JP2023178863A - Psychological state guidance device and psychological state guidance method - Google Patents

Abstract

To allow a driver to more easily predict timing of switching between expiration and aspiration when guiding timing of respiration of the driver with the consecutive stimulation change.SOLUTION: A psychological state guidance device comprises: a rhythm decision unit 205 which decides a target respiration rhythm for changing the psychological state of a driver to the target state; and a respiration guidance control unit 206 which performs control of stimulation for guiding the driver to perform respiration according to the decided target respiration rhythm. The rhythm decision unit 205 decides an expiration period and an aspiration period as the target respiration rhythm. The respiration guidance control unit 206 causes second stimulation being the intermittent stimulation with a fixed interval in addition to first stimulation that is caused by allocating the consecutive stimulation changes in two patterns with different types of directivity for the same type of stimulation to the expiration period and the aspiration period.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a psychological state inducing device and a psychological state inducing method.

Techniques are known for inducing the psychological state of a subject by inducing the timing of the subject's breathing. Patent Document 1 discloses a technique that allows a driver to distinguish between an exhalation period, an inhalation period, and a grace period by continuous changes in stimulation such as changes in luminance, color, etc. of light emission. The grace period is a switching period during which either exhalation or inspiration may be performed.

JP2020-62282A

The technique disclosed in Patent Document 1 does not accurately match the timing of switching between exhalation and inspiration, as it provides a grace period.

One object of this disclosure is to provide a psychological state inducing device and a device that make it easier for the driver to predict the timing of switching between exhalation and inspiration when the driver's breathing timing is guided by continuous changes in stimulation. The object of the present invention is to provide a method for inducing a psychological state.

The object is achieved by the combination of features recited in the independent claims, and the subclaims define further advantageous embodiments of the disclosure. The numerals in parentheses described in the claims indicate correspondence with specific means described in the embodiments described later as one aspect, and do not limit the technical scope of the present disclosure. .

In order to achieve the above object, the psychological state inducing device of the present disclosure includes a rhythm determining unit (205) that determines a target breathing rhythm for changing the psychological state of a vehicle driver to a target psychological state; a breathing guidance control section (206, 206a, 206b, 206c) that controls stimulation for inducing the driver to breathe in accordance with the target breathing rhythm determined by the determining section; , the inspiratory period for inhalation and the expiratory period for exhalation are determined as the target respiratory rhythm, and the respiration guidance control unit continuously changes the stimulation in two patterns with different directions for the same type of stimulation. In addition to the first stimulation that is assigned to each of the inspiratory period and the expiratory period, a second stimulation that is an intermittent stimulation at regular intervals is also performed.

In order to achieve the above object, the psychological state inducing method of the present disclosure includes determining a target breathing rhythm for changing the psychological state of a driver of a vehicle to a target psychological state, which is executed by at least one processor. The rhythm determining step includes a rhythm determining step, and a breathing guidance control step that controls stimulation to induce the driver to breathe in accordance with the target breathing rhythm determined in the rhythm determining step. As a rhythm, an inspiratory period for inhalation and an expiratory period for exhalation are determined, and in the breathing guidance control process, two patterns of continuous stimulus changes with different directions for the same type of stimulus are determined during the inspiratory period. In addition to the first stimulation that is assigned to and exhalation period, a second stimulation that is intermittent stimulation at regular intervals is also performed.

According to these methods, the first stimulation is performed by assigning two patterns of continuous stimulation changes with different directions for the same type of stimulation to the inspiratory period and the expiratory period, respectively. Therefore, by switching the pattern of continuous stimulation changes, it becomes easier to understand the timing of switching between the inhalation period and the expiration period. In addition to the first stimulation, the second stimulation, which is intermittent stimulation at regular intervals, is also performed, making it easier to predict the timing of switching between the inhalation period and the expiration period. As a result, when the driver's breathing timing is guided by continuous changes in stimulation, the driver can more easily predict the timing of switching between inspiration and exhalation.

1 is a diagram showing an example of a schematic configuration of a driving support system 1. FIG. 2 is a diagram showing an example of a schematic configuration of an HCU 20. FIG. It is a figure for explaining an example of control of stimulation in HCU20. It is a figure for explaining the effect of control of stimulation in HCU20. It is a figure for explaining an example of control of stimulation in HCU20. It is a figure for explaining an example of control of stimulation in HCU20. It is a figure for explaining an example of control of stimulation in HCU20. It is a flowchart which shows an example of the flow of psychological state guidance related processing in HCU20. It is a figure showing an example of rough composition of HCU20a.

Several embodiments for disclosure will be described with reference to the drawings. For convenience of explanation, parts having the same functions as those shown in the figures used in the previous explanations are given the same reference numerals in multiple embodiments, and the explanation thereof may be omitted. be. For parts with the same reference numerals, the descriptions in other embodiments can be referred to.

(Embodiment 1)
<Schematic configuration of driving support system 1>
This embodiment will be described below with reference to the drawings. A driving support system 1 shown in FIG. 1 is used in an automobile (hereinafter simply referred to as a vehicle). The driving support system 1 includes an HMI (Human Machine Interface) system 2, a communication device 3, a locator 4, a map database (hereinafter referred to as map DB) 5, a surrounding monitoring sensor 6, a driving support ECU 7, a vehicle condition sensor 8, and a vehicle control ECU 9. Contains. It is assumed that the HMI system 2, the communication device 3, the locator 4, the map DB 5, the driving support ECU 7, the vehicle condition sensor 8, and the vehicle control ECU 9 are connected to, for example, an in-vehicle LAN. In the figure, the in-vehicle LAN is indicated as LAN. The vehicle equipped with the driving support system 1 will be referred to as the own vehicle hereinafter.

The communication device 3 communicates with the center. The communication device 3 communicates with the center via the public communication network. The communication device 3 obtains traffic information, weather information, etc. from the center. Note that the communication device 3 may be configured to communicate with the center via a roadside device.

The locator 4 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. A GNSS receiver receives positioning signals from multiple artificial satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. The locator 4 sequentially determines the vehicle position of the own vehicle by combining the positioning signal received by the GNSS receiver and the measurement result of the inertial sensor. The positioning of the vehicle may be performed using a travel distance obtained from signals sequentially output from a vehicle speed sensor mounted on the own vehicle.

The map DB 5 is a non-volatile memory and stores map data. The map data is, for example, data such as link data, node data, and road attributes. Note that map data distributed from the center may be received via the communication device 3 and stored in the map DB 5. In this case, the map DB 5 may be a volatile memory.

The surroundings monitoring sensor 6 detects obstacles around the own vehicle. In addition, road markings such as lane markings around the vehicle are detected. The surrounding monitoring sensor 6 may be a surrounding monitoring camera, millimeter wave radar, sonar, LIDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging), or the like. The surrounding surveillance camera images a predetermined area around the vehicle. Millimeter wave radar, sonar, and LIDAR transmit search waves to a predetermined range around the vehicle. Hereinafter, millimeter wave radar, sonar, and LIDAR will be referred to as exploration wave sensors. The surroundings monitoring camera sequentially outputs the sequentially captured images to the driving support ECU 7 as sensing information. The exploration wave sensor sequentially outputs a scanning result based on a received signal obtained when receiving a reflected wave reflected by an obstacle to the driving support ECU 7 as sensing information. Further, the surrounding monitoring sensor 6 may include a solar radiation sensor that detects solar radiation.

The driving support ECU 7 is an electronic control device that provides driving support for the own vehicle. The driving support ECU 7 recognizes the surrounding environment of the own vehicle. The vehicle position of the own vehicle acquired from the locator 4 is used to recognize the surrounding environment. Map data acquired from the map DB 5 is used to recognize the surrounding environment. Sensing information acquired from the surrounding monitoring sensor 6 is used to recognize the surrounding environment. For example, the driving support ECU 7 recognizes the shape and movement state of objects around the own vehicle from sensing information acquired from the surroundings monitoring sensor 6. By combining this recognition result with the vehicle's position and map data, a virtual space is created that reproduces the actual driving environment in three dimensions.

