Information processing system, information processing method, and program

Abstract

According to one aspect of the present invention, provided is an information processing system. This information processing system has at least one control unit. The control unit obtains, on the basis of measurement data measured by at least one sensor of a vehicle, a vibration sensation value related to a vibration sensation that a passenger of the vehicle senses. The control unit obtains, on the basis of the vibration sensation value, a value indicating the passenger's difficulty in sleeping.

Description

Information processing system, information processing method and program

[0001] The present invention relates to an information processing system, an information processing method, and a program.

[0002] Patent Document 1 discloses a sleep induction device that can more effectively induce sleep even in people who have difficulty falling asleep.

[0003] Japanese Patent Application Laid-Open No. 2022-23283

[0004] When autonomous vehicles become a reality, passengers will want to be able to sleep inside the vehicle, but vibrations can be a problem when trying to sleep while traveling.

[0005] According to one aspect of the present invention, there is provided an information processing system. The information processing system has at least one or more control units. The control units calculate vibration sensation values ​​related to vibration sensations felt by vehicle occupants based on measurement data measured by at least one or more sensors in the vehicle. Based on the vibration sensation values, a value indicating the occupant's sleeping discomfort is calculated.

[0006] FIG. 1 is a diagram showing an example of the system configuration of an information processing system. FIG. 2 is a diagram showing an example of the hardware configuration of a server device. FIG. 3 is a conceptual diagram of an automobile occupant. FIG. 4 is a sequence diagram showing an example of information processing in the information processing system. FIG. 5 is a diagram showing an example of the results of dynamic linear modeling of one sleep of one person. FIG. 6 is a diagram showing an example of the results of investigating the contribution to sleep onset and awakening using dynamic linear modeling. FIG. 7 is a diagram showing an example of a sleep discomfort reduction device.

[0007] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the accompanying drawings. Various features shown in the following embodiments can be combined with each other.

[0008] In this specification, the term "unit" may include, for example, a combination of hardware resources implemented by a circuit in the broad sense and software information processing that can be specifically realized by these hardware resources. In addition, various types of information are handled in this embodiment, and communication and calculation can be performed on a circuit in the broad sense, regardless of whether this information is represented by a high or low signal value as a binary bit collection consisting of 0 or 1, represented by a physical numerical value of the signal value, or represented by quantum superposition.

[0009] Furthermore, a circuit in the broad sense is a circuit realized by at least an appropriate combination of a circuit, circuitry, a processor, a memory, etc. That is, it includes an application specific integrated circuit (ASIC), a programmable logic device (e.g., a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)), etc.

[0010] In addition, the program for realizing the software appearing in the embodiments may be implemented in a form that allows it to be downloaded from a server, the program may be executed on a cloud computer, or it may be stored in a non-volatile or volatile non-transitory storage medium and distributed.

[0011] First Embodiment 1. System Configuration Fig. 1 is a diagram showing an example of the system configuration of an information processing system 1000. The information processing system 1000 includes, as a system configuration, a server device 100 and an automobile 110. The server device 100 and the automobile 110 are communicably connected via a network 150. The following description will be given taking a wireless example as an example of the network 150.

[0012] The server device 100 controls the entire information processing system 1000 and executes the main information processing in the information processing system 1000 as described below. The automobile 110 is an example of a vehicle. Other examples of vehicles include trains, trams, airplanes, and ships. Any vehicle may be used as long as the occupants can sleep while traveling. The occupants are people riding in the vehicle.

[0013] Here, the claimed information processing system may be composed of multiple devices or may be composed of a single device. When the claimed information processing system is composed of a single device, an example of that device is the server device 100. When the claimed information processing system is composed of a plurality of devices, an example of the plurality of devices is the server device 100 and the automobile 110, etc.

[0014] Although FIG. 1 shows only one automobile 110 included in the information processing system 1000 for the sake of simplicity, the information processing system 1000 may include multiple automobiles 110 .

