JP2018103859A - Steering support method and steering support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering support device and a steering support method that can improve an operational feeling of a driver with respect to steering from the start of steering.SOLUTION: A steering support method includes: estimating steering start timing from vehicle surrounding conditions and brain activities of a vehicle driver; calculating steering estimation profile from the past steering profile; and starting steering control in accordance with the estimation profile at timing that is earlier than the steering start timing.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a steering support method and a steering support device.

  Japanese Patent Laid-Open No. 2004-133830 describes a work rate related to steering torque and a work rate related to time differentiation of steering torque in order to reduce a driver's uncomfortable feeling caused by a deviation between a target course and a course intended by the driver in lane keep assist control. Is calculated as an index indicating the strength of the driver's steering intention, and a vehicle control device is disclosed that corrects the target course so that the index is a predetermined value or less.

Japanese Patent Laying-Open No. 2015-151086

  However, since the technique described in Patent Document 1 corrects the target course using the steering torque generated by the driver's steering, it is difficult to improve the driver's operational feeling with respect to steering at the start of steering.

  In view of the above-described problems, an object of the present invention is to provide a steering support method and a steering support device that can improve the operational feeling of a driver for steering from the start of steering.

  The steering support method according to an aspect of the present invention predicts the steering start timing from the surrounding environment of the vehicle and the brain activity of the driver of the vehicle, calculates a predicted steering profile from the past steering profile, and calculates the steering start timing from the steering start timing. Control of steering according to the prediction profile is started at an early timing.

  ADVANTAGE OF THE INVENTION According to this invention, the steering assistance apparatus method and steering assistance apparatus which can improve the driver | operator's operation feeling with respect to steering from the time of steering start can be provided.

FIG. 1 is a block diagram illustratively illustrating the configuration of the steering assist device according to the embodiment of the present invention. FIG. 2 is an example illustrating a scene in which a vehicle equipped with a steering assist device according to an embodiment of the present invention is steered. FIG. 3 is a flowchart for explaining an example of a steering support method by the steering support apparatus according to the embodiment of the present invention. FIG. 4 is a diagram showing the steering angle of the vehicle and the assist force for steering by the steering assist device according to the embodiment of the present invention with the time when the MRP is detected matched. FIG. 5 is a diagram showing the relationship between the delay time from the MRP detection time to the actual steering start and the time advanced from the predicted steering start timing to the assist start timing. FIG. 6 is a diagram illustrating an example of a method by which the steering assist device according to the embodiment of the present invention calculates a prediction profile. FIG. 7 is a diagram illustrating an example of a method by which the steering assist device according to the embodiment of the present invention calculates a prediction profile. FIG. 8 is a diagram for explaining that the time from the start to the end of the steering is reduced by the steering assist device according to the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals, and redundant description is omitted. However, the following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical ideas of the present invention are apparatuses and methods illustrated in the following embodiments. It is not something specific. The technical idea of the present invention can be variously modified within the technical scope described in the claims.

(Steering support device)
As shown in FIG. 1, the steering assist device according to the embodiment of the present invention includes a controller 1, an ambient condition sensor 2, a running state sensor 3, a biological information sensor 4, and an actuator group 5. For example, as shown in FIG. 2, the steering assist device according to the present embodiment is mounted on a vehicle P, and controls the steering of the vehicle P according to surrounding conditions such as other vehicles Q and road structures around the vehicle P. Thus, the steering of the vehicle P is supported.

  The ambient condition sensor 2 detects the ambient condition of the vehicle P. The ambient condition sensor 2 sequentially outputs information indicating the detected ambient condition to the controller 1. The ambient condition sensor 2 includes, for example, a plurality of sensors that respectively acquire information on the ambient condition of the vehicle P. The ambient condition sensor 2 includes, for example, a radar 21, a camera 22, a map database (DB) 23, a global positioning system (GPS) receiver 24, and a communication device 25.

  The radar 21 scans a predetermined range around the vehicle P and acquires surrounding three-dimensional distance data. The three-dimensional distance data is point cloud data indicating a relative three-dimensional position from the radar 21. The radar 21 detects information on an object existing around the vehicle P from the acquired three-dimensional distance data. For example, the radar 21 detects the relative position, speed, acceleration / deceleration, size, and distance to the other vehicle Q of the other vehicle Q. As the radar 21, for example, a laser range finder (LRF) or a ranging radar using millimeter waves or ultrasonic waves can be employed.