The driving support ECU 7 performs driving support for the own vehicle by performing acceleration/deceleration control and/or steering control of the own vehicle based on the recognized surrounding environment. Examples of driving support include support for keeping the vehicle within its own lane while driving, support for driving the vehicle at a constant speed, support for automatically decelerating to avoid obstacles, and the like. Further, as driving support, a configuration may be adopted in which automatic driving is performed.

The vehicle condition sensor 8 is a group of sensors for detecting the condition of the own vehicle. The state of the own vehicle includes the running state, operating state, etc. of the own vehicle. As the vehicle state sensor 8, there is a vehicle speed sensor that detects the vehicle speed of the own vehicle. As the vehicle state sensor 8, there is a steering sensor that detects the steering angle of the steering wheel of the own vehicle. As the vehicle condition sensor 8, there is an accelerator position sensor that detects the opening degree of the accelerator pedal of the own vehicle. As the vehicle condition sensor 8, there is a brake stroke sensor that detects the amount of depression of the brake pedal of the own vehicle. The vehicle condition sensor 8 outputs the detection result to the in-vehicle LAN. Note that the detection result from the vehicle condition sensor 8 may be output to the in-vehicle LAN via an ECU mounted on the own vehicle.

The HMI system 2 includes an HCU (Human Machine Interface Control Unit) 20, an in-vehicle environment sensor 21, a biological sensor 22, a breathing guide device 23, and an operating device 24. The HMI system 2 accepts input operations from the driver. The HMI system 2 monitors the driver's condition. The HMI system 2 presents information and stimuli to the driver.

The vehicle interior environment sensor 21 is a sensor group for detecting the state of the interior environment of the own vehicle. The in-vehicle environment sensor 21 includes a microphone that collects sounds inside the vehicle. As the vehicle interior environment sensor 21, there is an illuminance sensor that detects the brightness inside the vehicle interior. As the vehicle interior environment sensor 21, there is a vibration sensor that detects the degree of shaking inside the vehicle interior.

The biosensor 22 measures the driver's biometric information. The biological sensor 22 sequentially outputs the measured biological information to the HCU 20. The biosensor 22 may be provided in the own vehicle. In this case, the biosensor 22 may be provided on the steering wheel, driver's seat, or the like. Furthermore, the biosensor 22 may be provided in a wearable device worn by the driver. In this case, a configuration may be adopted in which the HCU 20 acquires the measurement results of the biosensor 22, for example, via short-range wireless communication. Examples of biological information measured by the biological sensor 22 include respiration, pulse, heartbeat, and the like.

Examples of the biological sensor 22 include pulse wave sensors such as a photoelectric pulse wave sensor and an impedance pulse wave sensor that measure the heart rate or pulse rate from the pulse wave waveform obtained by measurement. Another example is a respiratory sensor that non-contactly detects respiratory movements using a Doppler sensor that uses microwaves in the Ghz band. The breathing sensor may be a pressure sensor provided on a seat belt or seat back. Furthermore, when estimating respiration from pulse waves, a pulse wave sensor may be used as a respiration sensor. Note that the biosensor 22 is not limited to those listed here, and may be configured to use other sensors. Further, the biosensor 22 may be configured to measure biometric information other than respiration, pulse, and heartbeat. Examples include those that measure brain waves, heart rate fluctuations, perspiration, body temperature, blood pressure, and skin conductance.

The breathing guidance device 23 stimulates the driver's sensory organs to induce breathing. The breathing guidance device 23 may stimulate the driver's sense of sight, smell, touch, or hearing to induce breathing. The breathing guide device 23 may guide breathing by combining the driver's sense of sight, smell, touch, and hearing. The breathing guidance device 23 may be configured to make the driver recognize the target breathing timing and guide breathing by the stimulus presented. Alternatively, the breathing guidance device 23 may induce breathing by causing the driver to unconsciously breathe based on the stimulus presented. Visual stimuli are called visual stimuli. Stimulation caused by the sense of smell is called olfactory stimulation. Stimulation caused by the sense of touch is called tactile stimulation. Auditory stimulation is called auditory stimulation.

An example of visual stimulation is light emitted from a light emitting device such as an LED. Another example of visual stimulation is displaying images on a display device. The light emission and display shall be placed in a position that is visible to the driver. An example of olfactory stimulation is the generation of odor components from an aroma unit or the like. The odor component may be ejected from the front or side of the driver. In addition, by using the aroma unit in combination with an air conditioner, a configuration may be adopted in which the odor component is ejected by the wind blown from the air conditioner. An example of tactile stimulation is pressure from the seatback of the driver's seat. Pressure may be generated by expanding and contracting a bag embedded in the seat back using air pressure. Other examples of tactile stimulation include blowing wind from an air conditioner. Air from the air conditioner may be blown from an outlet facing the driver. Other examples of tactile stimulation include generation of vibration by a vibrator, tightening of a seat belt, and the like. The vibrator may be provided on a member that comes into contact with the driver, such as the steering wheel, the seat back of the driver's seat, or the seat surface of the driver's seat. Examples of auditory stimulation include output of music and environmental sounds from an audio output device. Other examples of auditory stimulation include the output of a beep from a buzzer.

The operating device 24 is a group of switches operated by the driver. For example, the operating device 24 is a steering switch provided on a spoke part of the steering wheel of the own vehicle. The operating device 24 may be a touch switch integrated with a display.

The HCU 20 is mainly composed of a microcomputer including a processor, memory, I/O, and a bus connecting these. The HCU 20 executes various processes such as processes related to guiding the driver's psychological state (hereinafter referred to as psychological state guiding related processes) by executing control programs stored in the memory. Memory as used herein is a non-transitive tangible storage medium that non-transiently stores computer-readable programs and data. Further, the non-transitional physical storage medium is realized by a semiconductor memory, a magnetic disk, or the like. Note that details of the psychological state guidance related processing in the HCU 20 will be described later.

<Schematic configuration of HCU20>
Next, the schematic configuration of the HCU 20 will be explained using FIG. 2. Regarding psychological state guidance related processing, the HCU 20 includes an environmental state identification unit 201, a driving load estimation unit 202, a driver state identification unit 203, an implementation determination unit 204, a rhythm determination unit 205, a breathing guidance control unit 206, and a target presence/absence determination unit. 207 as a functional block. This HCU 20 corresponds to a psychological state induction device. Moreover, the execution of the processing of each functional block of the HCU 20 by the computer corresponds to the execution of the psychological state guidance method. Note that some or all of the functions executed by the HCU 20 may be configured in hardware using one or more ICs. Furthermore, some or all of the functional blocks included in the HCU 20 may be realized by a combination of software execution by a processor and hardware components.

The environmental state identification unit 201 identifies the environmental state inside and outside of the own vehicle. The environmental state identification unit 201 may identify the surrounding environment recognized by the driving support ECU 7 as the environmental state outside the vehicle. The surrounding environment also includes the following as specific examples of environmental conditions outside the vehicle: The environmental state identification unit 201 may identify traffic jams from the traffic information received by the communication device 3. The environmental condition identification unit 201 may identify the weather from the weather information received by the communication device 3. The environmental state identification unit 201 may identify the brightness outside the vehicle from the solar radiation detected by the solar radiation sensor. The environmental state identification unit 201 may identify the environment inside the vehicle based on the detection result of the interior environment sensor 21 . Specific examples of environmental conditions within the vehicle include: The environmental state identification unit 201 may identify the loudness of the sound inside the vehicle from the sounds collected by the microphone. The environmental state identifying unit 201 may identify the brightness inside the vehicle from the illuminance detected by the illuminance sensor. The environmental state identifying unit 201 may identify the degree of shaking inside the vehicle based on the degree of shaking detected by the vibration sensor.