[0015] 2. Hardware Configuration (1) Hardware Configuration of Server Device 100 Fig. 2 is a diagram showing an example of the hardware configuration of the server device 100. The server device 100 includes, as its hardware configuration, a control unit 210, a storage unit 220, and a communication unit 230.

[0016] The control unit 210 is a CPU (Central Processing Unit) or the like, and controls the entire server device 100 .

[0017] The storage unit 220 is one of a read-only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), a solid state drive (SSD), or any combination thereof, and stores programs and data used when the control unit 210 executes processing based on the programs. Examples of data used when the control unit 210 executes processing based on the programs include measurement data transmitted from the automobile 110 (described later) and mathematical formulas (described later). The control unit 210 reads out programs stored in the storage unit 220 and executes processing based on the read out programs, thereby realizing the functions of the server device 100 and the processing of the server device 100 in the sequence diagram shown in FIG. 4 (described later). The storage unit 220 is an example of a storage medium. In this embodiment, the data used when the control unit 210 executes processing based on a program is described as being stored in the storage unit 220, but the data may be stored in a storage unit of another device that can communicate with the server device 100. In other words, the data may be stored in a storage unit of any device as long as the data can be referenced and / or acquired by the control unit 210.

[0018] The communication unit 230 connects the server device 100 to the network 150, etc., and controls communication with other devices (the automobile 110, etc.). Note that the number of hardware components of the server device 100, such as the control unit 210, is not limited to that shown in Fig. 2, and the server device 100 may include a plurality of control units 210, storage units 220, communication units 230, etc.

[0019] (2) Hardware Configuration of the Automobile 110 The hardware configuration of the automobile 110 is basically the same as that of the server device 100. The control unit of the automobile 110 executes processing based on a program stored in the storage unit of the automobile 110, thereby realizing the processing of the automobile 110 in the sequence diagram shown in FIG. 4 . The communication unit of the automobile 110 connects the automobile 110 to the network 150, etc., and manages communication with other devices (such as the server device 100). The automobile 110 also includes at least one sensor as a hardware configuration. In the first embodiment, the automobile 110 is described as including an inertial measurement unit (IMU). Note that the automobile 110 may also include an ultrasonic sensor, a camera, etc., in addition to the IMU. The IMU is equipped with a three-axis angular velocity sensor, a three-axis acceleration sensor, and a temperature sensor, and is a unit that measures three-dimensional inertial motion (translational motion and rotational motion in three orthogonal axes). The acceleration sensor measures translational motion, and the gyro sensor measures rotational motion. The inertial measurement unit may include a GPS (Global Positioning System) function. The inertial measurement unit is an example of at least one sensor of the automobile 110. The automobile 110 may further include a sleep discomfort reduction device for each seat. The sleep discomfort reduction device will be described later with reference to FIG. 6 and the like.

[0020] 3. Information Processing The information processing according to this embodiment will be described below. (1) Overview of Processing The control unit 210 calculates a value related to the vibration sensation felt by the occupant of the automobile 110 (hereinafter referred to as a vibration sensation value) based on measurement data measured by the inertial measurement unit of the automobile 110. The control unit 210 calculates a sleep difficulty score as a value indicating the occupant's sleep difficulty based on the vibration sensation value of the vibration. The occupant's sleep difficulty score is an example of a value indicating the occupant's sleep difficulty. This processing makes it possible to calculate a value indicating the occupant's sleep difficulty taking into account the vibrations of the vehicle.

