JP2020201737A - Driving support device, driving support method, and program - Google Patents

Abstract

To provide a driving support device capable of eligibly supporting to avoid danger in actual driving of a vehicle.SOLUTION: A driving support device includes: a vehicle driving information acquisition unit that acquires vehicle driving information; an image acquisition unit that acquires an image of the surroundings of the vehicle; an image feature extraction unit that extracts features related to vehicle driving from the image; a biometric information acquisition unit that acquires biometric information of a vehicle occupant; a biometric abnormality determination unit that determines an abnormality in a living body from the biometric information of the occupant; a history management unit that manages the driving information of the vehicle in the event of the abnormality in the living body and the features related to vehicle driving as a history in correspondence with the abnormality of the living body; and an output control unit that outputs an instruction signal for notification when the features related to vehicle driving extracted by the image feature extraction unit and the vehicle driving information acquired by the vehicle driving information acquisition unit are determined to be similar to the features related to vehicle driving and the vehicle driving information.SELECTED DRAWING: Figure 1

Description

The present invention relates to a driving support device, a driving support method, and a program for providing danger avoidance support in driving a vehicle.

In recent years, the development of a technology for detecting a danger that may lead to an accident in driving a vehicle in advance and calling attention to the driver has been promoted. Patent Document 1 includes danger avoidance provided with an analysis means for analyzing the relationship between a driver's driving operation and vehicle behavior and the occurrence of an accident based on a plurality of sets of biological information, vehicle information, and surrounding images. The device is disclosed.

JP-A-2018-092084

However, the technique disclosed in Patent Document 1 aims to generate a highly accurate driving simulation, and does not support danger avoidance in actual driving of a vehicle.

The present invention has been made in view of the above background, and an object of the present invention is to provide a driving support device capable of qualifying support for avoiding danger in actual driving of a vehicle.

The driving support device according to one embodiment of the present invention includes a vehicle driving information acquisition unit that acquires vehicle driving information, an image acquisition unit that acquires an image of the surroundings of the vehicle, and the vehicle from the image. An image feature extraction unit that extracts features related to driving, a biological information acquisition unit that acquires biological information of one or more occupants of the vehicle, and a biological abnormality determination unit that determines a biological abnormality from the biological information of the occupant. , The history management unit that manages the traveling information of the vehicle and the characteristics related to the traveling of the vehicle when the abnormality of the living body occurs as a history corresponding to the abnormality of the living body, and the image feature extraction unit extracted. When it is determined that the characteristics related to the running of the vehicle and the running information of the vehicle acquired by the vehicle running information acquisition unit are similar to the running information of the vehicle in the history and the running information of the vehicle. , An output control unit that outputs an instruction signal for performing notification or outputs an instruction signal for performing traveling control of the vehicle.

The driving support method according to one embodiment of the present invention includes a first step of acquiring travel information of the vehicle, a second step of acquiring an image of the surroundings of the vehicle, and the image of the vehicle. A third step of extracting characteristics related to driving, a fourth step of acquiring biometric information of one or more occupants of the vehicle, and a fifth step of determining an abnormality of the living body from the biometric information of the occupants. The sixth step of managing the running information of the vehicle and the characteristics related to the running of the vehicle when an abnormality of the living body occurs as a history in correspondence with the abnormality of the living body was extracted in the third step. When it is determined that the characteristics related to the running of the vehicle and the running information of the vehicle acquired in the first step are similar to the characteristics related to the running of the vehicle and the running information of the vehicle in the history. A seventh step of outputting an instruction signal for performing notification or outputting an instruction signal for performing driving control of the vehicle is provided.

The program according to one embodiment of the present invention relates to the first step of acquiring the traveling information of the vehicle, the second step of acquiring the image of the surroundings of the vehicle, and the traveling of the vehicle from the images. A third step of extracting features, a fourth step of acquiring biometric information of one or more occupants of the vehicle, a fifth step of determining an abnormality of the living body from the biometric information of the occupant, and a living body. The sixth step of managing the running information of the vehicle and the characteristics related to the running of the vehicle when the abnormality occurs as a history in association with the abnormality of the living body, and the vehicle extracted in the third step. When it is determined that the driving characteristics of the vehicle and the traveling information of the vehicle acquired in the first step are similar to the traveling characteristics of the vehicle and the traveling information of the vehicle in the history, notification is sent. The computer is made to execute the seventh step of outputting the instruction signal for performing the operation or outputting the instruction signal for performing the traveling control of the vehicle.