The driving load estimating unit 202 estimates the driving load of the own vehicle. The driving load estimating unit 202 may estimate the level of the driving load of the own vehicle from the environmental state outside the vehicle specified by the environmental state identifying unit 201. As an example, the driving load estimating unit 202 may estimate that the driving load is high when the number of vehicles around the own vehicle is a threshold value or more. The driving load estimating unit 202 may estimate that the driving load is high when there are bicycles and pedestrians on the path of the own vehicle. The driving load estimating unit 202 may estimate that the load is high when the own vehicle is traveling on an expressway. The driving load estimating unit 202 may estimate that the driving load is high when the own vehicle is traveling on a curved road. The operating load estimating unit 202 may estimate that the load is low if the situation is not likely to require a sudden driving operation as described above.

Further, the driving load estimating unit 202 may estimate the level of the driving load of the own vehicle from the detection result by the vehicle condition sensor 8. In this case, the operating load estimating unit 202 may estimate the level of operating load based on the complexity of the driver's driving operation. As the complexity of the driver's driving operations, it is sufficient to use the transition of operation information of the own vehicle's accelerator pedal, brake pedal, and steering wheel. For example, the operating load estimating unit 202 may estimate that the operating load is high when the amount of change per unit time of the value detected by the accelerator position sensor is equal to or greater than a threshold value. The operating load estimating unit 202 may estimate that the load is high when the amount of change per unit time of the value detected by the brake stroke sensor is greater than or equal to a threshold value. The operating load estimating unit 202 may estimate that the load is high when the amount of change per unit time of the value detected by the steering angle sensor is greater than or equal to a threshold value. The driving load estimating unit 202 may estimate that the load is high when the amount of change per unit time of the value detected by the vehicle speed sensor is equal to or greater than a threshold value.

The driver condition identifying unit 203 identifies the driver's condition. The driver state identification unit 203 includes a psychological state identification unit 231 and a heartbeat identification unit 232. The psychological state identifying unit 231 identifies the psychological state of the driver. The psychological state identifying unit 231 may identify the driver's psychological state from the sensing results of the biosensor 22. As an example, the psychological state identification unit 231 identifies psychological states such as "angry state," "tension state," "relaxed state," "absentminded (bored) state," and "concentrated state." "Anger state," "tension state," and "concentration state" are all states in which there is a strong tendency toward activation among active and inactive states. An "angry state" and a "tension state" are states in which the unpleasant tendency among pleasure and displeasure is strong. The "concentration state" is a state in which the tendency toward discomfort among pleasure and displeasure is weak. Both the "relaxed state" and the "absentminded state" are states in which there is a strong tendency toward inactivity among active and inactive states. The "relaxed state" is a state in which the pleasant tendency among pleasure and displeasure is strong. The "absentminded state" is a state in which the unpleasant tendency among pleasure and displeasure is strong. For psychological states, for example, Russell's circular model can be used as a reference.

The psychological state identification unit 231 may identify the psychological state of the driver from the sensing results of the biological sensor 22 based on the feature amount of biological information for each psychological state. This feature amount may include the heartbeat identified by the heartbeat identifying unit 232. The feature amount of biological information for each psychological state may be obtained in advance through experiments or the like and stored in the nonvolatile memory of the HCU 20. The feature amount of biological information for each psychological state may be determined by machine learning. Note that the biological information used by the psychological state identifying unit 231 to identify the psychological state may be an image of the driver's face (hereinafter referred to as a facial image). In this case, the biosensor 22 becomes a camera.

The psychological state identifying unit 231 may identify the driver's psychological state from the driver's information input via the operating device 24. This information may be answers to an interview for estimating the psychological state, or may be information for declaring the psychological state.

The implementation determination unit 204 determines whether or not breathing induction is to be performed. The implementation determination unit 204 determines whether or not to implement breathing guidance using the breathing guidance device 23. The implementation determination unit 204 may determine whether or not to implement breathing guidance using the breathing guidance device 23, depending on the psychological state of the driver identified by the psychological state identifying unit 231. As an example, if the driver's psychological state deviates from a target psychological state (hereinafter referred to as target state), it may be determined that breathing guidance should be performed. On the other hand, if the target psychological state is met, it may be determined not to perform breathing induction. More specifically, if the target state deviates from the target state in the direction of activation and inactivity, it may be determined that breathing guidance is to be performed. For example, when the target state is a "concentrated state", it may be determined that breathing guidance is to be performed when the target state is a "dazed state". On the other hand, if the driver's psychological state is "concentrated", it may be determined that breathing guidance is not to be performed. Further, when the target state is a "relaxed state", it may be determined that breathing guidance is to be performed when the target state is an "angry state" or a "tension state". On the other hand, if the driver's psychological state is "relaxed", it may be determined that breathing guidance is not to be performed. According to this, if there is no deviation from the target state, it is possible to dispense with respiratory guidance.

The target state may be configured in advance by default. In this case, a psychological state that is estimated to be suitable for driving may be set as the target state. The target state may be set according to the driver's psychological state. For example, if the driver's psychological state is "angry" or "tense", the target state may be set to "relaxed". Furthermore, when the driver's psychological state is "absentminded", the target state may be set as "concentrated". The target state may be set by the driver via the operating device 24. The target state may be determined appropriately by the system of the own vehicle.

The implementation determination unit 204 may determine whether or not to implement breathing induction using the breathing induction device 23, depending on an input received from the driver via the operating device 24. The execution determination unit 204 may determine that breathing induction is to be performed when receiving an input through the operating device 24 indicating an instruction to perform breathing induction. On the other hand, when receiving an input via the operating device 24 to instruct the suspension of breathing guidance, it may be determined that breathing guidance is not to be performed. According to this, it becomes possible to start and stop breathing guidance using the breathing guidance device 23 at a timing desired by the driver.

The rhythm determination unit 205 determines a target breathing rhythm for changing the driver's psychological state to a target state. This process in the rhythm determining section 205 corresponds to a rhythm determining step. The rhythm determination unit 205 determines an inhalation period and an expiration period as the target respiratory rhythm. The intake period is the period during which the driver takes a breath. In other words, this is the period during which inspiration is performed. The exhalation period is the period during which the driver exhales. In other words, this is the period during which you exhale. The rhythm determining unit 205 performs processing when the implementation determining unit 204 determines that breathing induction is to be performed.

The rhythm determination unit 205 may determine the target respiratory rhythm according to the target state. For example, if the target state is a "relaxed state", the target breathing rhythm may be set to lengthen the exhalation period relative to the inhalation period. This makes the parasympathetic nervous system dominant and induces a "relaxed state." "Lengthening the exhalation period relative to the inhalation period" may mean making the expiration period longer than the inhalation period. "Lengthening the exhalation period relative to the inhalation period" may mean making the exhalation period longer than the inhalation period of the driver under normal conditions. Furthermore, when the target state is a "concentration state", the target breathing rhythm may be set to shorten the exhalation period relative to the inhalation period. This makes the sympathetic nervous system dominant and induces a state of concentration. "Shortening the exhalation period with respect to the inhalation period" may mean making the expiration period shorter than the inhalation period. "Shortening the exhalation period relative to the inhalation period" may mean making the exhalation period shorter than the exhalation period relative to the inhalation period of the driver under normal conditions. According to this, it becomes possible to determine, for each target state, a target breathing rhythm that easily leads to the target state. Note that the normal inhalation period and expiration period may be specified from the driver's inhalation period and expiration period measured when the breathing guidance device 23 is not performing breathing induction. The inspiratory period and the expiratory period may be measured using the biosensor 22.

