JP7439738B2 - Vehicle support device and vehicle support method - Google Patents

Description

The present disclosure relates to a vehicle support device and a vehicle support method.

Techniques for detecting the condition of a vehicle driver are known. For example, Patent Document 1 discloses a technique for estimating a subject's emotions from the recognition results of facial expressions.

Patent No. 6467965

A driver's mental state may affect the driving of a vehicle. Therefore, if the driver's mental state is deteriorating, it is preferable to improve the mental state.

One purpose of this disclosure is to provide a vehicle support device and a vehicle support method that make it possible to improve the mental state of a vehicle driver with more precision when the mental state of the driver deteriorates. .

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, a first vehicle support device of the present disclosure detects the degree of deterioration of the mental state of the driver of the vehicle, and the mental state that is at least one of the factors for the deterioration of the driver's mental state. a mental-related state estimation unit (211, 211a, 212) that estimates the state; a search instruction unit that causes the search instruction unit to search for a recommended route according to the mental-related state estimated by the mental-related state estimation unit; A recommended route determination unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimation unit, and a recommended route determined by the recommended route determination unit for presentation to the driver. a selection unit (206) that selects whether or not to provide guidance on the recommended route determined by the recommended route determination unit in accordance with input received from the driver through the input device (25, 26); ), and a stimulation control unit (207) that controls the operation of a condition improvement device (27) that is provided in the vehicle and provides a stimulus to the driver to improve his mental condition from deterioration, and the presentation control unit: It is also possible to have the recommended route guided, and if the selection unit selects that the recommended route guidance is not required, the presentation control unit does not provide the recommended route guidance and the stimulation control unit While automatically starting the operation of the condition improvement device, if the selection section selects that guidance on the recommended route is required, the stimulation control section does not automatically start the operation of the condition improvement device, but the presentation control section selects the recommended route. Provide route guidance.
In order to achieve the above object, a second vehicle support device of the present disclosure is provided with a second vehicle support device according to the present disclosure. a mental-related state estimation unit (211, 211a, 212) that estimates the state; a search instruction unit that causes the search instruction unit to search for a recommended route according to the mental-related state estimated by the mental-related state estimation unit; A recommended route determination unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimation unit, and a recommended route determined by the recommended route determination unit for presentation to the driver. the presentation control unit (204), the mental-related state estimation unit estimates at least the degree of deterioration of the driver's mental state as the mental-related state, and the recommended route determination unit A recommended route that is estimated to improve the driver's mental condition is determined according to the degree of deterioration of the driver's mental condition estimated to be three or more levels.
In order to achieve the above object, a third vehicle support device of the present disclosure is configured to detect the level of deterioration of the mental state of the driver of the vehicle, and the mental state that is at least one of the factors for the deterioration of the driver's mental state. a mental-related state estimation unit (211, 211a, 212) that estimates the state; a search instruction unit that causes the search instruction unit to search for a recommended route according to the mental-related state estimated by the mental-related state estimation unit; A recommended route determination unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimation unit, and a recommended route determined by the recommended route determination unit for presentation to the driver. The recommended route determining unit includes a presentation control unit (204) that causes the presentation to be performed, and a fellow passenger state estimation unit (213, 213b) that estimates the state of a fellow passenger who is a passenger other than the driver of the vehicle. The recommended route is determined according to the condition of the passenger estimated by the estimation section, and the mental-related condition estimation section estimates at least the degree of deterioration of the driver's mental condition as a mental-related condition, and determines the recommended route. If the degree of deterioration of the driver's mental state estimated by the mental-related state estimating unit is greater than or equal to a predetermined threshold, the determining unit estimates the mental-related state more than the passenger's state estimated by the passenger state estimating unit. If the degree of deterioration of the driver's mental condition estimated by the mental-related condition estimation section is less than a predetermined threshold, the driver's mental-related condition is determined with priority. A recommended route is determined based on the state of the passenger estimated by the passenger state estimating section, with priority given to the state of the passenger estimated by the passenger state estimating section, rather than the mental related state estimated by the estimating section.
In order to achieve the above object, a fourth vehicle support device of the present disclosure is provided with a fourth vehicle support device according to the present disclosure. a mental-related state estimation unit (211, 211a, 212) that estimates the state; a search instruction unit that causes the search instruction unit to search for a recommended route according to the mental-related state estimated by the mental-related state estimation unit; A recommended route determination unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimation unit, and a recommended route determined by the recommended route determination unit for presentation to the driver. the presentation control unit (204), the mental-related state estimating unit at least estimates the cause of the deterioration of the driver's mental state as the mental-related state, and the recommended route determining unit includes a mental-related state estimating unit A recommended route that is estimated to improve the driver's mental condition is determined based on the multiple types of factors that are estimated to be contributing to the deterioration of the driver's mental condition.

