JP4790020B2 - Pseudo-emotion output device, pseudo-emotion output method, pseudo-emotion output program, and computer-readable recording medium - Google Patents

Description

  The present invention relates to a pseudo emotion output device, a pseudo emotion output method, a pseudo emotion output program, and a computer-readable recording medium that output a pseudo emotion of a passenger on a moving body. However, use of the present invention is not limited to the above-described pseudo emotion output device, pseudo emotion output method, pseudo emotion output program, and computer-readable recording medium.

  The traveling of a moving body such as a vehicle may cause an accident due to dangerous traveling such as sudden start, sudden stop, and sudden handle. In recent years, in order to make the driver aware of safe driving, it has been proposed to detect such dangerous driving and output a warning guidance by voice when dangerous driving is detected (for example, the following patents) Reference 1).

JP 2002-251699 A

  However, in the above-described conventional technology, because it is a configuration that merely warns against dangerous driving, for drivers who have overconfidence with their own driving, no effect can be given even if warning is given, One example is the problem of eventually causing an accident. Therefore, in order to have the dangerous driving renewed, rather, a means for motivating the driver himself to be willing to drive safely is required.

  Further, in the above-described conventional technology, sudden start, sudden stop, sudden handle, and the like are detected as dangerous travel without considering the skill and driving tendency of the driver. Therefore, for example, it is not possible to distinguish between detecting whether dangerous driving was detected as a result of encountering an unavoidable accident despite driving safely, or whether dangerous driving was originally detected due to intense driving by the driver. As an example, there is a problem that effective warning guidance cannot be performed.

  In order to solve the above-described problems and achieve the object, the pseudo emotion output device according to the invention of claim 1 is a pseudo emotion output that expresses a pseudo emotion held by a passenger other than the driver by the behavior of the moving body during driving. A driving unit that expresses a pseudo-feeling held by the passenger in motion, and driving tendency information based on the driving history of the driver obtained by authenticating a driver driving the moving body, The specific behavior information detected based on the output value of the sensor relating to the behavior of the driving during the driving of the moving body, and the state inside and outside the moving body other than the specific behavior information of the moving body, A combination of information based on the image of the camera to be photographed, information from a sensor that monitors inside and outside the moving body, or information based on the sound collected by the microphone, gives the pseudo-feeling the passenger has Control means for controlling the drive unit in order to express a plurality of ranks indicating the degree of driving tendency of the driver set in advance and a sudden event with respect to the moving body It is characterized in that a pseudo emotion held by a passenger other than the driver is determined using a table indicating a pseudo emotion associated with each of a plurality of specific behaviors and situations inside and outside the moving body.

  The pseudo emotion output method according to the invention of claim 4 is a pseudo emotion output method for expressing a pseudo emotion held by a passenger other than the driver by the behavior of the mobile body during driving, and driving the mobile body. Driving tendency information based on the driving history of the driver obtained by authenticating the driver, specific behavior information detected based on an output value of a sensor relating to the behavior of the driving during driving of the mobile body, and Information based on the image of the camera that captures the inside and outside of the moving body, the information from the sensor that monitors the inside and outside of the moving body, or the sound collected by the microphone And a control step of controlling the drive unit that expresses the pseudo emotion by movement by the control means in order to express the pseudo emotion held by the passenger in combination with information based on And the control step includes a plurality of ranks indicating a degree of driving tendency of the driver set in advance, a plurality of specific behaviors that are sudden events for the moving body, and a situation inside and outside the moving body. It is characterized in that a pseudo-emotion held by a passenger other than the driver is determined using a table indicating the associated pseudo-emotion.

  A pseudo emotion output program according to a fifth aspect of the invention causes a computer to execute the pseudo emotion output method according to the fourth aspect.

  According to a sixth aspect of the present invention, a computer-readable recording medium records the pseudo emotion output program according to the fifth aspect.

It is a block diagram which shows an example of a functional structure of the pseudo emotion output apparatus concerning this Embodiment. It is a flowchart which shows the content of the process of the pseudo emotion output apparatus concerning this Embodiment. It is explanatory drawing which shows an example of dashboard vicinity of the vehicle by which the navigation apparatus concerning a present Example was installed. It is a block diagram which shows an example of the hardware constitutions of the navigation apparatus concerning a present Example. It is explanatory drawing shown about the determination of the pseudo emotion corresponding to the driving | running tendency and specific behavior in the navigation apparatus concerning a present Example. It is a flowchart which shows the content of the process of the navigation apparatus concerning a present Example.

  Exemplary embodiments of a pseudo emotion output device, a pseudo emotion output method, a pseudo emotion output program, and a computer-readable recording medium according to the present invention will be described below in detail with reference to the accompanying drawings.

(Embodiment)
(Functional configuration of pseudo emotion output device)
The functional configuration of the pseudo emotion output device according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of a functional configuration of the pseudo emotion output device according to the present embodiment.

  In FIG. 1, the pseudo emotion output device 100 includes an acquisition unit 101, a detection unit 102, a determination unit 103, and an output unit 104.

  The acquisition unit 101 acquires driving tendency information of a driver of a moving object. The driving tendency information is, for example, information including a tendency such as a driving skill of a driver, intense driving, and quietness.

