble (for example, evacuating to a safe place or turning on hazard lights). Note that the operation assistance announcement may include instructions to the driver on how to operate the vehicle 1, as well as instructions to passengers on what to do (such as reporting the accident to the police). In the voice announcement selection table of Figure 6, for example, for the trouble of "tailgating," the psychological support announcement "Don't pay any attention to it, stay calm. Take a deep breath" is set for each psychological state of "anger" and "disgust," and the psychological support announcement "It's okay. Stay calm and take a slow breath" is set for the psychological state of "fear." Also, for the trouble of "tailgating," the operational support announcement "Please evacuate to a safe place. Passengers should call the police." is set.

[0040] Based on the fact that a trouble is estimated in step S103, the driving assistance device 10 refers to the voice announcement selection table and selects a psychological assistance announcement as a voice announcement corresponding to the psychological state determined in step S102 and the trouble estimated in step S103. Furthermore, the driving assistance device 10 selects an operation assistance announcement as a voice announcement corresponding to the trouble estimated in step S103. In an example where vehicle information is used in the trouble estimation process in step S103 as in this embodiment, the voice announcement in response to the trouble is also a voice announcement in response to the vehicle information (that is, the vehicle state indicated by the vehicle information).

[0041] For example, if the estimated trouble is "tailgating" and the determined psychological state is "anger," the driving assistance device 10 refers to the voice announcement selection table and selects the psychological assistance announcement corresponding to "anger," which is set for "tailgating," such as "Don't pay any attention to it, stay calm. Take a deep breath." Here, even if the estimated trouble is the same "tailgating," if the determined psychological state is "fear," the driving assistance device 10 selects "It's okay. Please stay calm and take a slow, deep breath" as the psychological assistance announcement. Even for the same trouble, different drivers may have different psychological states. Therefore, by setting different psychological assistance announcements for each psychological state for the same trouble, effective psychological assistance can be provided according to the psychological state of each driver.

[0042] In addition, if the estimated trouble is "tailgating," the driving assistance device 10 refers to the voice announcement selection table and selects "Please evacuate to a safe place. Passengers should call the police." as the operation assistance announcement corresponding to the trouble. Here, even if the determined psychological state is the same "fear," if the estimated trouble is different, "puncture / slippage," the driving assistance device 10 selects the operation assistance announcement "Stop the engine and turn on the hazard lights. Request assistance from a nearby dealer or road service provider." Even in the same psychological state, appropriate driving operations and other responses will differ depending on the trouble and the actual vehicle condition. Therefore, by setting different operation assistance announcements for each trouble, effective operation assistance can be provided according to each trouble and vehicle condition.

[0043] 6, an example in which one operational assistance announcement is set for one trouble has been described, but different operational assistance announcements may be set for one trouble, for example, depending on the psychological state of the driver.Furthermore, operational assistance announcements may be set corresponding to vehicle information, such as the lighting status of vehicle lights. In the example of FIG. 6, the psychological support announcement corresponding to one psychological state is the same regardless of the type of trouble, but different psychological support announcements may be set for one psychological state, for example, for each type of trouble. 6, the voice data to be actually output as the voice announcement is set, but instead of the voice data, keywords to be included in the voice announcement or instructions on the content of the announcement may be set. In this case, the driving assistance device 10 may generate the voice data of the voice announcement based on the instructions on the keywords or the content of the announcement.

[0044] Based on the selection of the voice announcement in step S104, the driving assistance device 10 proceeds to step S105.

[0045] In step S105, the driving assistance device 10 performs audio output processing to output an audio announcement. As the audio output processing, the driving assistance device 10 causes the audio output unit 13 to output, for example, the psychological assistance announcement and the operation assistance announcement selected in step S105.

[0046] Through the above process shown in FIG. 2, a psychological support announcement and an operational support announcement are output based on the trouble estimated from the driver's psychological state.

[0047] The above embodiment provides the following effects. The driving assistance device 10 of the embodiment executes a process of acquiring driver information about the driver of the vehicle 1, a process of determining the psychological state of the driver from the driver information, a process of estimating trouble from the psychological state, and a voice output process of outputting a voice (voice announcement) corresponding to the psychological state based on the estimated trouble (see steps S101 to S105 in FIG. 2). As a result, a voice (voice announcement) according to the psychological state is output based on the estimated trouble, and when the occurrence of some kind of trouble is estimated from the psychological state of the driver, the driver can be assisted to drive the vehicle 1 appropriately. In particular, since a voice announcement according to the psychological state is output, assistance suited to the psychological state of the driver can be provided. Furthermore, because trouble is estimated from the psychological state, it becomes easier to detect the possibility of occurrence of trouble that is difficult to immediately detect from only the driving conditions of the vehicle 1. In addition, the voice (voice announcement) according to the psychological state includes announcements selected according to the psychological state (psychological support announcements in the embodiment), as well as announcements selected according to troubles inferred from the psychological state (operation support announcements in the embodiment). In the embodiment, an example has been described in which a voice announcement corresponding to the psychological state is selected based on the estimation of one trouble (i.e., the type of trouble) in the trouble estimation process. On the other hand, even if the type of trouble cannot be estimated, for example, because the candidate troubles narrowed down from the psychological state are unlikely in terms of vehicle information, a voice (voice announcement) corresponding to the psychological state may be selected based on the estimation that some kind of trouble has occurred from the psychological state. In such an embodiment, even if the type of trouble cannot be estimated, assistance suited to the psychological state of a driver who is not in a normal psychological state can be provided based on the estimation of a trouble.