According to the present invention, it is possible to qualify support for avoiding danger in actual driving of a vehicle.

It is a block diagram which shows the structure of the driving support apparatus which concerns on Embodiment 1. FIG. It is a flowchart which shows the flow of the process of registering the abnormality of a living body in the history in the driving support device which concerns on Embodiment 1. FIG. FIG. 5 is a flowchart showing a flow of processing for outputting an instruction signal for controlling the running of the vehicle when it is determined that there is a high possibility that an abnormality in the living body occurs in the driving support device according to the first embodiment. It is a block diagram which shows the modification of the external output part which the output control part of the operation support device which concerns on Embodiment 1 output an instruction signal. It is a block diagram which shows the structure of the driving support apparatus which concerns on Embodiment 2. It is a block diagram which shows the structure of the driving support apparatus which concerns on Embodiment 3.

Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Moreover, not all of the configurations described in the embodiments are indispensable as means for solving the problem.

[Embodiment 1]
First, the configuration of the driving support device according to the first embodiment will be described.
FIG. 1 is a block diagram showing a configuration of the driving support device 10 according to the first embodiment. As shown in FIG. 1, the driving support device 10 includes a control unit 30. The control unit 30 includes a vehicle traveling information acquisition unit 31, an image acquisition unit 32, an image feature extraction unit 33, a biological information acquisition unit 34, a biological abnormality determination unit 35, and a history management unit 36 as functional blocks. It includes an output control unit 37.

The vehicle traveling information acquisition unit 31 acquires traveling information of the vehicle 50 such as vehicle speed and acceleration. The vehicle traveling information acquisition unit 31 may acquire, for example, operation information of the steering wheel, brake, accelerator, etc., lighting information of blinkers and hazards, and operation information of the horn.

The image acquisition unit 32 acquires an image (captured image) of the surroundings of the vehicle by the camera 60. The image acquisition unit 32 assumes a form of capturing an image of the traveling direction of the vehicle 50, but is not limited to this. If a camera that captures the side or rear of the vehicle 50 is installed, the images captured by these may be included. Further, the image acquisition unit 32 may supplementarily acquire measurement information by LiDAR or millimeter wave radar for measuring the distance to an obstacle around the vehicle 50.

The image feature extraction unit 33 extracts features related to the running of the vehicle from the captured image acquired by the image acquisition unit 32. The characteristics related to the running of the vehicle are, for example, the ETC bar in the traveling direction of the vehicle 50 or around the vehicle 50, traffic regulation information such as traffic lights and stop signs, characteristics of vehicles parked on the street and pedestrians, and the running of the vehicle 50. These include the width of the road being used, the characteristics of places where vehicles 50 are located, such as parking lots and highway toll gates. The sudden braking of the vehicle in front of the vehicle 50, the distance between the vehicle in front and the relative speed may be calculated from the image and extracted as a feature. Similarly, the distance and relative speed with the following vehicle may be calculated. May be extracted as a feature. Further, danger signs such as approaching may be determined from the inter-vehicle distance, relative speed, and the like, and extracted as features. The characteristics related to the running of the vehicle are extracted by using an image recognition technique such as pattern matching in the captured image. Image recognition in the captured image may be by a machine learning method.

The biological information acquisition unit 34 acquires the biological information of one or more occupants of the vehicle 50. The biometric information acquired by the biometric information acquisition unit 34 is not limited to that of the driver of the vehicle 50, and may include that of the passenger. The sensor from which the biological information acquisition unit 34 acquires biological information is a sensor that detects heart rate, pulse, body temperature, respiratory rate, and the like. When the sensor for which the biological information acquisition unit 34 acquires the biological information is, for example, the sensors included in the smart watch 70, the biological information acquisition unit 34 acquires the biological information from the smart watch 70 by wireless communication. In addition, the biological information acquisition unit 34 may include a function of receiving an image from the camera 60 that captures the line of sight or facial expression of the driver or passenger and performing processing such as line-of-sight detection to generate line-of-sight information. Voice information may be received from a microphone (not shown) that collects the sound in the vehicle 50, and processing such as voice recognition may be performed to extract the sound indicating surprise or discomfort.