The breathing guidance control unit 206 controls stimulation (hereinafter referred to as guidance stimulation) for guiding the driver to breathe in accordance with the target breathing rhythm determined by the rhythm determining unit 205. The respiration guidance control unit 206 controls the respiration stimulation by controlling the respiration guidance device 23. This process in the breathing guidance control unit 206 corresponds to a breathing guidance control process.

The respiratory guidance control unit 206 assigns two patterns of continuous stimulus changes with different directions for the same type of stimulus to the inhalation period and the expiration period, respectively. This stimulus is called the first stimulus. As the first stimulus, for example, a tactile stimulus, an auditory stimulus, or a visual stimulus can be used. According to the first stimulus, the timing of switching between the inhalation period and the expiration period becomes easy to understand by switching the pattern of continuous stimulus changes.

The first tactile stimulus includes the strength of pushing against the driver's back and waist. This tactile stimulation may be achieved by pressing from the seat back of the driver's seat. In this case, during the inhalation period, the pressure on the lower back area may be gradually increased. This stretches the driver's back muscles, expands the rib cage, and encourages the driver to inhale. During the exhalation period, you can gradually reduce the pressure on your lower back. This weakens the driver and encourages the driver to exhale.

The tactile stimulus corresponding to the first stimulus may be the strength of pushing on the seat surface of the driver's seat. The tactile stimulus corresponding to the first stimulus may be the strength of vibration of the driver's seat. The part that causes vibrations in the seat may be the seat back or the seat surface. The tactile stimulus corresponding to the first stimulus may be a change in the position of vibration of the driver's seat. There are two patterns of change in the position of vibration: upward and downward. There are two patterns of changes in the position of vibration: rightward and leftward. There are two patterns of changes in the position of vibration: a concentrated direction and a diffused direction. In order to make it possible to change the position of vibration, a plurality of vibrators may be used. The first tactile stimulus may be a change in the period of vibration of the driver's seat. As for the vibration, in addition to the vibration of the seat, it may be the vibration of the steering wheel. Regarding the steering vibration, two patterns of stimulation similar to the seat vibration can be considered. The first tactile stimulus may be winding and unwinding of the seat belt on the driver's seat. This tactile stimulation may be achieved by a motor that winds up and rewinds the seat belt. The tactile stimulus serving as the first stimulus may be a combination of these. Further, the tactile stimulus corresponding to the first stimulus may be any other stimulus as long as it is a continuous stimulus change of two patterns with different directions for the same type of stimulus. The correspondence between two patterns of continuous changes in tactile stimulation having different directions and the inhalation period and the expiration period may be set arbitrarily.

The first auditory stimulus includes an increase or decrease in volume. The auditory stimulus that corresponds to the first stimulus is the distance of a sound image. Auditory stimulation may be achieved by outputting sound. The distance of the sound image may be realized by using a plurality of speakers. As the auditory stimulus corresponding to the first stimulus, it is preferable to combine an increase/decrease in volume and the distance of a sound image. In this case, during the intake period, the sound volume may be gradually increased and the sound image may be brought closer to the driver's seat side. This gives the driver a feeling of being surrounded by sound and encourages the driver to take in air. During the exhalation period, the volume may be gradually reduced and the sound image may be moved away from the driver's seat side. This gives the driver the feeling that the sound is receding and encourages the driver to exhale. The sound may be music, environmental sound, or beep sound. Furthermore, the sound may be a combination of these.

The auditory stimulus corresponding to the first stimulus may be above or below the pitch. The auditory stimulus corresponding to the first stimulus may be the slowness and rapidity of the rhythm of the sound. The auditory stimulus corresponding to the first stimulus may be a combination of these. Further, the auditory stimulus corresponding to the first stimulus may be any other stimulus as long as it is a continuous stimulus change of two patterns with different directions for the same type of stimulus. The correspondence between the two patterns of continuous auditory stimulation changes having different directions and the inhalation period and expiration period may be set arbitrarily.

The visual stimulus that corresponds to the first stimulus is an increase or decrease in luminance of light emission. In this case, the brightness may be gradually increased during the intake period. This gives the driver a feeling of being surrounded by light and encourages the driver to take in air. During the exhalation period, the brightness may be gradually reduced. This gives the driver the feeling that the light is receding and encourages the driver to exhale. As the visual stimulus corresponding to the first stimulus, an increase or decrease in the brightness of an image may be used.

The visual stimulus corresponding to the first stimulus may be a change in the color of light emission. For example, it may be a change between a warm color and a cool color. Another example is a change between colored and colorless. The visual stimulus corresponding to the first stimulus may be near or far from the position of the light emission. The distance of the light emitting position may be realized by using a plurality of light emitting devices. In this case, during the intake period, the light emitting position may be gradually moved closer to the driver's seat side. This gives the driver the feeling that the light is approaching and encourages the driver to take in air. During the exhalation period, the light emitting position may be gradually moved away from the driver's seat side. This gives the driver the feeling that the light is receding and encourages the driver to exhale. The visual stimulus corresponding to the first stimulus may be the size of the range of light emission. The range of light emission may be varied by using a plurality of light emitting devices. In this case, the range of light emission may be gradually expanded during the intake period. This gives the driver a feeling of being surrounded by light and encourages the driver to take in air. During the exhalation period, the range of light emission may be gradually narrowed. This gives the driver the feeling that the light is receding and encourages the driver to exhale. The visual stimulus serving as the first stimulus may be a combination of these. Further, the visual stimulus corresponding to the first stimulus may be any other stimulus as long as it is a continuous stimulus change of two patterns with different directions for the same type of stimulus. The correspondence between the two patterns of continuous visual stimulation changes having different directions and the inhalation period and expiration period may be set arbitrarily.

The first stimulus may be a combination of tactile, auditory, and visual stimuli. In this embodiment, a case where a combination of tactile stimulation, auditory stimulation, and visual stimulation is used will be described as an example. As the tactile stimulation, the strength of pushing against the back is used. As auditory stimulation, an increase/decrease in volume and the distance of a sound image are used. The size of the luminescence range is used as the visual stimulus. In this example, two types of auditory stimuli are used: increase/decrease in volume and distance in sound images. According to the above configuration, the driver is given the sensation of being surrounded by sound and light, and the driver is encouraged to take in air. It also gives the driver the feeling that the light is receding along with the sound, encouraging the driver to exhale.

Here, the first stimulus will be explained using FIG. 3. In FIG. 3, for convenience, the strength of pushing on the back will be used as an example of the first stimulation. As shown in FIG. 3, during the inhalation period, the tactile stimulation is continuously changed so that the pressure on the back is gradually strengthened. On the other hand, during the expiration period, the tactile stimulation is continuously changed so that the pressure on the back is gradually weakened. When combining multiple types of stimuli as the first stimulus, the respiratory guidance control unit 206 matches the timing at which the direction of change in the stimulus changes for the multiple types of stimuli.

The respiratory guidance control unit 206 causes two patterns of continuous stimulus changes with opposite directions for the same type of stimulus to be performed by assigning them to the inspiratory period and the expiratory period, respectively, as the first stimulus. It is preferable. According to this, the switching of the stimulation patterns respectively assigned to the inhalation period and the expiration period becomes easier to understand. The changes in the strength of pushing against the back shown in FIG. 3 correspond to two patterns of continuous stimulation changes in opposite directions. Examples of changes in stimulation with opposite directions include intensity, increase/decrease, enlargement/contraction, distance, and the like.

Preferably, the breathing guidance control unit 206 makes changes that are estimated to easily remind the driver of inhalation and exhalation, as two patterns of continuous stimulus changes with different directions. According to this, it becomes easier to guide the driver's intake and exhalation. As a result, it becomes possible to match breathing to the target breathing rhythm more easily. It is estimated that the changes in the strength of pushing against the back shown in FIG. 3 tend to remind the driver of inhalation and exhalation, respectively. It is estimated that the increase/decrease in volume and the distance and distance of the sound image also tend to remind the driver of inhalation and exhalation, respectively. It is estimated that the increase/decrease in luminance and the expansion/contraction of the range of light emission also tend to remind the driver of inhalation and exhalation, respectively.