  The camera 22 is an image sensor that captures a predetermined range around the vehicle P and acquires a surrounding image. The camera 22 detects information on a target existing around the acquired image. Objects existing around the vehicle P are, for example, a road on which the vehicle P travels and structures around the road, road markings, signs, other vehicles Q, pedestrians, and the like. The camera 22 may detect the relative position, speed, acceleration / deceleration, size of the other vehicle Q, the state of the brake lamp, the state of the blinker lamp, and the inter-vehicle distance from the other vehicle Q. The camera 22 may be a stereo camera or an omnidirectional camera, and may include a plurality of image sensors.

  The map DB 23 is a storage device that stores map data. The map DB 23 is composed of a storage medium such as a semiconductor memory or a disk medium, for example. In addition to map data in a general car navigation system such as road shape including curvature and width, road type, number of lanes, the map DB 23 includes the position of lane boundaries, lane divisions, the position of features around the road, Stores high-definition map data including information related to shapes and so on.

  The GPS receiver 24 calculates the latitude, longitude, and altitude of the vehicle P based on the radio wave received from the artificial satellite and matches it with the map data stored in the map DB 23, so that the current position of the vehicle P in the map data is obtained. To get. That is, the GPS receiver 24 constitutes a positioning device that detects the current position of the vehicle P in the map data together with the map DB 23. The positioning device can detect the detailed current position of the vehicle P in the map data by collating information acquired from the radar 21 or the camera 22 with the map data. The ambient situation sensor 2 detects information on the ambient situation of the vehicle P at the current position from the map data.

  The communication device 25 is a communication interface that obtains the surrounding situation of the vehicle P from the outside by wireless communication. The communication device 25 can receive various information from an intelligent road traffic system (ITS) that transmits traffic information such as traffic jam information and traffic regulation information in lane units, weather information, and the like in real time. ITS includes inter-vehicle communication, road-to-vehicle communication, VICS (registered trademark) (Vehicle Information and Communication System), telematics, and the like. The communication device 25 can detect the acceleration / deceleration of other vehicles around the vehicle P, the relative position with respect to the vehicle P, and the like by, for example, inter-vehicle communication.

  The traveling state sensor 3 detects the traveling state of the vehicle P. The traveling state sensor 3 sequentially outputs information indicating the detected traveling state to the controller 1. The traveling state sensor 3 is composed of, for example, a plurality of sensors that respectively acquire information on the traveling state of the vehicle P. The traveling state sensor 3 includes, for example, a vehicle speed sensor 31, an acceleration sensor 32, a yaw rate sensor 33, an accelerator opening sensor 34, a brake switch 35, and a steering operation amount sensor 36.

  The vehicle speed sensor 31 detects the speed of the vehicle P from the wheel speed of the vehicle P, for example. The acceleration sensor 32 detects the acceleration of the vehicle P in the front-rear direction and the left-right direction. The yaw rate sensor 33 detects the yaw rate of the vehicle P, that is, the angular velocity of the vehicle P with the vertical direction as the rotation axis. The accelerator opening sensor 34 detects the accelerator opening of the vehicle P from the amount of depression of the accelerator pedal of the vehicle P, for example. The brake switch 35 detects the operating state of the brake of the vehicle P by the driver, that is, the operating state of the brake. The steering operation amount sensor 36 detects the operation angle of the steering wheel of the vehicle P or the steering angle of the steering wheel.

  The biological information sensor 4 detects the brain activity of the driver of the vehicle P. The brain activity of the driver is biometric information that can estimate the occurrence of the driver's intention to perform a steering operation (steering intention). That is, the brain activity can be detected based on at least one of the brain wave of the driver of the vehicle P, cerebral blood flow, heart rate, respiration, perspiration, and face image. The biological information sensor 4 includes an electroencephalogram sensor 41 and an imaging device 42, for example. The biological information sensor 4 sequentially outputs biological information to be detected to the controller 1.