[0048] In addition, in the embodiment, an example is given in which the driving assistance device 10 executes a process of acquiring vehicle information of the vehicle 1, and as a voice output process, executes a process of outputting a voice (voice announcement) corresponding to the vehicle information in response to an estimated trouble (see steps S103 to S105 in Figure 2 and Figure 6). As a result, in addition to a voice corresponding to the psychological state (for example, a psychological support announcement), a voice corresponding to the vehicle information (an operation support announcement) is output. By outputting a voice announcement that takes into account the psychological state as well as the vehicle information, appropriate support can be provided according to the vehicle state indicated by the vehicle information. In the embodiment, an example has been given in which the driving assistance device 10 infers a trouble from the psychological state and vehicle information in the trouble estimation process (see step S103 in FIG. 2). In this case, the trouble is inferred using the vehicle information in addition to the psychological state, so the accuracy of the trouble estimation can be improved. On the other hand, even when the vehicle information is not used in the trouble estimation process, the vehicle information may be separately acquired and a voice (operation assistance announcement) corresponding to the vehicle information may be output.

[0049] In the embodiment, an example has been given in which the driving assistance device 10 executes a process of outputting a voice (voice announcement) corresponding to the estimated trouble based on the estimation of the trouble, as the voice output process (see steps S104 to S105 in FIG. 2 and FIG. 6). As a result, a voice (voice announcement) corresponding to the estimated trouble is output. In the embodiment, an example has been given in which a voice announcement is selected by referring to a table in which operation assistance announcements for troubles and psychological assistance announcements for each psychological state are set. By selecting and outputting a voice announcement that takes into account the estimated trouble in addition to the psychological state, it is possible to provide assistance that is more suited to the situation in which the driver is placed.

[0050] In the embodiment, an example has been given in which the voice (voice announcement) includes a psychological support announcement for the driver and an operation support announcement that instructs the driver to operate the vehicle 1 (see steps S104 to S105 in FIG. 2 and FIG. 6). As a result, two types of voice announcements are output based on the estimated trouble: a psychological support announcement and an operational support announcement. In this case, the driver can be supported from both psychological and driving operation aspects. In the embodiment, an example has been described in which a psychological support announcement and an operational support announcement are output, but only one of the announcements selected according to the psychological state may be output.

[0051] In the embodiment, an example has been given in which the driver information includes information on the facial expression of the driver and information on the voice uttered by the driver (see step S101 in FIG. 2 and FIG. 3). By acquiring information on the driver's facial expression and speech as driver information, the psychological state of the driver can be determined with high accuracy. In addition, information that can be acquired using the DMS installed in the vehicle 1 for other purposes, such as preventing the driver from falling asleep, can be effectively utilized. The driving assistance device 10 may acquire only a part of the driver information exemplified in the embodiment, or may acquire other information related to the driver as the driver information.

[0052] The parameters and parameter values ​​in the psychological state determination table and the trouble estimation table described in the embodiment are merely examples. These tables, voice announcement selection tables, and trouble estimation algorithms may be, for example, pre-defined tables and algorithms set by the provider of the driving assistance device 10, or tables and algorithms customized for the driver.

[0053] In other embodiments, an example has been described in which the audio output unit 13 outputs an audio announcement according to the psychological state, but in addition to or instead of the audio announcement, a similar announcement according to the psychological state may be displayed on the display unit 12. [Explanation of symbols]

[0054] 1...Vehicle 10...Driving assistance device

Claims

1. one or more processors; a storage medium storing a program to be executed by the one or more processors; The program includes one or more instructions, The instructions may cause the one or more processors to: obtaining driver information relating to a driver of the vehicle; A process of determining a psychological state of the driver from the driver information; A process of inferring trouble from the psychological state; a voice output process for outputting a voice corresponding to the psychological state based on the estimated trouble; Driving assistance device.

2. The instruction: causing the one or more processors to execute a process of acquiring vehicle information of the vehicle; The instruction: As the audio output process, the one or more processors are caused to execute a process of outputting audio corresponding to the vehicle information in response to a trouble being estimated. The driving assistance device according to claim 1 .

3. The instruction: As the audio output process, the one or more processors are caused to execute a process of outputting audio corresponding to the estimated trouble based on the estimated trouble. The driving assistance device according to claim 1 or 2.

4. The voice includes a psychological support announcement for the driver and an operation support announcement that instructs the driver on how to drive the vehicle. The driving assistance device according to claim 1 or 2.

5. The driver information includes information on the facial expression of the driver and information on the voice uttered by the driver. The driving assistance device according to claim 1 or 2.

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