The biological abnormality determination unit 35 determines a biological abnormality from the biological information of the occupant of the vehicle 50. For example, an abnormality is determined based on whether or not the heart rate exceeds a predetermined heart rate threshold value and whether or not the rate of increase in heart rate exceeds a predetermined rate of increase threshold value. The biological abnormality determination unit 35 makes a determination based on determination items such as heart rate, pulse rate, stress degree, and alertness. Here, the degree of stress is an index showing the degree of stress of the occupant. For example, the stress level may be calculated from the facial expression of the occupant by monitoring the facial expression of the occupant and using a learned neural network. The arousal level is an index showing the level of consciousness of the occupant. As a method of calculating the arousal degree, for example, it is calculated by analyzing the captured image obtained by capturing the human behavior (particularly the movement of the eyes) with a camera, and calculating by analyzing the fluctuation of the heart rate. It can be calculated by analyzing brain waves.

In the determination of the abnormality of the living body, it may be determined that the abnormality of the living body has occurred when even one of the determination items exceeds the normal range. Further, the biological abnormality may be determined by the biological abnormality determination value, which is the sum of the values obtained by multiplying each determination item by the weighting coefficient as the biological abnormality determination value. That is, the biological abnormality determination unit 35 determines that a biological abnormality has occurred when the biological abnormality determination value considering each determination item in a complex manner deviates from a predetermined normal range. For example, the biological abnormality determination value may be calculated by the following formula.
Biological abnormality determination value = A1 × heart rate + A2 × pulse rate + A3 × stress degree + A4 × arousal degree Here, A1, A2, A3, and A4 are weighting coefficients.

When the biological abnormality determination unit 35 determines that the biological abnormality has occurred, the history management unit 36 registers the biological abnormality as a history in association with the traveling information and the characteristics related to the traveling of the vehicle. For example, consider the case where "when approaching the ETC bar at a speed of 40 km / h or more, the heart rate of the passenger suddenly increased". In this case, the sudden rise in heart rate of the passenger corresponds to an abnormality in the living body, the traveling information corresponds to the fact that the vehicle was traveling at a speed of 40 km / h or more, and the ETC bar near the vehicle 50 is a characteristic of the vehicle traveling. .. In addition, consider the case where the driver's breathing becomes rough when trying to avoid a vehicle parked on the street without making a large detour. In this case, the driver's breathing became rough, which was an abnormality of the living body, the steering wheel was turned to make a detour, which was the driving information, and the vehicle was parked on the road near the vehicle 50. It hits. "The passenger screamed when the vehicle 50 accelerated despite the yellow traffic light in the direction of travel." "When approaching the stop sign in the direction of travel without deceleration, the passenger's History such as "the expression is strong" or "the driver operated the horn while yelling when the vehicle in front suddenly brakes" may be registered as a history.

The output control unit 37 notifies when it is determined that the characteristics related to the running of the vehicle and the running information of the vehicle are similar to the characteristics related to the running of the (registered) vehicle and the running information of the vehicle in the history. Outputs an instruction signal to perform. The output control unit 37 is characterized by the traveling of the vehicle when, for example, "the ETC bar is approaching at a speed of 40 km / h or more" or "there is a parked vehicle on the road and the vehicle is trying to avoid it without making a large detour". It is determined that the vehicle is similar to the traveling information of the vehicle, and an instruction signal for giving a notification such as "Please decelerate" or "Please turn the steering wheel more" is output to the notification unit 40. The notification unit 40 that receives the instruction signal notifies the driver. The notification unit 40 has, for example, a display device 41 and a speaker 42, and when the instruction signal is received, the notification unit 40 issues an alarm from the speaker 42 and is likely to feel a hilarious hat on the display device 41 (abnormality of the living body). (High possibility of occurrence) is displayed.

Next, it is a flowchart which shows the flow of the process of registering the abnormality of a living body, the running information at the time of the abnormality of a living body, and the characteristic about running of a vehicle as a history in the driving support device 10. Will be described. In the following description, FIG. 1 will also be referred to as appropriate.