  The electroencephalogram sensor 41 detects the electroencephalogram of the driver of the vehicle P. The electroencephalogram sensor 41 detects an electrical activity generated in the driver's brain by a plurality of electrodes attached to the driver's head, and detects the motor preparation potential by frequency analysis of the detected signal. The motion preparation potential is a potential generated when a hand, a leg, or the like is moved, and particularly means a potential for moving a hand or an arm for steering. The plurality of electrodes of the electroencephalogram sensor 41 may be constituted by, for example, a wearable electrode cap so as to be easily placed on the driver's head, or may be constituted by a plurality of electrodes provided on the headrest.

  The imaging device 42 is an image sensor arranged in a position where the driver's face is photographed from the front in the passenger compartment of the vehicle P. As the imaging device 42, for example, a CCD camera, a combination of a near infrared LED and an infrared camera, or the like can be used. The imaging device 42 captures an image of the driver in order to detect the driver's line of sight, facial expression, movement, and the like.

  The actuator group 5 is a drive device that controls the traveling of the vehicle P in accordance with a control signal from the controller 1. The actuator group 5 includes a steering actuator 51, an accelerator opening actuator 52, and a brake control actuator 53. The steering actuator 51 is composed of, for example, a motor that can transmit torque to the steering shaft, and controls the steering angle of the steering shaft. The steering actuator 51 may include a reaction force motor that applies a reaction force to the driver's steering torque. The accelerator opening actuator 52 includes, for example, a throttle valve, and controls the accelerator opening of the host vehicle. The brake control actuator 53 is composed of, for example, a hydraulic circuit, and controls the braking operation of the brake of the host vehicle.

  The controller 1 is a control circuit that controls the driving of the vehicle P by calculating processing necessary for the operation performed by the steering assist device according to the present embodiment and controlling the actuator group 5 according to the calculation result. The controller 1 is, for example, an electronic control unit (ECU) that includes a processor 11, a storage device 12, and an input / output interface. The processor 11 is a processing circuit such as a central processing unit (CPU). The storage device 12 includes a storage device such as a semiconductor memory or a disk medium, and may include a register, a cache memory, and a memory such as a ROM and a RAM used as a main storage device. For example, the processor 11 can execute a program (steering assistance program) that is stored in advance in the storage device 12 and that shows a series of processes necessary for the operation of the steering assistance device according to the present embodiment.

  The controller 1 may have a programmable logic device (PLD) such as a field programmable gate array (FPGA), or a functional logic circuit set in a general-purpose semiconductor integrated circuit. I do not care. Each part which comprises the controller 1 may be comprised from single hardware, and may each be comprised from separate hardware.

  The controller 1 predicts the steering start timing at which the driver starts steering from the surrounding situation of the vehicle P detected by the surrounding situation sensor 2 and the brain activity of the driver of the vehicle P detected by the biological information sensor 4. To do. For example, the controller 1 predicts the steering start timing from the motor preparation potential (MRP) of the brain wave of the driver detected by the brain wave sensor 41. For example, the controller 1 predicts the time when a predetermined time has elapsed from the time when the MRP is detected as the steering start timing.

  The controller 1 calculates a predicted profile that is a steering profile predicted to be started at the steering start timing from the driver's past steering profile stored in advance in the storage device 12. The steering profile stored in the storage device 12 is at least one of information indicating the steering operation performed by the driver in the target scene and information indicating the vehicle behavior generated by the steering operation. That is, the prediction profile is at least one of information indicating a steering operation predicted to be performed by the driver in the target scene and information indicating a vehicle behavior predicted to be generated by the steering operation. The steering profile may be a time function indicating the steering operation performed by the driver in the target scene. The storage device 12 acquires the driver's steering profile from the traveling state sensor 3 and accumulates past profiles.

  The controller 1 assists the driver's steering by starting the steering control of the vehicle P according to the prediction profile at a timing earlier than the steering start timing. Specifically, the controller 1 calculates a control amount of the steering actuator 51 for realizing the prediction profile, and at a timing earlier than the predicted steering start timing by a predetermined time, the controller 1 sets the steering actuator 51 according to the calculated control amount. Start control.

(Steering support method)
An example of a steering support method using the steering support device according to the present embodiment will be described using the flowchart shown in FIG.

  In step S <b> 1, the ambient condition sensor 2 monitors the ambient environment of the vehicle P and detects the ambient condition of the vehicle P. The ambient condition sensor 2 includes the current position of the vehicle P, the number of lanes on the road on which the vehicle P travels, the road state in a predetermined distance range ahead of the vehicle P, the road state in the travel route set in the car navigation device, A surrounding situation such as the state of the other vehicle Q existing around the vehicle P is detected and sequentially output to the controller 1.