  Specifically, for example, the acquisition of driving tendency information may be obtained by acquiring driving tendency information from the driving history of the driver by authenticating a driver who drives the mobile body. More specifically, for example, the driving tendency information may be acquired by acquiring the driving skill and tendency of the driver from the past driving history of the authenticated driver.

  The driving tendency information may be acquired, for example, based on an output value of a sensor relating to driving behavior during driving of the moving body. More specifically, for example, the driving tendency information may be acquired by determining a driving tendency based on an output value from a G sensor or an acceleration sensor (not shown) during driving. It is good also as acquiring by determining the tendency of a driving | operation from the image | video of a camera, the sound of a microphone, etc.

  The detection unit 102 detects specific behavior information during operation of the moving body. The specific behavior information is, for example, a sudden event that has occurred in the moving body, and may be a collision with another object, a sudden acceleration (decrease) speed, a sudden change in traveling direction, or the like. For example, the specific behavior information may be detected in accordance with an output value from a G sensor or an acceleration sensor (not shown). Also good.

  When the specific behavior information is detected by the detection unit 102, the determination unit 103 is based on at least driving tendency information and specific behavior information, and a passenger such as a driver or a passenger who rides on the moving body Pseudo-emotions are determined from the emotional candidates that he holds. Specifically, for example, the determination unit 103 may be configured to determine the driver's pseudo emotion driving the moving body or to determine the passenger's pseudo emotion riding on the moving body. Moreover, the determination part 103 is good also as determining the combination of the pseudo emotion which consists of 2 or more, for example. Further, the pseudo emotion may be determined based on either the driving tendency information or the specific behavior information, or the pseudo emotion may be determined based on information generated by combining both of the information.

  The pseudo emotion is, for example, a pseudo emotion that the driver or the passenger will have when driving tendency information or specific behavior information is detected. Further, for example, it may be a pseudo emotion that the driver or the passenger will have when specific behavior information is detected under the situation of the driving tendency in the driving tendency information. Further, for example, it may be a series of pseudo emotions that change with time while the detected driving tendency continues. In addition, the driver and the passenger here may be either actually on the moving body or not on the moving body. In other words, for example, the pseudo-emotion is when there is no passenger in the passenger seat, even if the passenger is in the passenger seat, or when a person who is not actually a driver has driven It may be an emotion that you might have.

  In addition, the emotion candidate may have a configuration set in association with driving tendency information and specific behavior information, and a table that is a setting source is recorded on a recording medium (not shown) in a rewritable manner, It is good also as reading as needed.

  The output unit 104 outputs the pseudo emotion determined by the determination unit 103. The mode of output related to the pseudo emotion may be a mode determined for each pseudo emotion, or a plurality of modes of output are prepared for each pseudo emotion. For example, the mode of output in consideration of driver attributes May be selected. For example, an output mode different from the previous mode may be selected so that the same output mode does not continue. In addition, when the determination unit 103 determines a combination of two or more pseudo emotions, the output unit 104 may output the combination.

  Specifically, for example, the output unit 104 outputs a control signal for controlling a driving unit (not shown) that drives to display the pseudo emotion according to the pseudo emotion determined by the determination unit 103. More specifically, for example, the output unit 104 may output a control signal related to at least one of light output, operation output, and sound output so as to indicate a pseudo emotion.

  For example, the output unit 104 may be configured to output a control signal for controlling the robot so that the robot mounted on the moving body shows a pseudo emotion. In addition, the driver's attributes, for example, the driver's personality at the time of driving operation may be authenticated from the past driving operation history, and the output mode related to the pseudo emotion may be selected in consideration of the personality. For example, even when outputting to show pseudo-feeling that represents anxious feelings, if the driver's personality is something that immediately becomes emotional, a mode of light output that includes relatively exciting elements The optimum output mode may be selected in consideration of the driver's attributes, such as selecting the sound output mode without selecting the.

(Processing contents of pseudo emotion output device)
Next, the contents of processing of the pseudo emotion output device 100 according to the present embodiment will be described with reference to FIG. FIG. 2 is a flowchart showing the contents of processing of the pseudo emotion output device according to the present embodiment. In the flowchart of FIG. 2, first, the pseudo emotion output device 100 determines whether or not driving of the moving body has been started (step S201). The operation of the moving body may be determined by, for example, starting an operating part of the moving body or detecting traveling.

  In step S201, when the driving is started after waiting for the driving to start (step S201: Yes), driving tendency information is acquired by the acquisition unit 101 (step S202).

  Next, the specific behavior information during the operation of the moving body is detected by the detection unit 102 (step S203). In addition, in the flowchart of FIG. 2, although it is set as the structure which detects specific behavior information after acquiring driving tendency information, the order is not restricted to this, and driving tendency information when specific behavior information is detected is acquired. It may be configured.

  Then, when the specific behavior information is detected by the determining unit 103 in step S203, the mobile body is boarded based on the driving tendency information acquired in step S202 and the specific behavior information detected in step S203. Pseudo emotions are determined from the emotion candidates held by the passenger (step S204). In the flowchart of FIG. 2, the pseudo emotion is determined from the emotion candidates held by the passenger boarding the moving body based on the driving tendency information and the specific behavior information. The pseudo emotion may be determined based on either the trend information or the specific behavior information.