In order to achieve the above object, a first vehicle support method of the present disclosure includes a method that measures the degree of deterioration of the mental state of a driver of a vehicle and the degree of deterioration of the driver's mental state, which is executed by at least one processor. a mental-related state estimation step for estimating a mental-related state that is at least one of the factors ; a search instruction step for causing a search for a recommended route according to the mental-related state estimated in the mental-related state estimation step; In addition, there is a recommended route determination step that determines a recommended route including multiple links according to the mental state estimated in the mental related state estimation step, and a presentation of the recommended route determined in the recommended route determining step to the driver. a presentation control step to be performed; a selection step for selecting whether or not to provide guidance on the recommended route determined in the recommended route determination step in accordance with input received from the driver through the input device (25, 26); and a selection step provided in the vehicle. , a stimulation control step of controlling the operation of a condition improvement device (27) that provides the driver with stimulation to improve his mental condition from a deterioration of his mental condition, and in the presentation control step, it is also possible to cause guidance of a recommended route to be performed. and if it is selected in the selection step that guidance of the recommended route is not required, the operation of the condition improvement device is automatically started in the stimulation control step without providing guidance of the recommended route in the presentation control step. On the other hand, if it is selected in the selection step that guidance on the recommended route is required, the operation of the condition improvement device is not automatically started in the stimulation control step, but guidance on the recommended route is performed in the presentation control step.
In order to achieve the above object, a second vehicle support method of the present disclosure includes a method for determining the degree of deterioration of the mental state of a driver of a vehicle and the deterioration of the driver's mental state, which is executed by at least one processor. a mental-related state estimation step for estimating a mental-related state that is at least one of the factors ; a search instruction step for causing a search for a recommended route according to the mental-related state estimated in the mental-related state estimation step; In addition, there is a recommended route determination step that determines a recommended route including multiple links according to the mental state estimated in the mental related state estimation step, and a presentation of the recommended route determined in the recommended route determining step to the driver. In the mental-related state estimation step, at least the degree of deterioration of the driver's mental state is estimated as the mental-related state, and in the recommended route determination step, the driving behavior estimated in the mental-related state estimation step is A recommended route that is estimated to improve the person's mental condition is determined according to the degree of deterioration of the person's mental condition of three or more levels.
In order to achieve the above object, a third vehicle support method of the present disclosure includes a method for determining the degree of deterioration of the mental state of the driver of the vehicle and the deterioration of the driver's mental state, which is executed by at least one processor. a mental-related state estimation step for estimating a mental-related state that is at least one of the factors ; a search instruction step for causing a search for a recommended route according to the mental-related state estimated in the mental-related state estimation step; In addition, there is a recommended route determination step that determines a recommended route including multiple links according to the mental state estimated in the mental related state estimation step, and a presentation of the recommended route determined in the recommended route determining step to the driver. and a passenger state estimation step for estimating the state of a fellow passenger who is a passenger other than the driver of the vehicle. In the mental-related state estimation step, at least the degree of deterioration of the driver's mental state is estimated as the mental-related state, and in the recommended route determination step, the recommended route is determined. If the degree of deterioration of the driver's mental state estimated in the step is equal to or higher than a predetermined threshold, the mental-related state estimated in the mental-related state estimation step takes precedence over the passenger's state estimated in the passenger state estimation step. On the other hand, if the degree of deterioration of the driver's mental condition estimated in the mental-related state estimation step is less than a predetermined threshold, the recommended route is determined based on the mental-related state estimated in the mental-related state estimation step. Also, a recommended route is determined based on the passenger's condition estimated in the passenger's condition estimation step.
In order to achieve the above object, a fourth vehicle support method of the present disclosure includes a method for determining the degree of deterioration of the mental state of the driver of the vehicle and the deterioration of the driver's mental state, which is executed by at least one processor. a mental-related state estimation step for estimating a mental-related state that is at least one of the factors ; a search instruction step for causing a search for a recommended route according to the mental-related state estimated in the mental-related state estimation step; In addition, there is a recommended route determination step that determines a recommended route including multiple links according to the mental state estimated in the mental related state estimation step, and a presentation of the recommended route determined in the recommended route determining step to the driver. In the mental-related state estimation step, at least the factors contributing to deterioration of the driver's mental state are estimated as the mental-related state, and in the recommended route determination step, the driving information estimated in the mental-related state estimation step is To determine a recommended route that is estimated to improve a person's mental condition based on multiple types of factors contributing to the deterioration of the person's mental condition.

According to these, a recommended route is presented to the driver according to the degree of deterioration of the driver's mental state and the mental-related condition that is at least one of the factors for the deterioration of the driver's mental state. becomes possible. Therefore, driving a route that improves the deterioration of the driver's mental state is based on the degree of deterioration of the driver's mental state, which is more detailed than simply the presence or absence of deterioration of the driver's mental state, and at least one of the factors contributing to the deterioration of the driver's mental state. This makes it possible to present the information to other people. As a result, when the mental state of the vehicle driver deteriorates, it becomes possible to improve the mental state with more precision.

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 flowchart which shows an example of the flow of condition improvement related processing in HCU20. It is a figure showing an example of rough composition of HCU20a. It is a flowchart which shows an example of the flow of condition improvement related processing in HCU20a. It is a figure showing an example of rough composition of HCU20b.

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. The driving support system 1 shown in FIG. 1 can be 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 module 3, a locator 4, a map database (hereinafter referred to as map DB) 5, a vehicle control ECU 6, a surrounding monitoring sensor 7, an automatic driving ECU 8, and a vehicle condition sensor 9. Contains. It is assumed that the HMI system 2, communication module 3, locator 4, map DB 5, vehicle control ECU 6, automatic driving ECU 8, and vehicle condition sensor 9 are connected to, for example, an in-vehicle LAN. Hereinafter, the vehicle using the driving support system 1 will be referred to as the own vehicle.

The communication module 3 includes a short-range communication section 31 and a wide-area communication section 32. The short-range communication unit 31 performs short-range wireless communication. Examples of short-range wireless communication include short-range wireless communication based on short-range wireless communication standards such as Bluetooth (registered trademark) Low Energy, UWB (Ultra Wide Band) communication, and the like. Wi-Fi (registered trademark), ZigBee (registered trademark), etc. may be used as short-range wireless communication based on the short-range wireless communication standard. The short-range communication unit 31 communicates with a mobile terminal by short-range wireless communication. Examples of mobile terminals include wearable devices worn by the occupants of the own vehicle, multifunctional mobile phones carried by the occupants of the own vehicle, and the like. The wide area communication unit 32 communicates with the center server via the public communication network. Examples of public communication networks include mobile phone networks and the Internet. The wide area communication unit 32 may be configured to communicate with the center via a roadside device. The wide area communication unit 32 acquires traffic information etc. from the center server and outputs it to the in-vehicle LAN.

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. Note that the vehicle position measurement may also be configured to utilize the travel distance obtained from signals sequentially output from a vehicle speed sensor mounted on the own vehicle.

The map DB 5 stores guidance map data and high-precision map data. The map DB 5 is, for example, a nonvolatile memory. The guide map data and the high-precision map data may be stored in separate memories. The guidance map data and high-precision map data may be acquired from a center server outside the vehicle using the wide area communication unit 32. If the own vehicle is not a self-driving vehicle capable of self-driving, the map DB 5 may not include high-precision map data.

The guidance map data is map data used for a navigation function that provides route guidance. For example, it is used to search for a recommended route to a destination and provide route guidance for the recommended route. The guide map data is data that represents the road on which the vehicle travels using nodes, links, and the like. A node is a point where each road on the map intersects, branches, or merges. A link connects nodes. A link represents a road section. The link data is composed of a unique number that specifies the link, a link length that indicates the length of the link, a link direction, link shape information, node coordinates of the start and end ends of the link, and road attribute data. Road attributes include road name, road type, road width, number of lanes, and speed limit value. On the other hand, the node data includes a node ID with a unique number for each node on the map, node coordinates, node name, node type, connection link ID that describes the link ID of the link connecting to the node, intersection type, etc. It consists of each data.

High-precision map data is map data used for vehicle travel control. High-precision map data is map data that is more detailed than guidance map data. The high-precision map data includes, for example, a three-dimensional map consisting of point groups of feature points of road shapes and structures.