FIG. 2 is a flowchart showing a flow of processing for registering an abnormality of a living body in a history in the driving support device 10. As shown in FIG. 2, first, the vehicle travel information acquisition unit 31 acquires travel information (step S1). Subsequently, the image acquisition unit 32 acquires the captured image (step S2). Subsequently, the image feature extraction unit 33 extracts features related to the running of the vehicle from the captured image (step S3). Subsequently, the biometric information acquisition unit 34 acquires the biometric information of the occupants of the vehicle (step S4).

Following step S4, the biological abnormality determination unit 35 determines whether or not a biological abnormality has occurred in the occupant of the vehicle based on the acquired biological information (step S5). In step S5, if no abnormality has occurred in the occupant of the vehicle, the process returns to step S1. In step S5, when an abnormality of the living body has occurred in the occupant of the vehicle, the history management unit 36 records the abnormality of the living body in correspondence with the running information when the abnormality of the living body occurs and the characteristics related to the running of the vehicle. Register in (step S6).

Next, a flow of processing for outputting an instruction signal for controlling the running of the vehicle when it is determined that there is a high possibility that an abnormality in the living body will occur will be described. In the following description, FIG. 1 will also be referred to as appropriate.

FIG. 3 is a flowchart showing a flow of processing for outputting an instruction signal for controlling the running of the vehicle when it is determined that there is a high possibility that an abnormality in the living body will occur. As shown in FIG. 3, first, the vehicle travel information acquisition unit 31 acquires travel information (step S101). Subsequently, the image acquisition unit 32 acquires the captured image (step S102). Subsequently, the image feature extraction unit 33 extracts features related to the running of the vehicle from the captured image (step S103).

Following step S103, the output control unit 37 searches the history managed by the history management unit 36, and the features related to the vehicle extracted in step S103 and the history similar to the traveling information acquired in step S101 are obtained. It is determined whether or not there is (step S104). If it is determined in step S104 that there is no similar history, the process returns to step SS101. If it is determined in step S104 that there is a similar history, the output control unit 37 outputs an instruction signal to the external output unit (step S105).

[Modification 1]
FIG. 4 is a block diagram showing a modified example of the external output unit in which the output control unit 37 of the driving support device 10 outputs an instruction signal. As shown in FIG. 4, the target to which the output control unit 37 outputs the instruction signal is the automatic operation control unit 51. That is, in the first modification, the external output unit is the automatic operation control unit 51. When it is determined in step S104 of FIG. 3 that the output control unit 37 has a similar history (that is, when it is determined that there is a high possibility that the occupant will have a hiatus), the output control unit 37 will contact the automatic operation control unit 51. Outputs an instruction signal to control the running of the vehicle 50. Further, the output control unit 37 may output an instruction signal to a vehicle control unit (not shown). For example, if the driver operates the horn when the vehicle traveling in front of the vehicle 50 suddenly brakes, and if there is a history of yelling, the output of the horn when a similar situation occurs. Controls such as reducing the sound may be performed.

From the above, the driving support device 10 according to the present embodiment acquires the biological information of the occupant of the vehicle, and when the abnormality of the biological body occurs, the abnormality of the biological body corresponds to the characteristics and the driving information related to the running of the vehicle. Let me register it as a history. Then, in driving the vehicle, if the characteristics and driving information related to the running of the vehicle are similar to those registered in the history, an instruction signal for notifying the external output unit is output, or the vehicle Outputs an instruction signal for driving control. As a result, when it is determined that the driving environment is the same as when the driver or the passenger has caused an abnormality in the living body in the actual driving of the vehicle in the past, for example, the passenger screamed in the past. As in the case, when the vehicle 50 is accelerated even though the traffic light is yellow, the driver can be notified or automatic driving control can be performed, and the support for avoiding danger can be accurately supported. ..

[Embodiment 2]
First, the configuration of the driving support device according to the second embodiment will be described.
FIG. 5 is a block diagram showing a configuration of the driving support device 110 according to the second embodiment. As shown in FIG. 5, the control unit 130 in the driving support device 110 further includes a position information acquisition unit 38 with respect to the control unit 30 in the driving support device 10 according to the first embodiment. The position information acquisition unit 38 acquires the position information of the feature related to the running of the vehicle extracted by the image feature extraction unit 33.