[0021] (2) Processing Details FIG. 3 is a conceptual diagram of an occupant 300 of the automobile 110. In FIG. 3, the automobile 110 is automatically driven, and the occupant 300 of the automobile 110 is shown sleeping with his seat reclined. FIG. 4 is a sequence diagram showing an example of information processing in the information processing system 1000. In sequence SQ401, a sensor such as an inertial measurement unit (IMU) of the automobile 110 measures and acquires data related to vibrations of the automobile 110. Examples of vibration-related data include data on translational motion and rotational motion in three orthogonal axes. In sequence SQ402, the automobile 110 transmits measurement data measured by the IMU or the like to the server device 100. The measurement data also includes time information of the measurement. In sequence SQ403, the control unit 210 of the server device 100 stores the measurement data received from the automobile 110 in the memory unit 220 or the like for each automobile 110.

[0022] In sequence SQ404, the control unit 210 obtains a vibration sensation value based on the corresponding measurement data stored in the storage unit 220, etc. In sequence SQ405, the control unit 210 obtains a sleep discomfort score for the occupant based on the vibration sensation value.

[0023] According to the inventors' in-vehicle sleep experiments and dynamic multiple regression modeling based on the measurement data from the experiments, it was found that immediately preceding lateral or yaw swaying of less than 1 Hz had a significant effect on falling asleep or deepening sleep stages. It was also found that vertical swaying of 1 Hz or more had a significant effect on awakening or awakening induction (a shift to a shallower sleep stage). Dynamic multiple regression modeling is a method for investigating the relationship between multiple time-series data using a multiple regression method that uses a state equation and an observation equation. Dynamic multiple regression modeling allows for modeling that takes into account fluctuations in internal states and state transition probabilities over time.

[0024] Figure 5 shows an example of the results of dynamic linear modeling of one sleep session for one individual. From Figure 5, it can be seen that the onset of sleep (circle) is significantly influenced by the immediately preceding side-to-side sway of less than 1 Hz, and the immediately preceding shallow sleep (*) is significantly influenced by the immediately preceding up-and-down sway of 1 Hz or more.

[0025] FIG. 6 shows an example of the results of investigating the contribution to sleep onset and wakefulness using dynamic linear modeling. The example in FIG. 6 shows the results of investigating the contribution to sleep onset and wakefulness using dynamic linear modeling using data on sleep onset from a total of 147 times during 10 real-vehicle experiments involving six people. From the results in FIG. 6, it can be seen that the left and right vibrations of less than 1 Hz (Y Ｌ ) has a small effect on making sleep shallow (right side of Figure 6), but a large effect on making sleep come on (left side of Figure 6). Ｌ , Z Ｈ It can be seen that the effect of vibration in the pitch direction (around the left-right axis) of 1 Hz or more on shallow sleep is greater than that of vibrations in other directions. From the results in Figure 6, it can be seen that vibrations in the pitch direction (around the left-right axis) of 1 Hz or more also have a large effect. When the boundary threshold between high and low frequencies was set to 0.7 Hz or 2 Hz, it was not possible to separate vibrations that facilitate sleep from vibrations that make it difficult to sleep, but when set to 1 Hz, the effects of left-right rocking could be clearly separated. Therefore, the inventors determined that a threshold of 1 Hz is desirable.

[0026] Therefore, the vehicle or seat vibrations are measured in each vibration direction in the automobile 110. The control unit 210 then separates the measurement data from the automobile 110 into vibration components below 1 Hz and vibration components above 1 Hz, calculates the power for each vibration direction and frequency band within a certain period of time, and estimates the difficulty in sleeping based on the calculated power. The control unit 210 compares the power below 1 Hz in the left-right or yaw direction (YP) with the average power in the up-down direction (ZP) in the head coordinate system of the passenger of the automobile 110, and estimates that the smaller YP is relative to ZP, the more difficult it is to sleep. Because pitch and roll powers above 1 Hz also contribute to wakefulness, the control unit 210 may use them as a supplementary term to ZP. Furthermore, it is believed that the sudden onset of high-frequency vibrations activates the sympathetic nervous system, increasing the probability of awakening. Therefore, the control unit 210 may calculate that the greater the temporal fluctuation in the power of vibrations above 1 Hz, the greater the effect of increasing the difficulty in sleeping.