The vehicle control ECU 6 is an electronic control device that performs acceleration/deceleration control and/or steering control of the own vehicle. The vehicle control ECU 6 includes a steering ECU, a power unit control ECU, a brake ECU, and the like. The steering ECU performs steering control. The power unit control ECU performs acceleration/deceleration control. The brake ECU performs deceleration control. The vehicle control ECU 6 acquires detection signals output from each sensor mounted on the own vehicle, such as an accelerator position sensor, a brake stroke sensor, a steering angle sensor, and a vehicle speed sensor, and controls the electronic control throttle, brake actuator, and EPS (Electric Power Steering) Outputs control signals to each driving control device such as a motor.

The surroundings monitoring sensor 7 detects objects surrounding the own vehicle, such as moving objects such as pedestrians and other cars, and stationary objects such as fallen objects on the road. In addition, road markings such as lane markings around the vehicle are detected. The surrounding monitoring sensor 7 includes, for example, a surrounding monitoring camera that images a predetermined range around the vehicle, a millimeter wave radar that transmits a search wave to a predetermined range around the vehicle, sonar, and LIDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging). Ranging) and other sensors. The surroundings monitoring camera sequentially outputs the sequentially captured images to the automatic driving ECU 8 as sensing information. The surroundings monitoring camera may be configured to capture images of the entire surroundings of the own vehicle using a plurality of cameras. A sensor such as a sonar, a millimeter wave radar, or a LIDAR that transmits a search wave sequentially outputs a scanning result based on a received signal obtained when receiving a reflected wave reflected by an obstacle to the automatic driving ECU 8 as sensing information. The surroundings monitoring sensor 7 detects the environmental condition around the own vehicle.

The automatic driving ECU 8 executes an automatic driving function that performs driving operations for the driver by controlling the vehicle control ECU 6. As the degree of automatic driving (hereinafter referred to as automation level) in the automatic driving function, there may be a plurality of levels, for example, as defined by SAE. For example, according to the definition of SAE, automation levels are divided into levels 0 to 5 as shown below.

Level 0 is the level at which the driver performs all driving tasks without system intervention. The driving tasks are, for example, steering and acceleration/deceleration. Level 0 corresponds to so-called manual operation. Level 1 is a level in which the system supports either steering or acceleration/deceleration. Level 2 is a level in which the system supports both steering and acceleration/deceleration. Levels 1 and 2 correspond to so-called driving support.

Level 3 is a level at which the system can perform all driving tasks in a specific location such as a highway, and the driver can perform driving operations in an emergency. Level 3 requires the driver to be able to respond quickly when the system requests a change of driving. Level 3 corresponds to so-called conditional automatic driving. Level 4 is a level at which the system can perform all driving tasks, except under specific conditions such as roads that cannot be handled or extreme environments. Level 4 corresponds to so-called highly automated driving. Level 5 is the level at which the system can perform all driving tasks under all circumstances. Level 5 corresponds to so-called fully automated driving. Levels 3 to 5 correspond to so-called automatic driving.

In Embodiment 1, the description is given using an example in which the own vehicle is a vehicle capable of automatic driving at level 3 or higher. The level of automation may be switchable. In the first embodiment, the following explanation will be given by taking as an example a case where switching is possible between automatic operation at automation level 3 or higher and manual operation at level 0. Note that the own vehicle may be a vehicle that is not capable of automatic driving at level 3 or higher. In this case, instead of using the automatic driving ECU 8 to search for a recommended route, a configuration may be adopted in which a navigation device used in the own vehicle searches for a recommended route.

The automatic driving ECU 8 recognizes the driving environment of the own vehicle based on the vehicle position of the own vehicle acquired from the locator 4, high-precision map data acquired from the map DB 5, and detection results from the surrounding monitoring sensor 7. For example, the shape and movement state of objects around the own vehicle may be recognized from the detection results of the surroundings monitoring sensor 7, or the shape of signs around the own vehicle may be recognized. By combining the vehicle's position and high-precision map data, it creates a virtual space that reproduces the actual driving environment in three dimensions.

Furthermore, the automatic driving ECU 8 generates a travel plan for automatically driving the own vehicle using the automatic driving function based on the recognized driving environment. As the travel plan, a long-term travel plan and a short-term travel plan are generated. In the long-term and medium-term travel plans, a route is generated to direct the vehicle to a set destination. This route is a route that includes multiple links. The automatic driving ECU 8 may generate this route in the same manner as the route search of the navigation function. This route search may be performed by cost calculation using Dijkstra's method, for example. In cost calculation using Dijkstra's method, the link costs of links that satisfy search conditions such as distance priority and time priority are set to be small. Then, a route with a smaller link cost value is searched as a recommended route. When the automatic driving ECU 8 receives search conditions from the HCU 20 (described later), the automatic driving ECU 8 searches for a recommended route that satisfies the search conditions sent from the HCU 20 and sends the result to the HCU 20.

In the short-term driving plan, the automatic driving ECU 8 uses the generated virtual space around the own vehicle to generate a planned driving trajectory for realizing driving according to the long-term driving plan. Specifically, the execution of steering for changing lanes, acceleration/deceleration for speed adjustment, steering and braking for avoiding obstacles, etc. is determined. Then, the automatic driving ECU 8 performs automatic driving by performing acceleration/deceleration control and/or steering control of the own vehicle in cooperation with the vehicle control ECU 6 according to the generated travel plan.

The vehicle state sensor 9 is a group of sensors for detecting the state of the own vehicle, such as the running state and operation state of the own vehicle. The vehicle condition sensor 9 includes a vehicle speed sensor that detects the vehicle speed of the own vehicle, a steering sensor that detects the steering angle of the own vehicle's steering wheel, an accelerator position sensor that detects the opening degree of the own vehicle's accelerator pedal, and a brake pedal of the own vehicle. There are brake stroke sensors and the like that detect the amount of depression. The vehicle condition sensor 9 outputs the detection result to the in-vehicle LAN. Note that the detection result from the vehicle condition sensor 9 may be output to the in-vehicle LAN via an ECU installed in the vehicle.

The HMI system 2 includes an HCU (Human Machine Interface Control Unit) 20, an indoor camera 21, a biological sensor 22, an audio output device 23, a display device 24, a microphone 25, an operation device 26, and a condition improvement device 27. The HMI system 2 accepts input operations from the driver. The HMI system 2 monitors the conditions of the occupants of the vehicle, including the driver. The HMI system 2 presents information to the driver.