  Thereafter, the output unit 104 outputs the pseudo emotion determined in step S204 (step S205), and the series of processing ends.

  The pseudo emotion output device, the pseudo emotion output method, the pseudo emotion output program, and the computer-readable recording medium of the present invention are realized by the pseudo emotion output device 100 shown in FIG. The pseudo emotion output device 100 is not limited, and a plurality of devices may be used as long as the functional unit shown in FIG. 1 is provided. When each functional unit is connected as a different device, the connection between the devices may be established by performing communication using Bluetooth (registered trademark) or the like, regardless of wired or wireless.

  As described above, according to the present embodiment, the driver and passengers show feelings that the driver and passengers will have, and the driver is encouraged to empathize, for example, the driver is not lonely. Since emotional support can be provided, adverse effects on driving operations can be reduced, and safe driving operations can be supported. In addition, according to the present embodiment, the motivation for the driver to be willing to drive safely by performing the output so as to indicate the pseudo emotion determined by the driving tendency information or the specific behavior information. Attached output can be performed. In addition, by preparing multiple output modes for each pseudo emotion, compared to selecting output directly from driving tendency information and specific behavior information, it is possible to select output more suited to the driver's attributes, Drivers' familiarity with uniform output can also be avoided. Furthermore, according to the present embodiment, when specific behavior information is detected, it is possible to output so as to indicate a pseudo emotion determined by driving tendency information and specific behavior information. Can be done.

  Moreover, according to this Embodiment, when specific behavior information is detected, an appropriate pseudo emotion can be determined by using driving tendency information. That is, since the pseudo emotion for the specific behavior information is appropriately determined based on the difference in driving tendency, the output can be performed so as to show the optimal pseudo emotion according to the situation.

  Furthermore, according to the present embodiment, since the control signal for controlling at least one of light output, motion output, and sound output by the robot can be output and the pseudo emotion can be shown, the driver can display the pseudo emotion. It can be easily imaged three-dimensionally.

  Examples of the present invention will be described below. In the present embodiment, an example in which the pseudo emotion output device of the present invention is implemented by a navigation device mounted on a moving body such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) will be described.

(Peripheral device configuration of navigation device)
First, the configuration of peripheral devices of the navigation device according to the present embodiment will be described with reference to FIG. FIG. 3 is an explanatory diagram illustrating an example of the vicinity of the dashboard of the vehicle in which the navigation device according to the present embodiment is installed.

  In FIG. 3, the navigation apparatus 300 is installed on the dashboard of the vehicle. The navigation device 300 includes a main body M and a display unit (display) D. The display unit D displays the current location of the vehicle, map information, the current time, and the like.

  The navigation device 300 is connected to a vehicle-mounted robot 310 installed on the dashboard. The vehicle-mounted robot 310 includes a camera, a lamp, a microphone, a speaker, and the like (not shown), and performs various outputs according to control of a control signal output from the navigation device 300.

  The vehicle-mounted robot 310 has a shape imitating a human or an animal, for example, and includes a drive unit such as an arm on the left and right sides, and controls control signals output from the navigation device 300. Accordingly, the operation output of the drive unit may be performed. Furthermore, the vehicle-mounted robot 310 may be configured to include a drive unit that swings the top / bottom / left / right and performs operation output of the drive unit in accordance with control of a control signal output from the navigation device 300. Also good.

  Specifically, for example, the top of the vehicle-mounted robot 310 may function as a camera, and the camera can rotate in the horizontal direction and the vertical direction to capture images inside and outside the vehicle. Further, the vehicle-mounted robot 310 may be configured to include a lamp, a microphone, and a speaker on the body portion, and may perform light output and sound collection and output using the lamp, the microphone, and the speaker. In addition, a display unit that displays images, characters, or the like may be provided, or a function of speaking words may be provided.

  Moreover, the vehicle-mounted robot 310 may be able to emit the whole body or a part thereof, and may be turned on and blinking in various colors in accordance with control of a control signal output from the navigation device 300.

  According to the configuration shown in FIG. 3, in this embodiment, the vehicle-mounted robot 310 performs various outputs in accordance with the control of the control signal output from the navigation device 300, so that pseudo emotions are shown to the driver. .

  Details will be described with reference to FIG. 5 and FIG. 6, but the operation in the vehicle-mounted robot 310 for showing a pseudo emotion based on the driving tendency rank determined by obtaining an index indicating driving tendency and the specific behavior. Determine the program. Then, the vehicle-mounted robot 310 that operates according to the determined operation program can prompt the driver to improve driving.