  In step S <b> 2, the controller 1 determines whether or not the driver of the vehicle P may steer in a predetermined distance range in front of the vehicle P (traveling direction) based on the surrounding situation acquired from the surrounding situation sensor 2. The determination is made by the processor 11. Specifically, when there is a steering action that is estimated to be executed from the acquired surrounding situation, the controller 1 specifies the type of the steering action and determines that there is a possibility of steering. The types of steering actions are lane change, right turn or left turn, curve, merge, branch, and the like.

  For example, as shown in FIG. 2, when the travel lane set in the navigation device is a lane L after branching, and the distance to the branch point is equal to or less than a predetermined value, the controller 1 changes the lane. Since it is necessary, it is determined that the vehicle P may be steered. In addition, when the set travel route is a route that requires steering such as a right turn or a left turn or a lane change, when the road on which the vehicle P travels has a curve ahead, the preceding other vehicle Q approaches It is determined that there is a possibility that the vehicle P is steered when the vehicle is being operated. If it is determined that there is no possibility of steering, the process of step S1 is repeated, and if it is determined that there is a possibility of steering, the process proceeds to step S3.

  In step S3, the controller 1 tries to predict the steering start timing from the driver's brain activity acquired from the biological information sensor 4 for the scene determined to be steerable in step S2, and the steering start timing is determined. The processor 11 determines whether or not the prediction has been made. The steering start timing is a timing at which the driver of the vehicle P starts steering. If it is determined that the steering start timing is predicted, the process proceeds to step S4. If it is determined that the steering start timing is not predicted, the process proceeds to step S7.

For example, as shown in FIG. 4, when MRP is detected from the brain wave of the driver of the vehicle P at time t ₀ , steering is started by the driver at time t _dd when the delay time A1 has elapsed from time t _0. Is done. Controller 1 from time t _0, the time t _da time average delay time A1 in the steering of the profile stored in the storage device 12 has elapsed, the predicted as a steering start timing.

In step S4, the controller 1 uses the processor 11 to calculate an assist start timing that is a timing for starting steering assistance by controlling the steering actuator 51 from the steering start timing predicted in step S3. In the example shown in FIG. 4, the controller 1, the predicted time t predetermined time _da A2 earlier time T _f as a steering start timing is calculated as the assist start timing.

  FIG. 5 shows a delay time A1 from the MRP detection to the steering and a time A2 (a negative number) that is advanced from the predicted steering start timing to the assist start timing for each steering support control by the steering support device according to the present embodiment. It is a figure which shows the relationship. Region B1 means that the driver is aware of the steering assistance control, and region B2 means that the driver is not aware of the steering assistance control. Region B3 means that the steering assist control has not become the steering assist for the driver.

As shown in FIG. 5, the time A2 to advance from the time t _da as a steering start timing is more than 400 ms, the driver notice the steering assist control, which may feel uncomfortable. Therefore, when the time A2 is within 400 ms, the driver can feel that the steering is natural and smooth, and the operational feeling for steering is improved.

  On the other hand, if the steering start timing is not predicted in step S3, in step S7, the controller 1 determines whether or not the driver's steering is detected by the steering operation amount sensor 36 by the processor 11. If it is determined that steering by the driver is not detected, the process returns to step S1, and if it is determined that steering by the driver is detected, the process proceeds to step S8.

  In step S8, the controller 1 learns the steering pattern by acquiring the steering profile (steering pattern) of the driver detected in step S7 from the steering operation amount sensor 36 and storing it in the storage device 12. For example, the controller 1 classifies the steering profile for each type of steering behavior such as lane change, right turn or left turn, curve, merge, branch, and the like, and stores it in the storage device 12 to store the steering profile for each type of steering pattern behavior. Learn the profile. When the steering pattern is newly learned, the process returns to step S1.

  After the assist start timing is calculated in step S4, the controller 1 calculates an assist pattern to be executed by the actuator group 5 in step S5. That is, the controller 1 calculates a steering profile (predicted profile) predicted to start at the steering start timing predicted in step S3 from the driver's past steering profile stored in the storage device 12. . Specifically, the controller 1 reads a profile associated with the type specified in step S2 from the storage device 12, and calculates a prediction profile from the read profile.