The indoor camera 21 images a predetermined area inside the vehicle. Note that the indoor camera 21 may be configured to use a DSM (Driver Status Monitor) that monitors the driver of the own vehicle. Furthermore, a configuration may also be adopted in which a camera that captures an image of a range including the passenger seat and rear seats of the own vehicle is used. Information on images captured by the indoor camera 21 may be sequentially output to the HCU 20.

The biological sensor 22 measures the biological information of the driver and sequentially outputs the measured biological information to the HCU 20. The biosensor 22 may be provided in a part of the vehicle. The biosensor 22 may be provided in a wearable device worn by a passenger such as a driver. If the wearable device worn by the driver is provided with the biosensor 22, the HCU 20 may acquire the measurement results from the biosensor 22 via the short-range communication unit 31.

Examples of the biological sensor 22 include a pulse wave sensor that measures pulse waves. As the pulse wave sensor, a photoelectric pulse wave sensor, an impedance pulse wave sensor, or the like may be used. The pulse wave sensor may be a contact type or a non-contact type. Examples of the biological sensor 22 include a body temperature sensor that measures body temperature. An IR sensor or the like may be used as the body temperature sensor. Examples of the biological sensor 22 include an exhalation sensor that measures exhalation. A gas sensor or the like may be used as the breath sensor. Examples of the biological sensor 22 include a body composition sensor that measures body composition. As a body composition sensor, a body composition meter may be used, which estimates body fat percentage, muscle mass, and body water content from the resistance value of a minute current passed through the body. The biosensor 22 that needs to be measured by contacting the occupant's body may be provided in the steering wheel, driver's seat, etc. of the own vehicle.

Note that the biosensor 22 may be configured to measure biometric information other than pulse waves, body temperature, exhalation, and body composition. Examples include those that measure respiration, brain waves, heartbeat, heartbeat fluctuations, perspiration, blood pressure, and skin conductance.

The audio output device 23 presents information by outputting audio. The audio output device 23 outputs audio according to instructions from the HCU 20. Examples of the audio output device 23 include a speaker and the like. The display device 24 presents information by displaying images and text. The display device 24 displays images and text according to instructions from the HCU 20. The display device 24 is installed so that its display surface faces inside the passenger compartment of the own vehicle. For example, the display device 24 is provided such that the display surface is located in front of the driver's seat of the own vehicle. As the display device 24, a CID (Center Information Display), a display of a navigation device, a head-up display (hereinafter referred to as HUD), etc. can be used.

The microphone 25 collects the sounds spoken by the occupants of the own vehicle, converts them into electrical audio signals, and outputs them to the HCU 20 . The microphone 25 may be provided, for example, on the top surface of the steering column cover, on the sun visor on the driver's seat side, etc., so as to easily collect the driver's voice. Further, the microphone 25 may be provided in each seat so that the voices of the occupants in each seat can be collected separately. In this case, a zoom microphone with narrowed directivity may be used as the microphone 25 provided for each seat. The microphone 25 may accept voice command input from the user.

The operation device 26 receives operation input from the driver. The operating device 26 may be a mechanical switch or a touch switch integrated with the display device 24. Examples of mechanical switches include steering switches provided on spokes of the steering wheel. The microphone 25 and the operating device 26 can also be referred to as an input device that receives input from the driver.

The condition improving device 27 is a device that provides stimulation to the driver to improve his mental condition from deterioration. The condition improvement device 27 is provided in the own vehicle. Examples of deterioration of mental state include stress, irritation, fear, grief, etc. Stress can also be described as a state of tension. Fear can be subdivided into anxiety and fear. Anxiety can be defined as a mental state of fear without an object. Fear can be defined as a mental state of fear that has an object. In this embodiment, a case will be described using stress as an example of deterioration of mental state.

The condition improvement device 27 provides the driver with a stimulus that reduces stress. For example, the condition improving device 27 may be a device that ejects an odor component that is estimated to reduce stress. This device may be realized by combining an air conditioner and an aroma unit. The condition improving device 27 may be a device that relieves stiffness and relieves stress by applying thermal stimulation to the driver and improving blood circulation. In this case, it may be realized by a heater or a blower provided on the seat back of the driver's seat. In order to improve the driver's blood circulation, it is preferable to adopt a configuration that repeatedly warms and cools the driver's neck and shoulders. The condition improving device 27 may be a device that relieves stress by guiding the driver's breathing to a breathing that is estimated to be relaxing. In this case, a configuration may be adopted in which deep breathing is induced by tightening the seat belt. Alternatively, the condition improving device 27 may be a device that relieves stress by emitting light that is estimated to help the driver relax. Light emission may be performed using an LED or the like. The condition improvement device 27 may be a device that relieves stress by playing the driver's favorite music. In this case, the audio output device 23 may be used as the condition improvement device 27.

The condition improving device 27 may have a configuration other than that described above as long as it generates a stimulus that is estimated to alleviate stress. Note that even when the deterioration of the mental state is caused by something other than stress, the condition improving device 27 may be configured to improve the mental state by providing stimulation to relax the driver.

The HCU 20 is mainly composed of a microcomputer that includes a processor, memory, I/O, and a bus that connects these, and performs processing related to improving the driver's mental state from deterioration by executing a control program stored in the memory. (hereinafter referred to as condition improvement related processing). This HCU 20 corresponds to a vehicle support device. 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.

<Schematic configuration of HCU20>
Next, the schematic configuration of the HCU 20 will be explained using FIG. 2. Regarding the state improvement related processing, as shown in FIG. is provided as a functional block. 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. Executing the processing of each functional block of the HCU 20 by the computer corresponds to executing the vehicle support method.

The estimation unit 201 performs estimation related to the condition of the occupant of the vehicle. The estimation section 201 includes a driver state estimation section 211, a factor estimation section 212, and a fellow passenger state estimation section 213 as sub functional blocks.

The driver state estimating unit 211 estimates the degree of deterioration of the mental state of the driver of the own vehicle. In the example of this embodiment, the driver state estimating unit 211 estimates the degree of stress of the driver. The driver state estimation section 211 corresponds to a mental-related state estimation section. This process in the driver state estimation unit 211 corresponds to a mental-related state estimation step. The driver state estimating unit 211 may estimate the degree of stress in two levels, "with" and "without" stress, or may estimate the degree with three or more levels.

The driver state estimating unit 211 may estimate the degree of stress of the driver from an image of the driver before getting into the vehicle, which is captured by a surrounding monitoring camera of the surrounding monitoring sensor 7 . For example, the degree of stress of the driver may be estimated from the driver's posture and walking style in the image.

The driver state estimating unit 211 may estimate the degree of stress of the driver from the image of the driver captured by the indoor camera 21. For example, the driver's stress level may be estimated from the driver's facial expression in the image.