Here, the position information is absolute value information such as latitude and longitude in which a feature relating to the traveling of the vehicle exists. The position information acquisition unit 38 calculates the direction of the characteristic related to the running of the vehicle from the position and the traveling direction of the vehicle 50 acquired from the history such as GPS (Global Positioning System) and the mounting direction of the camera 60. Furthermore, by calculating the relative distance from the vehicle 50, which is a feature related to the running of the vehicle, from the license plate of the vehicle 50 and the size of the human head, for example, an ETC bar, a traffic light, or a parked vehicle on the street from the latitude and longitude of the vehicle 50. The position where the characteristic related to the running of the vehicle exists, such as, is calculated and acquired as the position information. It may have map information (not shown) and acquire the tollhouse position and the intersection position of the expressway as latitude / longitude information in which features related to the running of the vehicle exist.

In the driving support device 110, the flow of the process of registering the abnormality of the living body, the running information when the abnormality of the living body occurs, and the characteristics related to the running of the vehicle as a history is shown in FIG. 2, and the driving support according to the first embodiment is shown. It is basically the same as the processing flow in the device 10. The flow of processing for outputting an instruction signal for controlling the running of the vehicle when it is determined that there is a high possibility that an abnormality in the living body will occur is described in the driving support device 10 according to the first embodiment shown in FIG. It is basically the same as the processing flow. In step S3 of FIG. 2, the driving support device 110 according to the present embodiment extracts the characteristics related to the running of the vehicle and acquires the position information of the features related to the running of the vehicle. Then, the driving support device 110 according to the present embodiment determines in step S104 in FIG. 3 in consideration of the position information of the feature related to the traveling of the vehicle. By doing so, the support for avoiding danger can be more qualified in the actual driving of the vehicle.

[Embodiment 3]
First, the configuration of the driving support device according to the third embodiment will be described.
FIG. 6 is a block diagram showing a configuration of the driving support device 210 according to the third embodiment. As shown in FIG. 6, the control unit 230 in the driving support device 210 further includes a vehicle occupant identification unit 39 with respect to the control unit 30 in the driving support device 10 according to the first embodiment. The vehicle occupant identification unit 39 identifies the occupants of the vehicle 50. Specifically, the vehicle occupant identification unit 39 identifies the occupant of the vehicle by image recognition using a camera image taken inside the vehicle, wireless ID identification of a mobile device, sensor ID (smart watch ID), or the like. The driver or passenger may identify the vehicle occupant by inputting into a user information input unit (not shown) such as a button input.

In the driving support device 210, the flow of the process of registering the abnormality of the living body, the running information when the abnormality of the living body occurs, and the characteristics related to the running of the vehicle as a history is shown in FIG. 2, and the driving support according to the first embodiment is shown. It is basically the same as the processing flow in the device 10. The flow of processing for outputting an instruction signal for controlling the running of the vehicle when it is determined that there is a high possibility that an abnormality in the living body will occur is described in the driving support device 10 according to the first embodiment shown in FIG. It is basically the same as the processing flow.

The history management unit 36 manages the history for each occupant identified by the vehicle occupant identification unit 39. Further, when the output control unit 37 determines that the passenger is likely to feel a hilarious hat and the driver is unlikely to feel a hilarious hat, the output control unit 37 issues an instruction signal for increasing the degree of notification to the driver. Output. There is a difference in the sensation of feeling a hiyari hat between the driver and the passenger, and there is a time lag between the driver operating the vehicle to avoid the hiyari hat and the passenger feeling the vehicle behavior due to the operation. , Even if the passenger feels a smirk, the driver may not feel a smirk. By doing so, not only the driver but also the passengers can drive so as to reduce the frequency of feeling the hiatus.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit. The plurality of examples described above can be implemented in combination as appropriate.

The processing in each part of the driving support device according to the present invention can be realized by causing a computer or the like to execute a program. More specifically, a program stored in the program memory for executing processing in each part of the operation support device is loaded into the main storage device, and the program is executed and realized under the control of the CPU. Here, the program can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transient computer-readable media include various types of tangible storage media (tangible storage media). Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, It includes a CD-R / W, a semiconductor memory (for example, a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, and a RAM (Random Access Memory)). The program may also be supplied to the computer by various types of temporary computer readable media (transitory computer readable media). Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path. Further, the processing in each part of the navigation device is not limited to being realized by software by a program, and may be realized by any combination of hardware, firmware, and software.