[0027] An example of calculating the sleep difficulty score S is shown in (1) below. Ｌ (y ｔ) is the low frequency component of the vehicle acceleration at time t in the y direction of the occupant's head coordinate. f represents a frequency band-pass filter. The effective value of this in a time window of n points is multiplied by a coefficient Cy for normalization and weighting to the difficulty of sleeping to obtain YP. Y1P is a term similarly calculated for the acceleration component generated by the sleep discomfort suppression device. The sleep discomfort suppression device is an example of a device that applies rocking motion to the occupants of the automobile 110. However, the acceleration caused by the sleep discomfort suppression device does not actually occur, and may be an acceleration equivalent value of the rocking illusion. ZP is also a term similarly calculated using a frequency filter and a weighting coefficient on the Z direction acceleration. Terms for the high frequency components of the roll and pitch angular velocity may be added to ZP. dZP is a coefficient C for normalizing the impact acceleration and weighting to the difficulty of sleeping. Ｊ This is the unit time change value of the ZP high frequency component multiplied by and is used as a supplementary term that increases the difficulty of sleeping. Ｊ If the effect of acceleration due to the operation of the sleep discomfort prevention device is included in ｘ ２ +σ ｙ ２ +σ ｚ ２ C using Ｊ Instead, the acceleration variance σ of the sleep discomfort suppression device ｄ ２ C with Ｊ１ The time-varying components of the head X-axis high-frequency acceleration, roll, and pitch high-frequency angular velocity calculated in the same manner may be added to the dZP.

[0028] That is, the control unit 210 calculates the vibration sensation value based on the average power of vibration frequency components below a predetermined frequency value in the left-right or yaw direction of the occupant of the automobile 110, obtained from the measurement data. The predetermined frequency value is, for example, 1 Hz. Information on the predetermined value is stored, for example, in the memory unit 220. The same applies below. The control unit 210 also calculates the vibration sensation value based on the average power of vibration frequency components above a predetermined frequency value in the up-down or pitch direction of the occupant of the vehicle, obtained from the measurement data. The sleep difficulty score may be configured to indicate that the sleep difficulty for the occupant increases as the average power of vibration frequency components below the predetermined frequency value in the left-right or yaw direction decreases compared to the average power of vibration frequency components above the predetermined frequency value in the up-down or pitch direction. The control unit 210 may also calculate the vibration sensation value based on the temporal fluctuation of power above a predetermined frequency value in at least one of the front-back, up-down, roll, and pitch directions of the occupant, obtained from the measurement data. The control unit 210 calculates the sleep difficulty score by assuming that the greater the temporal fluctuation of power above the predetermined frequency value, the more difficult it is to sleep. The control unit 210 writes the obtained sleep difficulty score in a predetermined file, for example, in the storage unit 220. The process of writing the sleep difficulty score in a predetermined file is an example of a process of outputting the sleep difficulty score. Another example of output is sending the score to another device.