  For example, as shown in FIG. 6, the controller 1 performs a cubic function approximation on the curve C1 indicating the past steering profile based on the steering start time and angle and the time and angle at which the maximum steering angle is obtained. Calculate the prediction profile. That is, in the curve C1 shown in FIG. 6, the point D1 indicating the steering start time and angle, the point D2 indicating the time and angle at which the positive maximum steering angle (maximum) is reached, and the negative maximum steering angle (minimum). The prediction profile can be calculated by calculating a curve passing through the point D3 indicating the time and angle at () by an approximation method or the like.

  In addition, the controller 1 may calculate the prediction profile by calculating the center of a region formed by superimposing a plurality of curves indicated by past steering profiles. For example, as shown in FIG. 6, a curve C2 passing through the center of a region E formed by superimposing a plurality of curves indicated by past steering profiles can be calculated as a predicted profile. The region E includes, for example, a curve E1 represented by the maximum steering angle at each time and a curve E2 represented by the minimum steering angle at each time among the plurality of curves indicated by the past steering profiles. It is an area surrounded by. The curve C2 may be a curve that connects the centers of the steering angles at each time in the region E, and for each point of the curve E1, the midpoint between the curve E1 and the curve E2 when the distance from the curve E2 is the shortest. It may be a curve connecting.

  In addition, as shown in FIG. 7, the controller 1 may calculate a prediction profile by calculating an average of curvatures at times corresponding to each other of a plurality of curves indicated by past steering profiles. That is, the average of the curvature at each time 0 s, 0.2 s, 0.4 s, and 0.6 s of a plurality of curves indicated by the past steering profile is calculated, and each time 0 s, 0.2 s, 0.4 s, The prediction profile may be calculated by calculating a curve C3 having an average curvature calculated at 0.6 s.

  In step S6, the controller 1 starts steering control of the vehicle P according to the prediction profile calculated in step S5 at a timing earlier than the steering start timing predicted in step S3, and executes steering assist. Specifically, the controller 1 calculates a control amount of the steering actuator 51 for realizing the prediction profile, and responds to the control amount at an assist start timing that is a predetermined time A2 earlier than the steering start timing calculated in step S4. Then, control of the steering actuator 51 is started.

  As described above, according to the steering support device according to the present embodiment, the steering start timing is predicted from the surrounding situation of the vehicle P and the brain activity of the driver, the predicted profile is calculated from the past steering profile, and the steering Steering control is started at a timing earlier than the start timing. Therefore, since the steering assist device according to the present embodiment calculates a predicted steering profile predicted to be executed by the driver prior to the execution of steering, the driver's operational feeling with respect to steering is improved from the start of steering. be able to.

FIG. 8 shows a curve Ca indicating the relationship between time and steering angle when steering assistance is executed by the steering assistance device according to the present embodiment, and a curve Cb when there is no steering assistance, in which MRP is detected. It illustrates to agree on the time t _0. The curve Ca is understood to be shorter than the curve Cb by about 1.5 s or more from the start to the end of steering. Thus, according to the steering assist device according to the present embodiment, since the steering control is started at a timing earlier than the steering start timing, the time from the start to the end of the steering can be reduced.

  Further, according to the steering assist device according to the present embodiment, the prediction profile approximates the cubic function based on the start time and angle of the driver's past steering and the time and angle that become the maximum steering angle. Calculated. Therefore, the steering assist device according to the present embodiment can calculate the prediction profile with high accuracy from the past steering profile, reduce the driver's uncomfortable feeling with respect to the steering assist, and steer the driver's operational feeling with respect to the steering. It can be improved from the beginning.

  Further, according to the steering assist device according to the present embodiment, the prediction profile is calculated based on the average of curvatures at times corresponding to each other of a plurality of curves indicated by the driver's past steering profile. Therefore, the steering assist device according to the present embodiment can calculate the prediction profile with high accuracy from the past steering profile, reduce the driver's uncomfortable feeling with respect to the steering assist, and steer the driver's operational feeling with respect to the steering. It can be improved from the beginning.

  Further, according to the steering assist device according to the present embodiment, the prediction profile is calculated based on the center of a region formed by superimposing a plurality of curves indicated by the driver's past steering profile. Therefore, the steering assist device according to the present embodiment can calculate the prediction profile with high accuracy from the past steering profile, reduce the driver's uncomfortable feeling with respect to the steering assist, and steer the driver's operational feeling with respect to the steering. It can be improved from the beginning.