10, 110, 210 Driving support devices 30, 130, 230 Control unit 31 Vehicle driving information acquisition unit 32 Image acquisition unit 33 Image feature extraction unit 34 Biological information acquisition unit 35 Biological abnormality determination unit 36 History management unit 37 Output control unit 38 Position Information acquisition unit 39 Vehicle occupant identification unit 40 Notification unit 41 Display device 42 Speaker 50 Vehicle 51 Automatic driving control unit 60 Camera 70 Smart watch

Claims (6)

The vehicle driving information acquisition unit that acquires vehicle driving information,
An image acquisition unit that acquires an image of the surroundings of the vehicle, and
An image feature extraction unit that extracts features related to the running of the vehicle from the image,
A biometric information acquisition unit that acquires biometric information of one or more occupants of the vehicle,
A biological abnormality determination unit that determines a biological abnormality from the biological information of the occupant,
A history management unit that manages the running information of the vehicle when the abnormality of the living body occurs and the characteristics related to the running of the vehicle as a history in correspondence with the abnormality of the living body.
The characteristics related to the running of the vehicle extracted by the image feature extraction unit and the running information of the vehicle acquired by the vehicle running information acquisition unit are similar to the characteristics related to the running of the vehicle and the running information of the vehicle in the history. A driving support device including an output control unit that outputs an instruction signal for performing notification or outputs an instruction signal for performing travel control of the vehicle when it is determined that the vehicle is in operation. The vehicle traveling information acquisition unit acquires traveling information regarding at least one of the speed and acceleration of the vehicle as the traveling information of the vehicle.
The driving support device according to claim 1, wherein the image feature extraction unit extracts traffic regulation information existing in the traveling direction of the vehicle as a feature related to the traveling of the vehicle. Further, a position information acquisition unit for acquiring position information of features related to the running of the vehicle extracted by the image feature extraction unit is provided.
In the output control unit, the characteristics related to the running of the vehicle extracted by the image feature extraction unit and the running information of the vehicle acquired by the vehicle running information acquisition unit are the features related to the running of the vehicle and the vehicle in the history. The driving support device according to claim 1 or 2, wherein it is determined whether or not the vehicle is similar to the driving information of the above. Further provided with an occupant identification unit for identifying the occupant of the vehicle,
The history management unit manages the history for each occupant identified by the occupant identification unit.
In the output control unit, the characteristics related to the driving of the vehicle extracted by the image feature extraction unit and the driving information of the vehicle acquired by the vehicle driving information acquisition unit are in the history, and an abnormality in the living body occurs in the passenger. Claims 1 to 3 that output an instruction signal for increasing the degree of notification to the driver when it is determined that the characteristics related to the running of the vehicle and the running information of the vehicle are similar to each other. The driving support device according to any one of the above items. The first step to acquire the driving information of the vehicle and
The second step of acquiring an image of the surroundings of the vehicle and
A third step of extracting the running characteristics of the vehicle from the image, and
A fourth step of acquiring biometric information of one or more occupants of the vehicle,
The fifth step of determining an abnormality in the living body from the biological information of the occupant,
A sixth step of managing the running information of the vehicle when an abnormality of the living body occurs and the characteristics related to the running of the vehicle as a history in association with the abnormality of the living body.
The characteristics related to the running of the vehicle extracted in the third step and the running information of the vehicle acquired in the first step are similar to the characteristics related to the running of the vehicle and the running information of the vehicle in the history. A driving support method comprising a seventh step of outputting an instruction signal for performing notification or outputting an instruction signal for performing traveling control of the vehicle when it is determined that the vehicle is present. The first step to acquire the driving information of the vehicle and
The second step of acquiring an image of the surroundings of the vehicle and
A third step of extracting the running characteristics of the vehicle from the image, and
A fourth step of acquiring biometric information of one or more occupants of the vehicle,
The fifth step of determining an abnormality in the living body from the biological information of the occupant,
A sixth step of managing the running information of the vehicle when an abnormality of the living body occurs and the characteristics related to the running of the vehicle as a history in association with the abnormality of the living body.
The characteristics related to the running of the vehicle extracted in the third step and the running information of the vehicle acquired in the first step are similar to the characteristics related to the running of the vehicle and the running information of the vehicle in the history. A program that causes a computer to execute a seventh step of outputting an instruction signal for performing notification or outputting an instruction signal for performing running control of the vehicle when it is determined that the vehicle is present.

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