[0029] In sequence SQ406, the control unit 210 generates a control command for controlling the sleep discomfort alleviation device based on the sleep discomfort score. In sequence SQ407, the control unit 210 transmits the generated control command to the automobile 110. Note that the control unit 210 may transmit the generated control command directly to the sleep discomfort alleviation device of the automobile 110. However, in this specification, the control command is described as being transmitted from the server device 100 to the sleep discomfort alleviation device via the automobile 110. The processing of sequences SQ406 and SQ407 is an example of processing for controlling the operation of a sleep discomfort alleviation device that applies vibrations to an occupant based on the sleep discomfort score. For example, the control unit 210 controls the sleep discomfort alleviation device to superimpose a vibration sensation of less than a predetermined frequency value in the left-right or yaw direction on the occupant's body or head and neck so that the average power of frequency components less than a predetermined frequency value in the left-right or yaw direction of the occupant is perceived as greater than the average power of frequency components equal to or greater than the predetermined frequency value in the up-down or pitch direction of the occupant. Alternatively, the predetermined frequency value may be, for example, 1 Hz. The control unit 210 may provide the vibration sensation by superimposing a vibration on the sleep discomfort alleviation device so that the occupant perceives the average power as described above. Alternatively, the control unit 210 may provide the vibration sensation by providing a signal that creates an illusion of vibration to the occupant without actually applying vibration. In other words, "controlling the device so that the average power is perceived as greater" is not limited to actually applying vibration to change the average power itself, but may also include controlling the device in a manner that causes the occupant to perceive a change in average power. Similarly, "giving a vibration sensation" and "superimposing a vibration sensation" are not limited to actually applying vibration, but may include giving a signal that gives the occupant the illusion of vibration. Furthermore, for example, the control unit 210 controls the operation of the sleep discomfort reduction device so as to give a vibration sensation corresponding to a state in which the temporal fluctuation of the power of vibration frequency components equal to or greater than a predetermined frequency value in at least one of the front-rear, up-down, roll, and pitch directions of the occupant is small. The predetermined frequency value is, for example, 1 Hz.

[0030] When the control unit of the automobile 110 receives the control command for the sleep difficulty alleviation device, in sequence SQ408, it transmits the control command to the sleep difficulty alleviation device. The sleep difficulty alleviation device controls its operation based on the control command. FIG. 7 is a diagram showing an example of a sleep difficulty alleviation device. The sleep difficulty alleviation device 700 is preferably installed in a seat or headrest that is in contact with the trunk or head and neck of the occupant 300. Based on the control command, the sleep difficulty alleviation device 700 rocks the head of the occupant 300 side to side using, for example, air pressure.

[0031] Sleep is affected in opposite ways by rocking patterns Although both types of rocking stimulate the vestibular organ, which acts as a human acceleration sensor, they have different effects on sleep. This may be due to the two different pathways in the brain that process vestibular sensory information. It is known that gentle rocking produces neurotensin, which is thought to induce deep sleep, while sudden, attention-stimulating rocking produces orexin, which maintains wakefulness.

[0032] Therefore, by increasing gentle left-right head sway, reducing sudden impulsive vibrations, or by superimposing other vibrations, the perception of impulsive acceleration can be alleviated, which can lead to faster sleep onset and maintenance of sleep. The alleviation of the perception of impulsive acceleration can also be caused by vestibular or somatosensory kinesthetic illusions. By applying weak pressure alternately to the left and right of the head and neck, which induces head posture maintenance reflex activity below the subject's perception threshold, muscle stiffness due to tension in the neck muscles increases, which has the effect of suppressing head shaking caused by impulsive acceleration.

[0033] Furthermore, the control unit 210 may calculate the occupant's sleep difficulty score for each travel route based on the measurement data for each travel route of the automobile 110. For example, the control unit 210 selects one travel route from multiple travel routes based on the occupant's sleep difficulty score for each travel route. For example, the control unit 210 selects the travel route with the lowest total sleep difficulty score for each of the multiple travel routes. The control unit 210 outputs the selected travel route. In this way, it is possible to select a travel route from multiple travel routes that is comfortable for the occupant to sleep.

[0034] According to the processing of the first embodiment, a value indicating the sleep difficulty of the occupant can be calculated taking into consideration the vibration of the vehicle. Furthermore, according to the processing of the first embodiment, based on the value indicating the sleep difficulty of the occupant taking into consideration the vibration of the vehicle, rocking motion that makes it easy for the occupant to sleep can be provided via the sleep difficulty reduction device 700. Furthermore, according to the processing of the first embodiment, when selecting a travel route for the vehicle, it is possible to select taking into consideration the sleep difficulty of the occupant.

[0035] Furthermore, it may be provided in the following aspects.