  Further, the vehicle-mounted robot 310 may be configured to acquire information indicating the situation inside and outside the vehicle, determine a pseudo emotion, and output it. The information indicating the situation inside and outside the vehicle may be, for example, information based on an image of a camera that captures the inside or outside of the vehicle, or information based on information collected from a sensor that monitors the inside or outside of the vehicle or voice collected by a microphone. Moreover, the information based on the information acquired from the car navigation may be sufficient, and the information based on the information acquired from media, the internet, etc. may be sufficient. Information indicating the situation inside and outside the vehicle is, for example, the distance between the front and rear vehicles, information on obstacles ahead on the road, information indicating the situation of passengers in the rear seats, information on right and left turn points, traffic congestion information, etc. It is. Moreover, the structure which determines and outputs a pseudo emotion combining the information which shows the condition inside and outside a vehicle, driving tendency information, and specific behavior information may be sufficient.

  For example, when an obstacle is detected on the road ahead when the driving tendency is a high-speed driving tendency or more, if the driver decides and outputs a pseudo feeling of sudden anxiety or surprise, Even if an obstacle is not noticed, it can be improved from a high-speed driving tendency to a driving tendency in which the surrounding situation can be confirmed calmly, assuming that there is an event that causes anxiety. Also, for example, in the case of traffic jams, by determining and outputting dissatisfied pseudo emotions for traffic jams, there is a presence that can sympathize with the driver's dissatisfaction, compared to the driver alone being dissatisfied , You can relieve dissatisfaction or reduce dissatisfaction to pass on to driving.

  That is, by using the vehicle-mounted robot 310 as a passenger who is anxious to the driver, such as when a child or a pet is riding on the vehicle, the driver is motivated to feel at ease and to drive safely. Can be given. The in-vehicle robot 310 acquires the driving situation and expresses emotions such as joy and anxiety according to the driving situation, so that the in-vehicle robot feels like the driving situation with the driver. The driver is motivated to receive the emotional expression and is willing to improve if the driving is rough, and continue if the driving is good.

  Further, when the vehicle-mounted robot 310 shows a passenger's pseudo emotion, it may express an encouraging emotion if it is poor driving, or express an emotion that praises if it is good driving. In this way, the driver performs driving while eliminating anxiety even if the driving is poor, and performs driving that improves if the driving is good.

  In this way, even a driver who is overconfident in his driving and cannot objectively recognize the driving situation can see himself / herself by seeing anxious feelings of the pseudo driver and passengers. The driving situation can be judged calmly and improved.

(Hardware configuration of navigation device 300)
Next, a hardware configuration of the navigation device 300 according to the present embodiment will be described with reference to FIG. FIG. 4 is a block diagram illustrating an example of a hardware configuration of the navigation device according to the present embodiment.

  In FIG. 4, a navigation device 300 is mounted on a moving body such as a vehicle, and includes a CPU 401, ROM 402, RAM 403, magnetic disk drive 404, magnetic disk 405, optical disk drive 406, optical disk 407, and audio. I / F (interface) 408, microphone 409, speaker 410, input device 411, video I / F 412, display 413, communication I / F 414, GPS unit 415, various sensors 416, and camera 417 And a drive unit 418. Each component 401 to 418 is connected by a bus 420.

  First, the CPU 401 governs overall control of the navigation device 300. The ROM 402 records programs such as a boot program, a route search program, a route guidance program, a voice generation program, a map information display program, and an operation program. The RAM 403 is used as a work area for the CPU 401.

  Here, the route search program searches for an optimal route from the departure point to the destination point using map information recorded on the optical disc 407 described later. Here, the optimum route is the shortest (or fastest) route to the destination point or the route that best matches the conditions specified by the user. The guidance route searched by executing the route search program is output to the audio I / F 408 and the video I / F 412 via the CPU 401.

  The route guidance program is based on the guidance route information searched by executing the route search program, the current location information of the navigation device 300 acquired by the communication I / F 414, and the map information read from the optical disc 407. Real-time route guidance information can be generated. The route guidance information generated by executing the route guidance program is output to the audio I / F 408 and the video I / F 412 via the CPU 401.

  The sound generation program generates tone and sound information corresponding to the pattern. That is, based on the route guidance information generated by executing the route guidance program, the virtual sound source corresponding to the guidance point is set and the voice guidance information is generated and output to the voice I / F 408 via the CPU 401.

  Also, the map information display program determines the display format of the map information displayed on the display 413 by the video I / F 412 and displays the map information on the display 413 according to the determined display format.

  The operation program drives a drive unit 418 described later based on the driving tendency and specific behavior of the vehicle. Details will be described with reference to FIGS. 5 and 6. For example, the operation program is selected and executed by the drive unit 418 so as to show the pseudo emotion selected by the driving tendency or the specific behavior.

  The magnetic disk drive 404 controls the reading / writing of the data with respect to the magnetic disk 405 according to control of CPU401. The magnetic disk 405 records data written under the control of the magnetic disk drive 404. As the magnetic disk 405, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disc drive 406 controls reading / writing of data with respect to the optical disc 407 according to the control of the CPU 401. The optical disc 407 is a detachable recording medium from which data is read according to the control of the optical disc drive 406. As the optical disc 407, a writable recording medium can be used. In addition to the optical disk 407, the removable recording medium may be an MO, a memory card, or the like.