  Further, according to the steering assist device according to the present embodiment, the driver's brain activity is detected based on at least one of the driver's brain wave, cerebral blood flow, heart rate, breathing, sweating, and face image. To do. Therefore, the steering assist device according to the present embodiment can accurately calculate the steering start timing at which the driver starts steering prior to the execution of the steering, and improves the driver's operational feeling with respect to steering from the start of steering. can do.

  Further, according to the steering assist device according to the present embodiment, the steering start timing at which the driver starts steering is predicted based on the motor preparation potential of the brain wave of the driver. Therefore, the steering assist device according to the present embodiment can accurately calculate the steering start timing at which the driver starts steering prior to the execution of the steering, and improves the driver's operational feeling with respect to steering from the start of steering. can do.

(Other embodiments)
While embodiments of the present invention have been described as described above, it should not be understood that the description and drawings that form part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, in the above-described embodiment, the steering start timing may be predicted from the past steering profile stored in the storage device 12 in addition to the driver's brain activity. For this reason, the past steering profile may include road information or the like in map data associated with a time function indicating the steering operation performed by the driver. In addition, the steering profile may include an accelerator operation amount, a brake pedal operation amount, and the like performed by the driver in the target scene.

  Further, in the above-described embodiment, the prediction profile may be calculated based on a probability density function related to the past steering profile, and the steering of a virtual driver with high driving skill preset in the storage device 12 may be used. It may be calculated based on the profile. The prediction profile may be calculated so that the acceleration, jerk, and angular velocity of the vehicle P along the horizontal direction are within predetermined values, thereby improving the comfort of the passenger of the vehicle P. .

  In the embodiment described above, the assist start timing may be calculated according to the driving skill of the driver. For example, the controller 1 may calculate the assist start timing by advancing the time A2 set so as to increase as the driving skill of the driver increases from the steering start timing. As a result, the time from the start to the end of steering can be reduced. As described above, the time A2 is desirably within 400 ms.

  In the above-described embodiment, the biological information sensor 4 includes a myoelectric sensor that detects the myoelectric potential of the driver, and the controller 1 generates a steering intention based on the change in the myoelectric potential detected by the myoelectric sensor. You may make it estimate.

  In addition, of course, the present invention includes various embodiments that are not described here, such as configurations in which the respective configurations described in the above embodiments are arbitrarily applied. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

1 Controller 2 Ambient condition sensor (first sensor)
3 Running state sensor 4 Biological information sensor (second sensor)
5 Actuator group 11 Processor 12 Storage device P Vehicle

Claims (7)

Predicting the steering start timing at which the driver starts steering from the surrounding situation of the vehicle and the brain activity of the driver of the vehicle,
From the driver's past steering profile, a steering prediction profile that is started at the steering start timing is calculated,
A steering support method, wherein control of steering of the vehicle according to the prediction profile is started at a timing earlier than the steering start timing.   The steering assist according to claim 1, wherein the prediction profile is calculated by approximating a cubic function based on a start time and angle of the past steering and a time and angle at which the maximum steering angle is obtained. Method.   The steering support method according to claim 1, wherein the predicted profile is calculated by calculating an average of curvatures at times corresponding to each other of a plurality of curves indicated by the past steering profile.   The steering assist method according to claim 1, wherein the predicted profile is calculated by calculating a center of an area formed by superimposing a plurality of curves indicated by the past steering profile.   The brain activity is detected based on at least one of the driver's brain wave, cerebral blood flow, heart rate, respiration, sweating, and facial image. The steering support method according to the item.   The steering assist method according to any one of claims 1 to 5, wherein the steering start timing is predicted from the motor preparation potential of the brain wave of the driver. A first sensor for detecting a surrounding situation of the vehicle;
A second sensor for detecting brain activity of the driver of the vehicle;
A storage device for storing a past steering profile of the driver;
A controller for controlling the steering of the vehicle,
The controller predicts a steering start timing at which the driver starts steering from the surrounding situation and the brain activity, calculates a predicted profile of steering started at the steering start timing from the profile, and calculates the steering A steering assist device that starts steering control of the vehicle according to the prediction profile at a timing earlier than a start timing.

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