[0036] (1) An information processing system having at least one or more control units, the control units determining a vibration sensation value related to the vibration sensation felt by an occupant of the vehicle based on measurement data measured by at least one or more sensors of the vehicle, and determining a value indicating the occupant's difficulty in sleeping based on the vibration sensation value.

[0037] (2) In the information processing system described in (1) above, the control unit outputs a value indicating the difficulty in sleeping.

[0038] (3) In the information processing system described in (1) or (2) above, the control unit calculates the vibration sensation value based on the average power of vibration frequency components less than a predetermined frequency value in the left-right or yaw direction of the vehicle occupant obtained from the measurement data.

[0039] (4) In the information processing system described in (3) above, the control unit calculates the vibration sensation value based on the average power of vibration frequency components above a predetermined frequency value in the vertical or pitch direction of the vehicle occupant obtained from the measurement data.

[0040] (5) In the information processing system described in (4) above, the value indicating the difficulty in sleeping is configured to indicate that the difficulty in sleeping for the occupant increases as the average power of vibration frequency components below a predetermined frequency value in the left-right or yaw direction becomes smaller than the average power of vibration frequency components above a predetermined frequency value in the up-down or pitch direction.

[0041] (6) In the information processing system described in (3) or (4) above, the control unit calculates the vibration sensation value based on the temporal fluctuation of the power of vibration frequency components equal to or greater than a predetermined frequency value in at least one of the occupant's forward / backward, upward / downward, roll, and pitch directions obtained from the measurement data, and the value indicating the difficulty in sleeping is configured so that the greater the temporal fluctuation of the power of vibration frequency components equal to or greater than the predetermined frequency value, the greater the difficulty in sleeping for the occupant.

[0042] (7) In the information processing system described in any one of (1) to (6) above, the control unit controls the operation of a device that gives the occupant a vibration sensation based on a value indicating the difficulty in sleeping.

[0043] (8) In the information processing system described in (7) above, the device is installed in a seat or headrest that is in contact with the trunk or head and neck of the occupant.

[0044] (9) In the information processing system described in (7) or (8) above, the control unit controls the device to superimpose the vibration sensation of vibration frequency components below a predetermined frequency value in the left-right or yaw direction of the occupant of the vehicle on the trunk or head and neck of the occupant so that the average power of vibration frequency components below a predetermined frequency value in the left-right or yaw direction of the occupant feels larger than the average power of vibration frequency components above a predetermined frequency value in the up-down or pitch direction of the occupant.

[0045] (10) In the information processing system described in any one of (7) to (9) above, the control unit controls the operation of the device so as to give the occupant a vibration sensation corresponding to a state in which there is small temporal fluctuation in the power of vibration frequency components equal to or greater than a predetermined frequency value in at least one of the forward / backward, upward / downward, roll, and pitch directions of the occupant.

[0046] (11) In the information processing system described in any one of (1) to (10) above, the control unit calculates a value indicating the discomfort of the occupants for each travel route based on the measurement data for each travel route of the vehicle.

[0047] (12) In the information processing system described in (11) above, the control unit selects one travel route from multiple travel routes based on a value indicating the occupant's sleeping discomfort for each travel route, and outputs the selected travel route.

[0048] (13) An information processing method executed by an information processing system, which determines a vibration sensation value related to the vibration sensation felt by an occupant of a vehicle based on measurement data measured by at least one or more sensors of the vehicle, and determines a value indicating the discomfort of the occupant sleeping based on the vibration sensation value.

[0049] (14) A program for causing a computer to function as the information processing system according to any one of (1) to (12) above. Of course, this is not a limitation.

[0050] For example, the above-described embodiments and modifications may be combined in any manner.

[0051] Finally, while various embodiments of the present invention have been described, these are presented by way of example only and are not intended to limit the scope of the invention. The novel embodiments may be embodied in various other forms, and various omissions, substitutions, and modifications may be made without departing from the spirit of the invention. The embodiments and their modifications are intended to be included within the scope and spirit of the invention, as well as within the scope of the invention and its equivalents as defined in the claims.