In addition to the first stimulation, the respiratory guidance control unit 206 also causes intermittent stimulation at regular intervals to be performed. This stimulus is called the second stimulus. As the second stimulus, for example, a tactile stimulus, an auditory stimulus, or a visual stimulus can be used. The first stimulus and the second stimulus are different types of stimuli. By adding the second stimulus to the first stimulus, the driver can easily predict the timing of switching between the inhalation period and the expiration period, relying on the second stimulus. This is because the second stimulus is an intermittent stimulus at regular intervals, so combining it with the first stimulus makes it easier to measure the timing. As a result, when the driver's breathing timing is guided by continuous changes in stimulation, the driver can more easily predict the timing of switching between inspiration and exhalation. Note that the intensity of the second stimulation may or may not be constant.

The second tactile stimulus includes vibrations from the driver's seat. The part that causes vibrations in the seat may be the seat back or the seat surface. This tactile stimulation may be realized by a vibrator provided in the driver's seat. The second tactile stimulus may be vibration of the steering wheel. This tactile stimulation may be realized by a vibrator provided on the steering wheel. The second tactile stimulus may be vibration of the floor of the vehicle. This tactile stimulation may be realized by a vibrator provided on the floor of the vehicle. The second tactile stimulus may be repeated winding and unwinding of the driver's seat belt. This tactile stimulation may be achieved by a motor that winds up and rewinds the seat belt.

The second auditory stimulus includes sound output at regular intervals. As the sound, a beep sound at regular intervals, a beat sound, an environmental sound at regular intervals, etc. may be used. As the sound, a sound imitating heart sounds may be used. A visual stimulus that corresponds to the second stimulus is a flickering light.

The second stimulus may be a combination of tactile, auditory, and visual stimulation. In this embodiment, a case where a beat sound is used as the second stimulus will be described as an example. Here, the second stimulation will be explained using FIG. 3. In FIG. 3, a beat sound will be used as an example of the second stimulus. As shown in FIG. 3, in the second stimulation, sounds are intermittently output at regular intervals. In the example of FIG. 3, the volume when outputting sound is constant.

Here, using FIG. 4, the actual effect when respiration induction is performed by adding the second stimulus to the first stimulus will be explained. FIG. 4 is a diagram showing the verification results of the ease of matching the timing of switching between the inhalation period and the expiration period when breathing induction is performed by adding the second stimulation to the first stimulation. In FIG. 4, the results of the ease of timing alignment when breathing induction is performed using only the first stimulus are used as a comparison target. The number of participants in the verification was 10 people. Five types of combinations were used for the inspiratory period and expiratory period. The first is a set of an inspiratory period of 2.5 seconds and an expiratory period of 5 seconds. The second is a set of an inspiratory period of 3 seconds and an expiratory period of 6 seconds. The third set is an inhalation period of 3.5 seconds and an expiration period of 7 seconds. The fourth set is an inhalation period of 24 seconds and an expiration period of 8 seconds. The fifth set is an inhalation period of 4.5 seconds and an expiration period of 8 seconds. The ease of timing was rated by test participants on a seven-point scale from 1 to 8. As shown in FIG. 4, it is significantly easier to synchronize the timing when the second stimulus is also added to the first stimulus than when only the first stimulus is used. It has also been separately verified that when the second stimulus is added to the first stimulus, it becomes easier to synchronize the timing compared to breathing guidance using a single voice guide. The single-shot voice guidance is the utterances of "inhale" and "exhale."

Preferably, the respiratory guidance control unit 206 matches the timing of presentation of the second stimulus with the timing of switching between the inhalation period and the expiration period. An example is shown in FIG. According to this, it becomes easier to predict the next switching timing between inspiration and expiration. As a result, it becomes easier for the driver to adjust breathing in accordance with the target breathing rhythm. In this case, the respiratory guidance control unit 206 sets the period of the second stimulation so that the timing of presentation of the second stimulation coincides with the timing of switching between the inhalation period and the expiration period.

Preferably, the respiration guidance control unit 206 makes the period of intermittent stimulation at regular intervals in the second stimulation the same as the period of the driver's heartbeat. The respiratory guidance control section 206 may realize this based on the heartbeat specified by the heartbeat specifying section 232. For example, if the heart rate is 60 times per minute, the stimulation cycle may also be 60 times per minute. The same period here may include an error range that can be said to be substantially the same. According to this, the rhythm of the second stimulation becomes the same rhythm as the driver's heartbeat. Therefore, the receptivity of the second stimulus to the driver increases. As a result, the driver is less likely to be distracted by the second stimulus. Hereinafter, the period of intermittent stimulation at regular intervals in the second stimulation will be referred to as a second stimulation period.

When the target state is the "awakening state", the respiratory guidance control unit 206 preferably sets the second stimulation period to a period shorter than the period of the driver's heartbeat. The respiratory guidance control section 206 may realize this based on the heartbeat specified by the heartbeat specifying section 232. The case where the target state is an "awake state" can be rephrased as the case where the target breathing rhythm is aimed at an "awake state". By applying a stimulus with a shorter period than the driver's heartbeat, the driver's psychological state is induced to become more active. Therefore, according to the above configuration, it becomes easier to induce the "awake state". On the other hand, when the target state is a "relaxed state", it is preferable that the respiratory guidance control unit 206 sets the second stimulation period to a period longer than the period of the driver's heartbeat. The respiratory guidance control section 206 may realize this based on the heartbeat specified by the heartbeat specifying section 232. The case where the target state is a "relaxed state" can be rephrased as the case where the target breathing rhythm is aimed at a "relaxed state". By applying a stimulus with a period longer than the driver's heartbeat, the driver's psychological state is induced to become inactive. Therefore, according to the above configuration, it becomes easier to induce a "relaxed state".

Presenting visual stimuli to the driver may cause driver distraction. Therefore, the respiration guidance control unit 206 may not use visual stimulation as the first stimulation and the second stimulation when the own vehicle is running. On the other hand, when the own vehicle is stopped, the respiratory guidance control unit 206 may use visual stimulation as the first stimulation and the second stimulation. Verification has confirmed that the driver can receive breathing guidance more comfortably when the vehicle is not visually stimulated while driving. On the other hand, tests have confirmed that providing visual stimulation while the vehicle is stationary allows the driver to receive breathing guidance more comfortably. Therefore, according to the above configuration, the driver can comfortably receive breathing guidance depending on whether the own vehicle is running or stopped.

Furthermore, the respiratory guidance control unit 206 may be configured to weaken the intensity of the visual stimulus when the vehicle is running than when the vehicle is stopped. The above configuration also makes it possible to suppress distraction for the driver during driving.

It is preferable that the respiratory guidance control unit 206 performs a third stimulation, which is a different type of stimulation from the first stimulation and the second stimulation, at the timing of switching between the inhalation period and the expiration period. According to this, the switching timing between inhalation and exhalation becomes easier to understand. As the third stimulus, for example, an auditory stimulus or an olfactory stimulus can be used.

As the third auditory stimulus, there is an output of a sound imitating the sound of air being released (hereinafter referred to as a "missing sound"). The output of this sound may be generated at the timing of switching from the inhalation period to the expiration period. According to this, it becomes easier for the driver to intuitively recognize the timing of switching from the inhalation period to the exhalation period. The third olfactory stimulus is the generation of odor components. The odor component may be an aromatic (that is, a pleasant scent) odor component. The odor components may be generated at the timing of switching from the exhalation period to the inhalation period. According to this, when the driver tries to smell the odor, the driver takes in air at the timing of switching to the inhalation period. The odor component is preferably an odor component that corresponds to the target state. For example, if the target state is a "relaxed state", an odor component with a relaxing effect such as cedrol may be used.