  One example of information recorded on the magnetic disk 405 and the optical disk 407 is map information used for route search / route guidance. The map information includes background data that represents features (features) such as buildings, rivers, and the ground surface, and road shape data that represents the shape of the road, and is displayed in two or three dimensions on the display screen of the display 413. Drawn. When the navigation device 300 is guiding a route, the map information and the current location of the vehicle acquired by the GPS unit 415 described later are displayed in an overlapping manner.

  In this embodiment, the map information is recorded on the magnetic disk 405 and the optical disk 407. However, the present invention is not limited to this. The map information is not recorded only on the one provided integrally with the hardware of the navigation device 300, and may be provided outside the navigation device 300. In that case, the navigation apparatus 300 acquires map information via a network through communication I / F414, for example. The acquired map information is stored in the RAM 403 or the like.

  The audio I / F 408 is connected to a microphone 409 for audio input and a speaker 410 for audio output. The sound received by the microphone 409 is A / D converted in the sound I / F 408. In addition, sound is output from the speaker 410. Note that the voice input from the microphone 409 can be recorded on the magnetic disk 405 or the optical disk 407 as voice data.

  The microphone 409 and the speaker 410 may be installed, for example, in a drive unit 418 (for example, the in-vehicle robot 310 in FIG. 3) described later, and performs rotation driving according to the control of the operation program described above and Input / output may be performed.

  Examples of the input device 411 include a remote controller including a plurality of keys for inputting characters, numerical values, various instructions, a keyboard, a mouse, a touch panel, and the like.

  The video I / F 412 is connected to the display 413 and the camera 417. Specifically, the video I / F 412 includes, for example, a graphic controller that controls the entire display 413, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. Based on the output image data, the display 413 is configured by a control IC that controls display.

  The display 413 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 413, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted. The display 413 is installed in a manner like the display unit D in FIG. 3, for example.

  In addition, the display 413 and the camera 417 may be installed in, for example, a drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3) to be described later. It is good also to do.

  Specifically, for example, the camera 417 captures an image inside or outside the vehicle. The image may be either a still image or a moving image. For example, the behavior of the passenger inside the vehicle may be photographed by the camera 417, or the situation outside the vehicle may be photographed. For example, the captured video may be output to a recording medium such as the magnetic disk 405 or the optical disk 407 via the video I / F 412, or used for determination of driving tendency or specific behavior described later.

  In addition, the communication I / F 414 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 401. The communication I / F 414 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 401.

  Communication networks include LANs, WANs, public line networks and mobile phone networks. Specifically, the communication I / F 414 includes, for example, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, a radio navigation device, and other navigation devices. Get road traffic information such as regulations. VICS is a registered trademark.

  Further, the GPS unit 415 uses a received wave from a GPS satellite and output values from various sensors 416 (for example, an angular velocity sensor, an acceleration sensor, a tire rotation number, etc.) to be described later, and the current position of the vehicle (navigation device 300). Information indicating the current location). The information indicating the current location is information for specifying one point on the map information such as latitude / longitude and altitude. In addition, the GPS unit 415 outputs an odometer, a speed change amount, and an azimuth change amount using output values from the various sensors 416. This makes it possible to analyze dynamics such as sudden braking and sudden steering.

  The various sensors 416 are a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and the like, and output values thereof are used for calculation of the current point by the GPS unit 415 and measurement of changes in speed and direction. The various sensors 416 also include sensors that detect each operation of the vehicle by the driver. The detection of each operation of the vehicle may be configured to detect, for example, steering operation, turn signal input, accelerator pedal depression, brake pedal depression, or the like.

  Further, the various sensors 416 may detect the mind and body state of the passenger. The detection of the state of mind and body may be performed by, for example, detecting the pulse or blood pressure of the occupant with a skin grounding sensor. Alternatively, a person's sweat may be detected by a human body sensor.

  Note that the acquisition unit 101, the detection unit 102, the determination unit 103, and the output unit 104 included in the pseudo emotion output device 100 illustrated in FIG. 1 are the ROM 402, the RAM 403, the magnetic disk 405, and the optical disk 407 in the navigation device 300 illustrated in FIG. The CPU 401 executes a predetermined program using the program and data recorded in the above, and realizes its function by controlling each part in the navigation device 300.

  That is, the navigation apparatus 300 of the present embodiment executes the program recorded in the ROM 402 as a recording medium in the navigation apparatus 300, thereby providing the functions provided in the pseudo emotion output apparatus 100 shown in FIG. It can be executed according to the procedure shown.

(About driving tendency-specific behavior table)
Next, with reference to FIG. 5, the determination of the pseudo emotion corresponding to the driving tendency and the specific behavior in the navigation device 300 according to the present embodiment will be described. FIG. 5 is an explanatory diagram illustrating the determination of the pseudo emotion corresponding to the driving tendency and the specific behavior in the navigation device according to the present embodiment.

  In FIG. 5, the driving tendency-specific behavior table 500 is an example of a table showing pseudo feelings associated with the driving tendency rank of the driver who drives the vehicle and the specific behavior which is a sudden event with respect to the vehicle. It is.

  The driving tendency is classified into ranks A, B, and C, for example, from rough driving to gentle driving with respect to rough driving. In addition, the specific behavior is, for example, a sudden event with respect to the vehicle, and includes sudden acceleration, sudden braking, sharp curve, passage of uneven roads, contact with other objects, etc. In FIG. Y and Z are indicated.