[0052] 1: Head measurement area, 2: Head measurement area, 100: Server device, 110: Automobile, 150: Network, 210: Control unit, 220: Storage unit, 230: Communication unit, 300: Occupant, 700: Restraint device, 1000: Information processing system

Claims

1. An information processing system having at least one control unit, wherein the control unit determines a vibration sensation value related to the vibration sensation felt by an occupant of the vehicle based on measurement data measured by at least one sensor of the vehicle, and determines a value indicating the discomfort of the occupant sleeping based on the vibration sensation value.

2. An information processing system according to claim 1, wherein the control unit outputs a value indicating the difficulty in sleeping.

3. An information processing system according to claim 1 or claim 2, wherein the control unit determines the vibration sensation value based on the average power of vibration frequency components less than a predetermined frequency value in the left-right or yaw direction of the vehicle occupant obtained from the measurement data.

4. An information processing system according to claim 3, wherein the control unit calculates the vibration sensation value based on the average power of vibration frequency components equal to or greater than a predetermined frequency value in the vertical or pitch direction of the vehicle occupant obtained from the measurement data.

5. An information processing system according to claim 4, wherein the value indicating the difficulty in sleeping is configured to indicate that the difficulty in sleeping for the occupant increases as the average power of vibration frequency components below a predetermined frequency value in the left-right or yaw direction becomes smaller compared to the average power of vibration frequency components equal to or greater than a predetermined frequency value in the up-down or pitch direction.

6. An information processing system according to claim 3 or claim 4, wherein the control unit calculates the vibration sensation value based on the temporal fluctuation of the power of vibration frequency components equal to or greater than a predetermined frequency value in at least one of the longitudinal, vertical, roll, and pitch directions of the occupant obtained from the measurement data, and the value indicating the difficulty in sleeping is configured so that the greater the temporal fluctuation of the power of vibration frequency components equal to or greater than the predetermined frequency value, the greater the difficulty in sleeping for the occupant.

7. An information processing system according to any one of claims 1 to 6, wherein the control unit controls the operation of a device that gives the occupant a vibration sensation based on the value indicating the degree of difficulty in sleeping.

8. An information processing system according to claim 7, wherein the device is installed in a seat or headrest that is in contact with the trunk or head and neck of the occupant.

9. An information processing system as claimed in claim 7 or claim 8, wherein the control unit controls the device to superimpose the vibration sensation of vibration frequency components below a predetermined frequency value in the left-right or yaw direction of the occupant of the vehicle on the trunk or head and neck of the occupant so that the average power of vibration frequency components below a predetermined frequency value in the left-right or yaw direction of the occupant feels larger than the average power of vibration frequency components above a predetermined frequency value in the up-down or pitch direction of the occupant.

10. An information processing system according to any one of claims 7 to 9, wherein the control unit controls the operation of the device so as to give the occupant a vibration sensation corresponding to a state in which there is little temporal fluctuation in the power of vibration frequency components equal to or greater than a predetermined frequency value in at least one of the forward / backward, upward / downward, roll, and pitch directions of the occupant.

11. An information processing system according to any one of claims 1 to 10, wherein the control unit calculates a value indicating the discomfort of the occupants sleeping for each travel route based on the measurement data for each travel route of the vehicle.

12. An information processing system according to claim 11, wherein the control unit selects one travel route from a plurality of travel routes based on a value indicating the sleep discomfort of the occupant for each of the travel routes, and outputs the selected travel route.

13. An information processing method executed by an information processing system, comprising: determining a vibration sensation value related to the vibration sensation felt by an occupant of a vehicle based on measurement data measured by at least one sensor in the vehicle; and determining a value indicating the occupant's difficulty in sleeping based on the vibration sensation value.

14. A program for causing a computer to function as an information processing system according to any one of claims 1 to 12.

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