The third stimulus may be a combination of an auditory stimulus and an olfactory stimulus. The third stimulus may be only an auditory stimulus or an olfactory stimulus. Here, the third stimulus will be explained using FIG. 5. In FIG. 5, an explanation will be given using the output of a missing sound as an example of the third stimulus. As shown in FIG. 5, a drop sound as the third stimulus is output at the timing of switching from the inhalation period to the expiration period. At the timing of switching from the exhalation period to the inhalation period, the odor component of the aroma may be output.

When the driving load estimating unit 202 estimates that the driving load is high, it is preferable that the breathing guidance control unit 206 weakens the intensity of stimulation to the driver, compared to when the driving load is estimated to be low. When the driving load is high, the cognitive load on breathing guidance may have a large effect on the driver's driving. On the other hand, according to the above configuration, when the operating load is high, the cognitive load on breathing guidance can be reduced. As a result, it becomes possible to perform breathing guidance with less influence on driving. The stimulus whose intensity is weakened may be all or part of the first stimulus, second stimulus, and third stimulus. A structure may be adopted in which the intensity of the stimulus that can be weakened among the first stimulus, second stimulus, and third stimulus is weakened. Note that weakening the intensity of the odor component may mean lowering the concentration of the odor component.

Here, stimulation when the operating load is high will be explained using FIG. 6. FIG. 6 will be described using the example of FIG. 3 as a comparison target. Among the lines representing changes in stimulation intensity in FIG. 6, the broken line represents stimulation under low load. The change in stimulus intensity in the case of this low load corresponds to the change in stimulus intensity shown in FIG. Among the lines representing changes in stimulation intensity in FIG. 6, the solid line represents changes in stimulation intensity under high load. As shown in FIG. 6, when the load is high, the respiratory guidance control unit 206 weakens the intensity of both the first stimulus and the second stimulus compared to when the load is low. Although there is no description of the third stimulation in FIG. 6, if the third stimulation is also performed, the same may be applied to the third stimulation.

The target presence/absence determination unit 207 determines the presence or absence of a stimulus (hereinafter referred to as target stimulus) whose environmental state becomes a large noise among the stimuli controlled by the breathing guidance control unit 206 . The target presence/absence determining unit 207 determines the presence or absence of a target stimulus based on the environmental state specified by the environmental state identifying unit 201 . As an example, if the volume of the sound collected by the microphone is equal to or higher than a threshold value, it may be determined that there is a target stimulus corresponding to the sound. If the brightness detected by the solar radiation sensor and illuminance sensor is equal to or higher than the threshold value, it may be determined that there is a target stimulus corresponding to light or display. If the degree of shaking detected by the vibration sensor is equal to or greater than a threshold value, it may be determined that there is a target stimulus corresponding to vibration.

Preferably, the breathing guidance control unit 206 increases the intensity of the target stimulus when the target presence/absence determining unit 207 determines that the target stimulus is present. For example, if it is determined that there is a target stimulus that corresponds to a sound, the volume of the sound may be increased. If it is determined that there is a target stimulus that corresponds to the light or display, the brightness of the light or display may be increased. If it is determined that there is a target stimulus that corresponds to vibration, the vibration may be made stronger. According to this, it is possible to prevent the driver from having difficulty sensing the induced stimulus.

Here, using FIG. 7, a description will be given of stimulation when increasing the intensity of the target stimulation. Among the lines representing changes in stimulus intensity in FIG. 7, a dashed-dotted line represents changes in intensity of the target stimulus. Among the lines representing changes in stimulus intensity in FIG. 7, the solid line represents changes in intensity of stimuli other than the target stimulus. Even if a stimulus corresponds to a target stimulus, if it does not correspond to a target stimulus, the intensity change shown by a solid line is shown. As shown in FIG. 7, the breathing guidance control unit 206 increases the intensity of the target stimulus compared to the case where the target stimulus does not apply.

Furthermore, when it is determined that there is a target stimulus, the respiration guidance control unit 206 may increase the intensity of the stimuli other than the target stimulus among the stimuli controlled by the respiration guidance control unit 206. For example, if it is determined that there is a target stimulus corresponding to sound, the brightness of the light or display may be increased or the vibration may be strengthened. If it is determined that there is a target stimulus corresponding to light or display, the volume of the sound may be increased or the vibrations may be strengthened. If it is determined that there is a target stimulus that corresponds to vibration, the brightness of the light or display may be increased, or the volume of the sound may be increased. According to this, each stimulus complements each other, making it possible to prevent the driver from having difficulty perceiving the induced stimulus.

<Mental state induction related processing in HCU20>
Next, an example of the flow of psychological state induction related processing in the HCU 20 will be explained using the flowchart of FIG. 8 . The flowchart of FIG. 8 may be configured to start, for example, when the power switch of the host vehicle is turned on. The power switch is a switch for starting the internal combustion engine or motor generator of the vehicle. The configuration may be such that when the power switch is turned on, the power to the HCU 20 is also turned on. In addition, it may be added to the condition that the function of executing the psychological state induction related process is set to ON via the operating device 24.

First, in step S1, identification of various states is started. In S1, the environmental state identifying unit 201 starts identifying the environmental state of the host vehicle. In S1, the driver condition identifying unit 203 starts identifying the driver's condition. This driver's condition also includes heartbeat. In step S2, the implementation determination unit 204 determines whether or not breathing induction is to be performed. If it is determined that breathing induction is to be performed (YES in S2), the process moves to step S3. On the other hand, if it is determined that breathing induction is not to be performed (NO in S2), the process moves to step S11.

In step S3, the rhythm determining unit 205 determines a target breathing rhythm for changing the driver's psychological state to the target state. In step S4, the respiration guidance control unit 206 sets the second stimulation period to the same period as the driver's heartbeat. In S4, this setting may be performed based on the heartbeat identified in S1.

In step S5, the respiration guidance control unit 206 resets the second stimulation cycle, if necessary, depending on the target state. In S5, if the target state is the "awakening state", the second stimulation period is reset to a period shorter than the period of the driver's heartbeat. In S5, if the target state is a "relaxed state", the second stimulation period is reset to a period longer than the period of the driver's heartbeat.

In step S6, the breathing guidance control unit 206 sets the intensity of the guidance stimulation according to the driving state of the own vehicle. In S6, the intensity of the visual stimulus is set to be weaker when the own vehicle is running than when the own vehicle is stopped. In S6, settings may be made such that visual stimulation is not performed while the own vehicle is running. If the rhythm determining unit 205 has not determined the guiding stimulus including the visual stimulus, S6 may be omitted. Note that, when the object presence/absence determining section 207 determines that there is a target stimulus, the breathing guidance control section 206 may set the intensity of the target stimulus to be stronger. Furthermore, when it is determined that there is a target stimulus, the breathing guidance control unit 206 may increase and set the intensity of stimuli other than the target stimulus among the stimuli controlled by the target breathing rhythm.

In step S7, the breathing guidance control unit 206 starts controlling the breathing guidance device 23 so that the driver breathes in accordance with the target breathing rhythm determined in S3. In S7, the guidance stimulation is controlled according to the settings in S3 to S6.

In step S8, if the timing for implementing breathing induction has ended (YES in S8), the process moves to step S10. As an example, when the psychological state of the driver identified by the psychological state identifying unit 231 reaches the target state, the timing for implementing breathing guidance ends. On the other hand, if the timing for implementing breathing induction has not ended (NO in S8), the process moves to step S9.