The driver state estimating unit 211 may estimate the driver's stress level based on the driver's pulse wave measured by a pulse wave sensor of the biological sensors 22. In this case, the driver state estimating unit 211 may estimate the degree of dominance of the sympathetic nerve in the autonomic nerves from frequency analysis of the pulse wave, and estimate the degree of dominance of the sympathetic nerve as the degree of stress.

The driver state estimating unit 211 may estimate the driver's stress level from the driver's exhalation measured by the exhalation sensor of the biological sensors 22. In this case, the secretion amount of cortisol, which is a stress determining substance, may be estimated from exhaled breath, and the secretion amount of cortisol may be estimated as the degree of stress.

The driver state estimating unit 211 may estimate the degree of stress of the driver from the operating state detected by the vehicle state sensor 9. In this case, the higher the frequency of sudden acceleration, sudden braking, sudden steering, etc., the higher the degree of stress may be estimated. Here, "sudden" may mean that the amount of change per unit time is greater than or equal to a threshold value.

The driver state estimating unit 211 may estimate the driver's stress level from the driver's voice collected by the microphone 25. In this case, the degree of stress may be estimated from the driver's voice by taking advantage of the fact that the frequency of human voice increases when the driver is nervous. Alternatively, the degree of stress may be estimated from the rate of speech.

The factor estimating unit 212 estimates the cause of the deterioration of the driver's mental state. In the example of this embodiment, the factor estimating unit 212 estimates the driver's stress factor. The factor estimator 212 also corresponds to a mental-related state estimator. The processing in this factor estimating unit 212 also corresponds to a mental-related state estimation step. In order to suppress unnecessary processing, it is preferable that the factor estimation unit 212 is configured to estimate the stress factor only when the degree of stress estimated by the driver state estimation unit 211 is equal to or higher than a threshold value. The threshold value referred to here may be a value that distinguishes the presence or absence of stress.

The factor estimating unit 212 may estimate stress factors from input information such as the surrounding environment of the own vehicle, the driver's previous and subsequent schedules, the driver's physical condition, and the driver's operating conditions. The stress factor may be estimated from only part of the input information described above, or the stress factor may be estimated from a combination of multiple types of input information. For example, the stress factor may be estimated by referring to a correspondence relationship in which input information and stress factors are associated in advance. An example of the correspondence relationship is a map. Furthermore, the stress factor may be estimated from the input information using a learning device that performs machine learning using the above-mentioned input information as input and outputting the stress factor.

The surrounding environment of the vehicle may be detected by the surrounding monitoring sensor 7. Examples of the surrounding environment include the number of pedestrians in the surrounding area, the type of road, the width of the road, and the degree of traffic congestion. A large number of pedestrians in the vicinity increases the burden of driving, which can be a source of stress. The fact that the road type is an expressway can be a source of stress because the load on driving operations increases during manual driving. Narrow road widths can be a source of stress, as they increase the burden of driving operations. Backlighting can cause glare and stress. Heavy traffic congestion can also be a source of stress.

The driver's previous and subsequent schedules may be acquired via the short-range communication unit 31 from a schedule application on a mobile terminal carried by the driver. An example of the previous and next schedule includes the work contents immediately before and after. If your last job involved desk work, eye strain can cause stress. If you go to work immediately before going home and then go home immediately after work, the mental fatigue that comes from finishing work can become a source of stress.

The physical condition of the driver may be detected by the surrounding monitoring sensor 7, the indoor camera 21, the biological sensor 22, etc. Examples of physical conditions include physical fatigue, body stiffness, and the like. Physical fatigue can be a factor in stress. Physical fatigue may be estimated from the posture and walking style of the driver before getting into the vehicle, which is imaged by a surrounding monitoring camera of the surrounding monitoring sensor 7. Alternatively, physical fatigue may be estimated from the driver's facial expressions captured by the indoor camera 21. Physical stiffness can also be a cause of stress. Body stiffness may be estimated from a decrease in the temperature of the shoulders, neck, etc. measured by a body temperature sensor, for example.

The operating state of the driver may be detected by the vehicle state sensor 9. Examples of operating conditions include frequent acceleration, frequent braking, frequent steering, and the like. Here, "frequent" may mean that the number of occurrences per unit time is equal to or greater than a threshold value. When the operating state is frequent acceleration, frequent braking, frequent steering, etc., the operating load caused by these frequent driving operations can become a stress factor.

The passenger state estimation unit 213 estimates the state of a passenger other than the driver of the own vehicle (hereinafter referred to as a fellow passenger). The passenger state estimating unit 213 may estimate the state of the passenger, such as fatigue, sleep, or poor physical condition. The passenger state estimating unit 213 may estimate the passenger's fatigue, sleep, and poor physical condition from the image of the passenger captured by the indoor camera 21. For example, fatigue or poor physical condition of the passenger may be estimated from the facial expression of the passenger in the image. For example, sleep of a fellow passenger may be estimated from the degree of eye opening of the fellow passenger in the image. The passenger condition estimating unit 213 may estimate the passenger's poor physical condition from biological information measured by the biological sensor 22 provided on the seat. Note that the passenger state estimating unit 213 may be configured to estimate states other than fatigue, sleep, and poor physical condition. Further, the fellow passenger state estimating unit 213 may also estimate the type of the fellow passenger. The passenger state estimating unit 213 may estimate the type of the passenger from the image of the passenger captured by the indoor camera 21. The type of passenger may be estimated by distinguishing between elderly people, children, etc. Note that the passenger state estimating unit 213 may make estimations by distinguishing gender and the like.

The search instruction unit 202 sends an instruction to the automatic driving ECU 8 to search for a recommended route according to the factor of the deterioration of the mental state estimated by the factor estimation unit 212. In the example of this embodiment, the search instruction unit 202 determines search conditions under which routes that are estimated to be effective in alleviating stress are searched preferentially, depending on the estimated stress factor. Then, the search instruction unit 202 sends an instruction to the automatic driving ECU 8 to search for a recommended route under the search conditions. The search conditions may be determined by referring to a correspondence relationship in which search conditions are associated in advance to search preferentially routes that are estimated to be effective in alleviating stress for each stress factor. . An example of the correspondence relationship is a map. The search condition can also be rephrased as a link condition that lowers the link cost.