  The driving tendency and the specific behavior are acquired by, for example, the various sensors 416, the camera 417, the microphone 409, and the like shown in FIG.

  More specifically, for example, driving tendency is acquired by using a G value based on output from an acceleration sensor, a vibration sensor, etc., speed, acceleration, road noise, angular speed, speed according to curve curvature, etc. Ranking may be performed by determining whether or not the value is greater than or equal to the value. This driving tendency may be determined, for example, from the past driving history of the driver, or may be acquired during driving. Further, for example, the driving tendency may be determined by measuring the degree of tension of the driver by a sensor that detects a mind-body state. Further, for example, the driving tendency may be determined by detecting a sudden change in the state of mind and the degree of tension with a sensor that detects the state of mind and body.

  Alternatively, the driving tendency is, for example, whether or not one or more of various outputs such as G value, speed, acceleration, road noise, angular speed, and speed according to the curve curvature exceed a predetermined value, or a predetermined value within a unit time. You may determine by the frequency | count etc. which exceeded.

  Or you may determine a driving | running tendency using the increase / decrease tendency of the average value of unit time about one or more of various outputs, for example. Specifically, for example, for one or more of various outputs, a configuration using a graph or a slope when approximated to a multi-order equation may be used.

  Furthermore, the driving tendency may be determined using the tendency of the maximum value for one or more of various outputs, for example. Specifically, for example, a configuration may be used in which one or more of various outputs uses whether the number of times exceeding a predetermined value within a unit time is increasing or decreasing.

  In addition, the driving tendency is determined by storing a past trend determination log and determining whether the log average or time series trend is large or small, or is increasing or decreasing. It may be configured.

  The specific behavior is, for example, sudden acceleration, sudden braking, sudden curve, unevenness using G value based on output from acceleration sensor, vibration sensor, etc., speed, acceleration, road noise, angular velocity and speed according to curve curvature. It is also possible to determine the passage of a certain road or contact with other objects.

  The pseudo emotions associated with the driving tendency and the specific behavior are, for example, anger, anxiety, surprise, relief, etc., and the drive unit is determined by the operation program indicating the pseudo emotion in the driving tendency-specific behavior table 500. 418 (for example, the vehicle-mounted robot 310 in FIG. 3) is driven. The drive of the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3) is variable in the intensity of driving and driving in the vertical and horizontal directions, the blinking of the lamp, and the color of the lamp, for example, to show pseudo emotions. It is good to do.

  For example, if the pseudo-emotion is associated with a sufficient distance between the vehicles at a speed equal to or less than a predetermined value, it is relieved, and at least one of a speed equal to or less than the predetermined value and a sufficient distance between the vehicles is selected. Anxiety may occur when a state lacking elements is continuous (or intermittent). Further, an angry emotion may be adopted for stronger anxiety.

  In addition, even if the driving tendency is stable, if a predetermined vibration or more is detected suddenly, it may be a surprise emotion. After a surprised feeling, there may be a feeling of anxiety due to a difference in usual driving tendency. On the other hand, if the driving tendency is unstable, an anxiety feeling may be amplified in addition to a surprise feeling when suddenly detecting a vibration exceeding a predetermined level.

  Such pseudo emotions may be set, for example, by experiments or surveys, and may be rewritable by a business operator or a user. Moreover, even if it is an emotion that actually occurs in humans, it may be possible to exclude emotions that are considered to be counter-effects to promote safe driving, such as anger, or may be replaced by another emotion.

  Details of the processing will be described with reference to FIG. 6, but the navigation apparatus 300 may be driven by the driving unit 418 (for example, FIG. 3) by an operation program that expresses the pseudo emotion determined by the driving tendency-specific behavior table 500 shown in FIG. 5. The vehicle-mounted robot 310) is operated.

  Specifically, for example, in the case of the driving tendency B, when the specific behavior Y is detected, an operation program showing a surprising pseudo emotion is selected and executed. In addition, the operation program may indicate, for example, a plurality of pseudo emotions. When the specific behavior Y is detected when the driving tendency is A, the operation program performs an operation mixed with surprise and anxiety. Will be selected. An operation in which surprise and anxiety are mixed may be set in advance, or both a surprise operation and an anxiety operation may be acquired and both may be output continuously or alternately.

  Also, a plurality of pseudo emotions may be visited with a time difference. For example, in the case of driving tendency A, when a specific behavior Z is detected, first, an operation program showing anxiety when a predetermined time elapses is detected. Will be selected.

  Further, when the driving tendency can be relieved and the driver does not care about driving, a uniform operation program may be prepared, or an operation program corresponding to a situation other than driving may be prepared.

  Moreover, it is good also as setting several steps about the same pseudo emotion. Specifically, for example, a strong anxiety or a slight anxiety may be set for the feeling of anxiety and adjusted according to the size (strength) of the action. Such an operation may be set, for example, by an experiment or an investigation, or may be set by an operator or a user.