In step S9, if it is the end timing of the psychological state guidance related process (YES in S9), the breathing guidance control unit 206 ends the breathing guidance. Then, the psychological state induction related processing ends. On the other hand, if it is not the end timing of the psychological state guidance related process (NO in S9), the process returns to S6 and repeats the process. An example of the end timing of the psychological state guidance related process is when the power switch of the own vehicle is turned off. An example of the end timing of the psychological state guidance related process is when the function for executing the psychological state guidance related process is switched off.

In step S10, the breathing guidance control unit 206 suspends breathing guidance. In step S11, if it is the end timing of the psychological state guidance related process (YES in S11), the psychological state guidance related process is ended. On the other hand, if it is not the end timing of the psychological state induction related process (NO in S11), the process returns to S2 and repeats the process.

(Embodiment 2)
The configuration is not limited to the configuration of the first embodiment, but may be the configuration of the second embodiment below. An example of the configuration of Embodiment 2 will be described below with reference to the drawings. The driving support system 1 according to the second embodiment is the same as the driving support system 1 according to the first embodiment except that the HCU 20a is included instead of the HCU 20.

Here, the schematic configuration of the HCU 20a will be explained using FIG. 9. Regarding psychological state guidance related processing, the HCU 20a includes an environmental state identification unit 201, a driving load estimation unit 202, a driver state identification unit 203, an implementation determination unit 204, a rhythm determination unit 205, a breathing guidance control unit 206a, and a target presence/absence determination unit. 207 as a functional block. The HCU 20a is the same as the HCU 20 of the first embodiment, except that it includes a breathing guidance control section 206a instead of the breathing guidance control section 206. This HCU 20a also corresponds to a psychological state induction device. Moreover, the execution of the processing of each functional block of the HCU 20a by the computer also corresponds to the execution of the psychological state guidance method.

The breathing guidance control unit 206a is the same as the breathing guidance control unit 206, except that some processing is different. The respiration guidance control unit 206a sets the second stimulation cycle to a cycle within a predetermined range starting from 60 cycles per minute (hereinafter referred to as a heartbeat-like cycle). The respiratory guidance control unit 206a does not set the second stimulation cycle based on the heartbeat identified by the heartbeat identifying unit 232. The predetermined range referred to here may be an average range of human heartbeats during normal times. This range may be set in advance through experiments or the like. For example, the normal state may be a state in which both activity, inactivity, and pleasure and displeasure in Russell's circular model are intermediate. The heartbeat-like period is a period that is estimated to be the period of a normal human heartbeat. For example, the heartbeat-like period may be set to 60 to 80 times per minute. As an example, the cycle may be 75 times per minute.

When the target state is the "awakening state", the respiratory guidance control unit 206a preferably sets the second stimulation period to a period shorter than the heartbeat-like period. By applying a stimulus with a shorter period than the heartbeat that is estimated to be a normal human heartbeat, there is a high possibility that the driver's psychological state will be induced to become more active. Therefore, according to the above configuration, it becomes easier to induce the "awake state". On the other hand, when the target state is a "relaxed state", the respiratory guidance control unit 206 preferably makes the second stimulation cycle longer than the heartbeat-like cycle. By applying a stimulus with a longer period than the heartbeat that is estimated to be a normal human heartbeat, there is a high possibility that the driver's psychological state will be induced to become inactive. Therefore, according to the above configuration, it becomes easier to induce a "relaxed state".

(Embodiment 3)
In the above-described embodiment, a configuration is shown in which the HCU 20, 20a is responsible for psychological state induction related processing, but the present invention is not necessarily limited to this. For example, the HCU 20, 20a and another ECU may be responsible for psychological state guidance related processing. It is also possible to adopt a configuration in which an ECU different from the HCU 20, 20a is responsible for psychological state guidance related processing.

Note that the present disclosure is not limited to the embodiments described above, and various changes can be made within the scope of the claims, and can be obtained by appropriately combining technical means disclosed in different embodiments. The embodiments are also included in the technical scope of the present disclosure. Further, the control unit and the method described in the present disclosure may be implemented by a dedicated computer constituting a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and techniques described in this disclosure may be implemented with dedicated hardware logic circuits. Alternatively, the apparatus and techniques described in this disclosure may be implemented by one or more special purpose computers configured by a combination of a processor executing a computer program and one or more hardware logic circuits. The computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium.

(Disclosed technical idea)
This specification discloses multiple technical ideas described in multiple sections listed below. Some sections may be written in a multiple dependent form, in which subsequent sections alternatively cite preceding sections. Additionally, some terms may be written in a multiple dependent form referring to another multiple dependent form. The terms written in these multiple dependent forms define multiple technical ideas.

Technical thought 1
a rhythm determining unit (205) that determines a target breathing rhythm for changing the psychological state of the vehicle driver to a target psychological state;
a breathing guidance control unit (206, 206a, 206b, 206c) that controls stimulation for inducing the driver to breathe in accordance with the target breathing rhythm determined by the rhythm determining unit;
The rhythm determining unit determines, as the target breathing rhythm, an inspiratory period during which inspiration is performed and an expiratory period during which exhalations are performed;
In addition to the first stimulation, the respiratory guidance control unit assigns two patterns of continuous stimulation changes with different directions for the same type of stimulation to the inhalation period and the expiration period, respectively; A psychological state induction device that also performs a second stimulation that is intermittent stimulation at regular intervals.

Technical thought 2
The psychological state induction device according to technical idea 1,
The respiration guidance control unit is a psychological state induction device that causes a third stimulation, which is a different type of stimulation from the first stimulation and the second stimulation, to be performed at the timing of switching between the inhalation period and the expiration period.

Technical thought 3
The psychological state induction device according to technical idea 1 or 2,
The respiration guidance control unit assigns, as the first stimulus, two patterns of continuous stimulus changes having mutually opposite directions for the same type of stimulus to the inspiratory period and the expiratory period, respectively. A psychological state induction device that makes you do something.

Technical thought 4
The psychological state induction device according to any one of technical ideas 1 to 3,
The respiration guidance control unit is a psychological state induction device that causes the driver to perform changes that are estimated to easily remind the driver of inhalation and exhalation, as changes in the two patterns of continuous stimulation having different directions.

Technical thought 5
The psychological state induction device according to any one of technical ideas 1 to 4,
The respiration guidance control unit is a psychological state induction device that matches the timing of presentation of the second stimulus with the timing of switching between the inhalation period and the expiration period.

Technical thought 6
The psychological state induction device according to any one of technical ideas 1 to 5,
The respiration guidance control unit induces a psychological state to cause the period of the intermittent stimulation at fixed intervals in the second stimulation to be a heartbeat-like period that is within a predetermined range starting from a period of 60 times per minute. Device.

Technical thought 7
The psychological state induction device according to any one of technical ideas 1 to 5,
The target psychological state to be changed by the target breathing rhythm determined by the rhythm determining unit includes at least an awake state and a relaxed state of the driver,
In the case of the target breathing rhythm aiming at the awake state, the breathing guidance control unit sets the cycle of intermittent stimulation at constant intervals in the second stimulation to a cycle of 60 times per minute as a starting point. In the case of the target breathing rhythm that aims at the relaxed state, the period of intermittent stimulation at fixed intervals in the second stimulation A psychological state induction device that causes the period of the heartbeat to be longer than the heartbeat-like period.

Technical thought 8
The psychological state induction device according to any one of technical ideas 1 to 5,
comprising a heartbeat identification unit (232) that identifies the heartbeat of the driver;
The respiration guidance control unit sets the period of the intermittent stimulation at regular intervals in the second stimulation to the same period as the heartbeat pulsation of the driver, based on the heartbeat specified by the heartbeat identification unit. A psychological state induction device.