If the search instruction unit 202 estimates that a large number of pedestrians in the vicinity is a cause of stress, it may determine search conditions under which a route with fewer pedestrians is searched preferentially. For example, search conditions may be determined that give priority to links of expressways. Alternatively, search conditions may be determined that give priority to links that are far from facilities or residences. If the search instruction unit 202 estimates that driving on an expressway is a stress factor, it may determine search conditions under which general roads are searched preferentially. For example, search conditions may be determined that give priority to links on general roads. If the search instruction unit 202 estimates that the narrow road width is a cause of stress, it may determine search conditions under which a route with a wider road width is preferentially searched. For example, search conditions may be determined that give priority to links with wider roads. When the search instruction unit 202 estimates that traffic congestion is a stress factor, it is sufficient to determine search conditions under which a route with less traffic congestion is preferentially searched. For example, search conditions may be determined to give priority to links with lower congestion levels.

When the search instruction unit 202 estimates that eye fatigue due to previous desk work is a cause of stress, it is sufficient to determine search conditions for preferentially searching for a route that is estimated to be easy to rest the eyes. For example, search conditions may be determined to give priority to links that go through points that are estimated to be easier to relieve eye strain, such as forests or beaches. Alternatively, search conditions may be determined to give priority to links that are estimated to require less strain on the eyes. Examples of links that are estimated to avoid straining the eyes include links with low speed limits. The search instruction unit 202 determines search conditions for preferentially searching for a route that passes through places and scenery that are presumed to be relaxing when the stress factor is mental fatigue due to the end of work. good. For example, search conditions may be determined to give priority to links that go through points that are estimated to be more relaxing, such as forests or beaches. Alternatively, search conditions may be determined that give priority to links that go through the driver's preferred store. The driver's favorite store may be estimated from the search history of the mobile terminal carried by the driver, which is obtained via the short-range communication unit 31.

When it is estimated that physical fatigue is a stress factor, the search instruction unit 202 may determine search conditions for preferentially searching for a route that is estimated to be likely to reduce physical fatigue. For example, search conditions may be determined to give priority to links that can continue automatic driving at level 3 or higher. Alternatively, search conditions may be determined that give priority to links that pass through the service area. When the search instruction unit 202 estimates that body stiffness is a stress factor, it is sufficient to determine search conditions that give priority to links that go through public baths.

In addition, the search instruction unit 202 uses a learning device that performs machine learning, which inputs stress factors and outputs search conditions for preferentially searching for routes that are estimated to be effective in alleviating stress. , the search conditions may be determined from the estimated stress factor. In this machine learning, it is preferable to sequentially learn events when the driver's stress level estimated by the driver state estimation unit 211 actually decreases. For example, if your stress is alleviated when you stop by a specific store, the system can learn to output search conditions that preferentially search for routes that go through that store and stores of a similar type to that store. Bye. In addition, if stress is alleviated when passing through a place where a specific scenery can be seen, a route that passes through that place and a place where a similar scenery can be seen is preferentially searched. Just learn to output the conditions. By adding other factors to the input, such as the time of day, the level of traffic congestion, and other environmental factors, machine learning can improve the accuracy and set search conditions that preferentially search for routes that are estimated to be effective in alleviating stress. It may be determined. In this case, the search instruction unit 202 determines the search conditions using the learning device by inputting factors such as time of day and environment in addition to the estimated stress factor.

It is preferable that the search instruction unit 202 sends an instruction to the automatic driving ECU 8 to search for a recommended route according to the state of the passenger estimated by the passenger state estimation unit 213. As an example, the search instruction unit 202 determines search conditions according to the estimated state of the fellow passenger. Then, the search instruction unit 202 sends an instruction to the automatic driving ECU 8 to search for a recommended route under the search conditions. The search conditions may be determined by referring to correspondence relationships in which search conditions are associated in advance for each passenger's condition. An example of the correspondence relationship is a map. For example, the search instruction unit 202 may determine search conditions under which a route with few curves is preferentially searched when the passenger is estimated to be in poor physical condition. For example, search conditions may be determined that give priority to straight road links. According to this, it becomes possible to propose a recommended route that prevents deterioration of the passenger's condition.

More preferably, the search instruction unit 202 sends an instruction to the automatic driving ECU 8 to search for a recommended route according to the type and condition of the passenger estimated by the passenger status estimation unit 213. In this case, the search conditions may be determined by referring to correspondence relationships in which search conditions are associated in advance for each combination of passenger type and state. An example of the correspondence relationship is a map. For example, when the type of passenger is an elderly person and the passenger's condition is estimated to be fatigued, the search instruction unit 202 creates a search condition that preferentially searches for a route with clean air that allows the window of the own vehicle to be opened. All you have to do is decide. For example, search conditions may be determined that give priority to links that pass through forests, parks, beaches, etc. If the map data includes information on areas with clean air, this information may be used to determine search conditions that give priority to links in areas with clean air. Further, the search instruction unit 202 may determine a search condition under which a detour route is preferentially searched when the type of the passenger is a child and the state of the passenger is estimated to be sleeping. For example, search conditions may be determined that give priority to links with long link lengths. According to this, it becomes possible to propose a desirable route according to the combination of the type and condition of the fellow passenger.

The above-described process of instructing to search for a recommended route according to the passenger's condition is executed when there is no passenger in the own vehicle and the passenger's type and condition cannot be estimated by the passenger's condition estimating unit 213. do not. When the degree of stress of the driver estimated by the driver condition estimation section 211 is equal to or higher than a predetermined threshold, the search instruction section 202 does not instruct the driver to search for a recommended route according to the condition of the passenger. Preferably, the configuration is such that an instruction is given to search for a recommended route depending on the stress factor. On the other hand, when the degree of stress of the driver estimated by the driver state estimation unit 211 is less than a predetermined threshold, the search instruction unit 202 does not issue an instruction to search for a recommended route according to the driver's stress factor. , it is preferable to provide an instruction to search for a recommended route according to the condition of the fellow passenger. The predetermined threshold value referred to here may be a value that distinguishes the presence or absence of stress. According to this, when a driver is under stress, a route that is estimated to alleviate this stress is proposed to reduce the impact on driving, while when the driver is not stressed and the impact on driving is small. The system proposes a desirable route according to the passenger's condition, allowing the passenger to travel comfortably.