(Contents of processing of navigation device 300)
Next, the contents of the process of the navigation device 300 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart illustrating the contents of the processing of the navigation device according to the present embodiment. In the flowchart of FIG. 6, first, it is determined by various sensors 416 whether or not the operation is started (step S601). The determination of the start of driving may be made by determining whether the vehicle has started running by using various sensors, or by determining whether the engine is on or off.

  In step S601, when the operation is started after waiting for the start of the operation (step S601: Yes), an index value serving as a criterion for determining the driving tendency is acquired by the various sensors 416 (step S602). The index value may be an output value from, for example, an acceleration sensor or a vibration sensor.

  Next, it is determined whether or not an unexpected behavior is detected by the various sensors 416 (step S603). The sudden behavior may be, for example, when an output value from an acceleration sensor, a vibration sensor, or the like becomes a predetermined value or more, or when a sudden change in the output value is detected.

  If no sudden behavior is detected in step S603 (step S603: No), it is determined whether or not a predetermined amount of index values have been collected for the index values acquired in step S602 (step S605). . The index value of the predetermined amount may be set in advance by, for example, an amount for determining a driving tendency in step S606 described later.

  In step S605, when a predetermined amount of index value is not collected (step S605: No), the process returns to step S602 and the process is repeated. When a predetermined amount of index value is collected (step S605: Yes), the CPU 401 Thus, the driving tendency is determined using the index value collected in step S605 (step S606), and the process proceeds to step S611. The determined driving tendency may be recorded in a buffer area or the like.

  Moreover, when a sudden behavior is detected in step S603 (step S603: Yes), the CPU 401 acquires the previous driving tendency (step S604). The immediately preceding driving tendency is, for example, the driving tendency determined in step S606, the past driving tendency of the driver, or the like, and may be recorded in a predetermined recording medium or buffer area.

  Then, the CPU 401 determines a specific behavior for the sudden behavior detected in step S603 (step S607). The determination of the specific behavior may be performed by using, for example, the type or value of the sensor with respect to the output value from the acceleration sensor or the vibration sensor that has become a predetermined value or more, such as sudden acceleration, sudden braking, sudden curve, Judgment such as passage on uneven roads or contact with other objects is made.

  Next, the CPU 401 reads the driving tendency-specific behavior table (step S608). For example, the driving tendency-specific behavior table may be recorded on a predetermined recording medium, such as the driving tendency-specific behavior table 500 shown in FIG.

  Then, using the driving tendency-specific behavior table 500 read in step S608 by the CPU 401, pseudo emotions associated with the driving tendency acquired in step S604 and the specific behavior determined in step S607 are displayed. The operation program to be shown is selected (step S609).

  Subsequently, the CPU 401 causes the operation program selected in step S609 to be executed (step S610). By executing the operation program, for example, the drive unit 418 (for example, the vehicle-mounted robot 310 of FIG. 3) can be driven to show the pseudo emotion associated with the driving tendency and the specific behavior.

  An example of driving the vehicle-mounted robot 310 in FIG. 3 will be described below. For example, when the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3) performs an operation expressing anxiety accompanied with anger as a pseudo emotion, for example, the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3). The torso is directed toward the driver, the whole body or part of the body emits red light, the top of the head is directed toward the driver's face, and the arm is shaken up and down.

  Further, for example, when the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3) performs an operation that expresses mild anxiety as a pseudo emotion, for example, in the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3). The body part is directed forward, the whole body or part of the body emits yellow light, the top of the head is swung several times to the left and right with respect to the direction of the driver, and the arm is swung up and down moderately.

  Further, for example, when the drive unit 418 (for example, the in-vehicle robot 310 in FIG. 3) performs an operation to express great joy as a pseudo emotion, for example, in the drive unit 418 (for example, the in-vehicle robot 310 in FIG. 3). The body part is directed toward the driver, the whole body or a part of the body emits blue light, the top of the head is swung up and down, the arm is greatly expanded, the arm is stopped for a while, and then the operation of returning to the original state is repeated.

  Further, for example, when the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3) performs an operation to express anxiety accompanied by sadness as a pseudo emotion, the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3). The torso is directed toward the driver, the whole body or part of the body emits yellow light, the top of the head is swung several times to the left and right based on the direction of the driver, and the arm is swung up and down moderately.

  Further, for example, when the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3) performs an operation expressing light pleasure as a pseudo emotion, for example, in the drive unit 418 (for example, the vehicle-mounted robot 310 in FIG. 3). The body part is directed forward, the whole body or part of the body emits light in blue, the top of the head is swung up and down moderately, the arm is raised moderately, and then the returning operation is repeated.

  In addition, you may make it perform the operation | movement as one pseudo emotion of the vehicle-mounted robot 310 mentioned above in several aspects. For example, even when performing an action that expresses light pleasure, the whole body or part is not emitted blue, the torso is turned forward, the top of the head is swung up and down, the arm is raised to a medium, and then One aspect may be selected from these aspects in consideration of the attributes of the driver, including an aspect that is expressed only by the movement of repeating the returning operation.

  Thereafter, it is determined by the various sensors 416 whether or not the operation is finished (step S611). When the operation is finished (step S611: Yes), a series of processing is finished and the operation is not finished (step S611). (S611: No) returns to step S602 and repeats the process.