Technical thought 9
The psychological state induction device according to any one of technical ideas 1 to 5,
The target psychological states to be changed by the target breathing rhythm determined by the rhythm determining unit include an awake state and a relaxed state of the driver,
comprising a heartbeat identification unit (232) that identifies the heartbeat of the driver;
Based on the heartbeat identified by the heartbeat specifying unit, the breathing guidance control unit controls intermittent stimulation at regular intervals as the second stimulation when the target breathing rhythm is aimed at the awake state. In the case of the target breathing rhythm aiming at the relaxed state, the period is set to be a period shorter than the period of the heartbeat of the driver, and in the case of the target breathing rhythm aiming at the relaxed state, the second stimulation is performed intermittently at regular intervals. A psychological state induction device that makes a cycle longer than a cycle of the driver's heartbeat.

Technical thought 10
The psychological state induction device according to any one of technical ideas 1 to 9,
comprising a driving load estimating unit (202) that estimates the level of driving load of the driver,
The respiration induction control unit is configured to psychologically reduce the intensity of stimulation to the driver when the driving load estimating unit estimates that the driving load is high compared to when the driving load is estimated to be low. State induction device.

Technical thought 11
The psychological state induction device according to any one of technical ideas 1 to 10,
an environmental state identification unit (201) that identifies an environmental state inside and outside the vehicle;
A target presence/absence determination unit that determines the presence or absence of a target stimulus whose environmental state is a stimulus that causes large noise among the stimuli controlled by the respiratory guidance control unit, based on the environmental state identified by the environmental state determination unit. (207) and
When the object presence/absence determining section determines that the target stimulus is present, the respiration guidance control section increases the intensity of the target stimulus, or increases the intensity of the target stimulus other than the target stimulus among the stimuli controlled by the respiration guidance control section. A psychological state induction device that increases the intensity of stimulation.

Technical thought 12
executed by at least one processor;
a rhythm determining step of determining a target breathing rhythm for changing the psychological state of the vehicle driver to a target psychological state;
a breathing guidance control step of controlling stimulation for inducing the driver to breathe in accordance with the target breathing rhythm determined in the rhythm determining step;
In the rhythm determining step, an inspiratory period for inhaling and an expiratory period for exhaling are determined as the target respiratory rhythm;
In the respiration guidance control step, in addition to the first stimulation, two patterns of continuous stimulation changes with different directions for the same type of stimulation are assigned to the inspiratory period and the expiratory period, respectively; A method of inducing a psychological state in which a second stimulus, which is intermittent stimulation at regular intervals, is also performed.

1 Driving support system, 2 HMI system, 20, 20a, 20b, 20c HCU (psychological state guidance device), 23 Breathing guidance device, 201 Environmental state identification unit, 202 Operating load estimation unit, 205 Rhythm determination unit, 206, 206a, 206b, 206c respiratory guidance control unit, 207 target presence/absence determination unit, 232 heartbeat identification unit

Claims (12)

a rhythm determining unit (205) that determines a target breathing rhythm for changing the psychological state of the vehicle driver to a target psychological state;
a breathing guidance control unit (206, 206a, 206b, 206c) that controls stimulation for inducing the driver to breathe in accordance with the target breathing rhythm determined by the rhythm determining unit;
The rhythm determining unit determines, as the target breathing rhythm, an inspiratory period during which inspiration is performed and an expiratory period during which exhalations are performed;
In addition to the first stimulation, the respiratory guidance control unit assigns two patterns of continuous stimulation changes with different directions for the same type of stimulation to the inhalation period and the expiration period, respectively; A psychological state induction device that also performs a second stimulation that is intermittent stimulation at regular intervals. The psychological state inducing device according to claim 1,
The respiration guidance control unit is a psychological state induction device that causes a third stimulation, which is a different type of stimulation from the first stimulation and the second stimulation, to be performed at the timing of switching between the inhalation period and the expiration period. The psychological state inducing device according to claim 1,
The respiration guidance control unit assigns, as the first stimulus, two patterns of continuous stimulus changes having mutually opposite directions for the same type of stimulus to the inspiratory period and the expiratory period, respectively. A psychological state induction device that makes you do something. The psychological state inducing device according to claim 1,
The respiration guidance control unit is a psychological state induction device that causes the driver to perform changes that are estimated to easily remind the driver of inhalation and exhalation, as changes in the two patterns of continuous stimulation having different directions. The psychological state inducing device according to claim 1,
The respiration guidance control unit is a psychological state induction device that matches the timing of presentation of the second stimulus with the timing of switching between the inhalation period and the expiration period. The psychological state inducing device according to claim 1,
The respiration guidance control unit induces a psychological state to cause the period of the intermittent stimulation at fixed intervals in the second stimulation to be a heartbeat-like period that is within a predetermined range starting from a period of 60 times per minute. Device. The psychological state inducing device according to claim 1,
The target psychological state to be changed by the target breathing rhythm determined by the rhythm determining unit includes at least an awake state and a relaxed state of the driver,
In the case of the target breathing rhythm aiming at the awake state, the breathing guidance control unit sets the cycle of intermittent stimulation at constant intervals in the second stimulation to a cycle of 60 times per minute as a starting point. In the case of the target breathing rhythm that aims at the relaxed state, the period of intermittent stimulation at fixed intervals in the second stimulation A psychological state induction device that causes the period of the heartbeat to be longer than the heartbeat-like period. The psychological state inducing device according to claim 1,
comprising a heartbeat identification unit (232) that identifies the heartbeat of the driver;
The respiration guidance control unit sets the period of the intermittent stimulation at regular intervals in the second stimulation to the same period as the heartbeat pulsation of the driver, based on the heartbeat specified by the heartbeat identification unit. A psychological state induction device. The psychological state inducing device according to claim 1,
The target psychological states to be changed by the target breathing rhythm determined by the rhythm determining unit include an awake state and a relaxed state of the driver,
comprising a heartbeat identification unit (232) that identifies the heartbeat of the driver;
Based on the heartbeat identified by the heartbeat specifying unit, the breathing guidance control unit controls intermittent stimulation at regular intervals as the second stimulation when the target breathing rhythm is aimed at the awake state. In the case of the target breathing rhythm aiming at the relaxed state, the period is set to be a period shorter than the period of the heartbeat of the driver, and in the case of the target breathing rhythm aiming at the relaxed state, the second stimulation is performed intermittently at regular intervals. A psychological state induction device that makes a cycle longer than a cycle of the driver's heartbeat. The psychological state inducing device according to claim 1,
comprising a driving load estimating unit (202) that estimates the level of driving load of the driver,
The respiration induction control unit is configured to psychologically reduce the intensity of stimulation to the driver when the driving load estimating unit estimates that the driving load is high compared to when the driving load is estimated to be low. State induction device. The psychological state inducing device according to claim 1,
an environmental state identification unit (201) that identifies an environmental state inside and outside the vehicle;
A target presence/absence determination unit that determines the presence or absence of a target stimulus whose environmental state is a stimulus that causes large noise among the stimuli controlled by the respiratory guidance control unit, based on the environmental state identified by the environmental state determination unit. (207) and
When the object presence/absence determining section determines that the target stimulus is present, the respiration guidance control section increases the intensity of the target stimulus, or increases the intensity of the target stimulus other than the target stimulus among the stimuli controlled by the respiration guidance control section. A psychological state induction device that increases the intensity of stimulation. executed by at least one processor;
a rhythm determining step of determining a target breathing rhythm for changing the psychological state of the vehicle driver to a target psychological state;
a breathing guidance control step of controlling stimulation for inducing the driver to breathe in accordance with the target breathing rhythm determined in the rhythm determining step;
In the rhythm determining step, an inspiratory period for inhaling and an expiratory period for exhaling are determined as the target respiratory rhythm;
In the respiration guidance control step, in addition to the first stimulation, two patterns of continuous stimulation changes with different directions for the same type of stimulation are assigned to the inspiratory period and the expiratory period, respectively; A method of inducing a psychological state in which a second stimulus, which is intermittent stimulation at regular intervals, is also performed.

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