Furthermore, by issuing both an instruction to search for a recommended route according to the driver's stress factor and an instruction to search for a recommended route according to the passenger's condition, the automatic driving ECU 8 can select a recommended route that satisfies both. It may also be configured to search. In this case, the search instruction unit 202 sets a search condition for preferentially searching for a recommended route according to the condition of the passenger when the degree of stress of the driver estimated by the driver condition estimation unit 211 is equal to or higher than a predetermined threshold. Even if an instruction is given that gives a higher priority to the search conditions (hereinafter referred to as driver-considered search conditions) that preferentially searches for a recommended route according to the driver's stress factors than the passenger-considered search conditions (hereinafter referred to as passenger-considered search conditions), good. Specifically, an instruction may be given to reduce the link cost for the driver-considered search condition more than for the passenger-considered search condition. Further, the search instruction unit 202 gives higher priority to the passenger-considered search conditions than the driver-considered search conditions when the degree of stress of the driver estimated by the driver state estimation unit 211 is less than a predetermined threshold. You may give instructions. Specifically, an instruction may be given to reduce the link cost for the passenger-considered search condition to be larger than that for the driver-considered search condition.

The automatic driving ECU 8 searches for a recommended route that satisfies the search conditions sent from the search instruction unit 202 and sends it back to the HCU 20 . That is, the automatic driving ECU 8 searches for a recommended route according to the factor of the deterioration of the mental state estimated by the factor estimating unit 212. The automatic driving ECU 8 also searches for a recommended route according to at least the type and state of the passenger estimated by the passenger state estimation unit 213. In this case, the automatic driving ECU 8 may search for a recommended route that satisfies the search conditions sent from the search instruction unit 202, giving priority to time and distance. The automatic driving ECU 8 may search for a recommended route using the current vehicle position determined by the locator 4 as the starting point. The automatic driving ECU 8 may search for a recommended route using a point set by input using the operating device 26 or the like as a destination. When the automatic driving ECU 8 receives an instruction to increase the amount of decrease in the link cost of one of the driver-considered search conditions and passenger-considered search conditions, it reduces the link cost of the other search condition. Just set it. The automatic driving ECU 8 may search for a plurality of routes with smaller link costs as recommended routes. Then, the searched recommended route is returned to the HCU 20. The recommended route searched by the automatic driving ECU 8 is a recommended route including a plurality of links.

The recommended route determination unit 203 determines the recommended route searched by the automatic driving ECU 8 according to the instruction from the search instruction unit 202 as the recommended route. In other words, the recommended route determining unit 203 determines a recommended route according to the factor of deterioration of the mental state estimated by the factor estimating unit 212. Further, the recommended route determining unit 203 determines a recommended route in accordance with at least the state of the type and state of the fellow passenger estimated by the fellow passenger state estimating unit 213. This process by the recommended route determining unit 203 corresponds to a recommended route determining step.

In the search instruction unit 202, when the degree of stress of the driver estimated by the driver condition estimation unit 211 is equal to or higher than a predetermined threshold, the search instruction unit 202 does not instruct the driver to search for a recommended route according to the condition of the passenger. If the configuration is such that an instruction is given to search for a recommended route depending on the stress factor, the result will be as follows. If the degree of stress of the driver estimated by the driver state estimating unit 211 is greater than or equal to a predetermined threshold, the recommended route determining unit 203 selects the factor estimation based on the state of the passenger estimated by the passenger state estimating unit 213. The recommended route is determined in accordance with the stress factor estimated in section 212 with priority. On the other hand, if the degree of stress of the driver estimated by the driver condition estimating section 211 is less than the predetermined threshold, the recommended route determining section 203 determines that the driver's state of the passenger is higher than the stress factor estimated by the factor estimating section 212. A recommended route is determined based on the condition of the passenger estimated by the estimation unit 213 with priority.

The presentation control unit 204 causes the recommended route determined by the recommended route determining unit 203 to be presented to the driver. This process by the presentation control unit 204 corresponds to a presentation control step. The presentation control unit 204 may display the recommended route on the display device 24 to provide and present the recommended route to the driver. For example, recommended routes may be displayed on a map in a distinguishable manner. If a plurality of recommended routes have been determined, the plurality of recommended routes may be displayed. Alternatively, the presentation control unit 204 may present the recommended route by displaying text on the display device 24 of the waypoints to the destination of the recommended route for each recommended route.

If route guidance is in progress, the presentation control unit 204 may present the route currently being guided in addition to the recommended route. In this case, it is preferable to present the route in such a way that it can be distinguished that the route is being guided. The route being guided here is a recommended route searched without considering the degree of deterioration of the driver's mental state or its factors. This route will hereinafter be referred to as a state-independent route. When presenting a recommended route, the presentation control unit 204 preferably also causes an inquiry to be made as to whether or not guidance on the recommended route is necessary.

Furthermore, the presentation control unit 204 can also provide route guidance for the recommended route determined by the recommended route determination unit 203. Route guidance may be provided by displaying guidance for traveling along the recommended route on the display device 24 or outputting audio from the audio output device 23.

The voice recognition unit 205 performs voice recognition on the voice collected by the microphone 25 and recognizes the contents of the occupant's utterance. The selection unit 206 selects whether or not guidance on the recommended route determined by the recommended route determination unit 203 is necessary, depending on an input received from the driver using the microphone 25 or the operating device 26 . When the selection unit 206 receives an input through the microphone 25 or the operating device 26 indicating that guidance on the recommended route is required, it selects that guidance on the recommended route is required. In the case of a configuration in which a plurality of recommended routes are presented, an input indicating that guidance on one of the recommended routes is required is accepted, and it is selected that guidance on that recommended route is required. On the other hand, when the selection unit 206 receives an input through the microphone 25 or the operating device 26 indicating that the recommended route guidance is not required, the selection unit 206 selects that the recommended route guidance is not required. If the selection unit 206 does not receive an input indicating that guidance on the recommended route is required within a certain period of time after the presentation of the recommended route or the presentation of the inquiry as to whether or not guidance on the recommended route is required, the selection unit 206 determines that guidance on the recommended route is not required. You may choose. The selection unit 206 may determine whether or not the microphone 25 has received an input regarding the necessity of guiding the recommended route based on the result of voice recognition by the voice recognition unit 205.

The stimulation control unit 207 controls the operation of the condition improvement device 27. It is preferable that the stimulation control unit 207 automatically starts the operation of the condition improvement device 27 when the selection unit 206 selects that guidance on the recommended route is not required. On the other hand, the stimulation control unit 207 may be configured to not automatically start the operation of the condition improvement device 27 when the selection unit 206 selects that guidance on the recommended route is required. Even if the selection unit 206 selects that guidance on the recommended route is required, the stimulation control unit 207 receives an input through the microphone 25 or the operating device 26 to instruct the condition improvement device 27 to start operating. In this case, the operation of the condition improvement device 27 may be started.