  In the flowchart of FIG. 6, in step S609, an operation program indicating pseudo emotions associated with the driving tendency acquired in step S604 and the specific behavior determined in step S607 is selected. However, it is not limited to this. Specifically, for example, an operation program showing pseudo emotions associated with either driving tendency or specific behavior may be selected. And when selecting the operation program which shows the pseudo emotion matched only with the driving | running tendency, suppose that the process of step S607 is abbreviate | omitted. In the case where an operation program showing a pseudo emotion associated only with a specific behavior is selected, the process of step S604 is omitted.

  As described above, according to the navigation device of the present embodiment, when a specific behavior is detected, a driving unit (vehicle-mounted robot) is displayed so as to indicate a driving tendency and a pseudo emotion associated with the specific behavior. ). Therefore, it is possible to promote safe driving by encouraging the driver with the pseudo feelings that the driver and passengers will have.

  In addition, according to the navigation device of the present embodiment, by preparing a plurality of output modes for each pseudo emotion, compared to the case where direct output is selected from driving tendency information or specific behavior information, more attributes of the driver It is possible to select the output mode according to the driver, and to avoid the driver's familiarity with uniform output.

  Moreover, according to the navigation apparatus concerning a present Example, when a specific behavior is detected, an appropriate pseudo emotion can be determined by using a driving tendency. That is, in order to appropriately determine the pseudo emotion for the specific behavior based on the difference in driving tendency, the drive unit (vehicle-mounted robot) can be operated so as to show the optimal pseudo emotion according to the driving situation.

  Furthermore, according to the navigation device of the present embodiment, the driver can indicate the pseudo emotion by at least one of the light output, the operation output, and the sound output by the drive unit (vehicle-mounted robot). Can be easily imaged three-dimensionally. In addition, if the appearance of the drive unit (vehicle-mounted robot) is made to be familiar to the driver, the driver's awareness can be enhanced, and the driver can sympathize with the pseudo-feelings reliably and optimally for safe driving. Can be planned.

  The pseudo emotion output method described in the present embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

100 pseudo emotion output device 101 acquisition unit 102 detection unit 103 determination unit 104 output unit

Claims (6)

A pseudo emotion output device that expresses a pseudo emotion held by a passenger other than the driver by the behavior of the moving body during driving,
A drive unit that expresses a pseudo-emotion held by the passenger by movement;
A driving tendency information by driving history of the driver obtained by authenticating a driver who drives the movable body is detected based on the output value of the sensor on the behavior of the operation definitive during the operation of the movable body Specific behavior information and information based on the image of the camera that captures the inside and outside of the moving body other than the specific behavior information of the moving body , information from a sensor that monitors the inside and outside of the moving body, or And a control means for controlling the drive unit to express the pseudo-emotion held by the occupant in combination with information based on the sound collected by the microphone ,
The control means includes
A plurality of ranks indicating the degree of driving tendency of the driver set in advance, a plurality of specific behaviors that are sudden events with respect to the moving body, and pseudo emotions associated with the situation inside and outside the moving body The pseudo emotion output device characterized by determining the pseudo emotion which passengers other than the driver hold using the table shown. In the table, there are a plurality of ranks associated with each of a rank indicating the degree of driving tendency of the driver, a specific behavior that is a sudden event with respect to the moving body, and a situation inside and outside the moving body . Pseudo emotions are shown,
The control means includes the driving tendency, the specific behavior information , information based on an image of a camera that captures the inside and outside of the moving body, information from a sensor that monitors the inside and outside of the moving body, or, if it is determined the information based on the voice collected by the microphone, a plurality of pseudo emotion based on, in claim 1, wherein the controller controls the drive unit so as to represent the plurality of pseudo emotion The pseudo emotion output device described. The table shows the order in which the plurality of pseudo emotions are expressed,
3. The pseudo emotion output apparatus according to claim 2 , wherein the control unit controls the drive unit to express the plurality of pseudo emotions according to the order. A pseudo-emotion output method for expressing a pseudo-emotion held by a passenger other than the driver based on the behavior of the moving body during driving,
A driving tendency information by driving history of the driver obtained by authenticating a driver who drives the movable body is detected based on the output value of the sensor on the behavior of the operation definitive during the operation of the movable body Specific behavior information and information based on the image of the camera that captures the inside and outside of the moving body other than the specific behavior information of the moving body , information from a sensor that monitors the inside and outside of the moving body, or A control step of controlling, by a control means, a drive unit that expresses the pseudo emotion in motion in order to express the pseudo emotion held by the passenger in combination with information based on the sound collected by the microphone. Including
The control step is associated with each of a plurality of ranks indicating the degree of driving tendency of the driver set in advance, a plurality of specific behaviors that are sudden events on the moving body, and a situation inside and outside the moving body. A pseudo-emotion output method, wherein a pseudo-emotion held by a passenger other than the driver is determined using a table indicating the pseudo-emotion. A pseudo emotion output program that causes a computer to execute the pseudo emotion output method according to claim 4 . 6. A computer-readable recording medium on which the pseudo emotion output program according to claim 5 is recorded.

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