If the selection unit 206 selects that the recommended route guidance is not required, the presentation control unit 204 does not allow the recommended route guidance to be provided. If the route guidance for the route that does not take into account the state is being performed, the route guidance for the route that does not take the state into account is continued. If route guidance is not in progress, the state in which route guidance is not in progress is continued. On the other hand, when the selection unit 206 selects that guidance on the recommended route is required, the presentation control unit 204 causes guidance on the recommended route to be provided.

<Processing related to condition improvement in HCU20>
Here, an example of the flow of condition improvement related processing in the HCU 20 will be described using the flowchart of FIG. 3. The flowchart in FIG. 3 may be started, for example, when a switch (hereinafter referred to as a power switch) for starting the internal combustion engine or motor generator of the own vehicle is turned on. In addition, when adopting a configuration in which the driver's condition is estimated from images captured by a surrounding monitoring camera, the configuration may be configured such that the estimation starts when the driver approaches the parked own vehicle. The approach of the driver to the own vehicle may be estimated by the HCU 20 based on the strength of radio waves exchanged between the electronic key carried by the driver and the own vehicle.

First, in step S1, the estimation unit 201 performs estimation related to the condition of the occupant of the own vehicle. In S1, the driver state estimation unit 211 estimates the degree of stress of the driver. In S1, the fellow passenger state estimation unit 213 estimates the state of the fellow passenger.

In step S2, if the degree of stress of the driver estimated in S1 is equal to or higher than a predetermined threshold (YES in S2), the process moves to step S3. On the other hand, if the degree of stress of the driver estimated in S1 is less than the predetermined threshold (NO in S2), the process moves to step S5.

In step S3, the factor estimating unit 212 estimates the driver's stress factor. In step S4, the search instruction unit 202 determines search conditions under which a route estimated to be effective in alleviating stress is searched preferentially according to the stress factor estimated in S3, and the process moves to step S7. .

In step S5, if there is a fellow passenger in the own vehicle (YES in S5), the process moves to step S6. On the other hand, if there is no passenger in the own vehicle (NO in S5), the process moves to step S14. Whether or not there is a fellow passenger in the own vehicle may be determined by the fellow passenger state estimating unit 213 based on whether the type and state of the fellow passenger can be estimated. In step S6, the search instruction unit 202 determines search conditions according to at least the state of the passenger's type and state estimated in step S1, and proceeds to step S7.

In step S7, the search instruction unit 202 sends an instruction to the automatic driving ECU 8 to search for a recommended route under the search conditions determined in S4 or S6. In step S8, the recommended route determination unit 203 acquires the recommended route searched by the automatic driving ECU 8 according to the search conditions sent in S7. Then, the recommended route determination unit 203 determines the acquired recommended route as the recommended route. In step S9, the presentation control unit 204 causes the driver to present the recommended route determined in S8.

In step S10, if the selection unit 206 selects that guidance on the recommended route is required (YES in S10), the process moves to step S11. On the other hand, if the selection unit 206 selects that guidance on the recommended route is not required (NO in S10), the process moves to step S12. In step S11, the presentation control unit 204 causes the selection unit 206 to provide guidance on the recommended route selected as requiring guidance, and the process moves to step S13. In S11, the stimulation control unit 207 does not automatically start the operation of the condition improvement device 27. On the other hand, in step S12, the stimulation control unit 207 automatically starts the operation of the condition improvement device 27, and the process moves to step S13. In S12, the presentation control unit 204 does not provide guidance on the recommended route determined in S8.

In step S13, if a certain period of time has elapsed since the recommended route was presented in S9 (YES in S13), the process moves to step S14. On the other hand, if a certain period of time has not elapsed since the recommended route was presented in S9 (NO in S13), the process in S13 is repeated. The certain period of time referred to here can be set arbitrarily. For example, a time period may be set such that the frequency of presenting the recommended route by repeating the flow becomes a frequency that is estimated not to be bothersome to the driver. Further, a configuration may be adopted in which mileage is used instead of time.

In step S14, if it is the end timing of the condition improvement related process (YES in S14), the condition improvement related process is ended. On the other hand, if it is not the end timing of the condition improvement related process (NO in S14), the process returns to S1 and repeats the process. An example of the end timing of the condition improvement related process is when the power switch is turned off.

<Summary of Embodiment 1>
According to the configuration of Embodiment 1, it is possible to present to the driver a route for improving stress, which is more detailed than simply the presence or absence of stress, and is in accordance with the stress factor. The details are as follows. Even when a driver is under stress, the effective route for alleviating stress may vary depending on the stress factor. For example, stress caused by eye strain from desk work may be alleviated by driving on a recommended route with less traffic congestion, but it is more likely to be alleviated by driving on a recommended route that is estimated to be easier to rest your eyes. it is conceivable that. In this way, by proposing a recommended route that is estimated to alleviate stress depending on the stress factor and making it possible to guide the user through the recommended route, stress can be alleviated with higher accuracy. As a result, when the mental state of the vehicle driver deteriorates, it becomes possible to improve the mental state with more precision.

Further, according to the configuration of the first embodiment, even if the driver does not want to be guided through a recommended route according to the stress factor, the condition improvement device 27 is automatically started to alleviate stress. It becomes possible to do so.

In the first embodiment, the case where the deterioration of the mental state is caused by stress has been explained as an example, but even for deterioration of the mental state other than stress, by presenting a recommended route according to the factor of the deterioration of the mental state, What is necessary is to adopt a configuration that more accurately improves the deterioration of the mental state.

(Embodiment 2)
In the first embodiment, a configuration is shown in which a recommended route is proposed according to the details of the deterioration of the mental state, but the present invention is not necessarily limited to this. For example, a configuration may be adopted in which a recommended route is proposed according to three or more levels of deterioration of mental condition (hereinafter referred to as Embodiment 2). Below, an example of Embodiment 2 will be described using figures. 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.

<Schematic configuration of HCU20a>
Here, the schematic configuration of the HCU 20a will be explained using FIG. 4. Regarding the state improvement related processing, as shown in FIG. 4, the HCU 20a includes an estimation unit 201a, a search instruction unit 202a, a recommended route determination unit 203, a presentation control unit 204, a voice recognition unit 205, a selection unit 206, and a stimulation control unit 207. is provided as a functional block. The HCU 20a is the same as the HCU 20 of the first embodiment except that it includes an estimation section 201a and a search instruction section 202a instead of the estimation section 201 and the search instruction section 202. This HCU 20a also corresponds to a vehicle support device. Further, the execution of the processing of each functional block of the HCU 20a by the computer corresponds to the execution of the vehicle support method.

The estimation section 201a includes a driver state estimation section 211a and a fellow passenger state estimation section 213 as sub-functional blocks. The estimation unit 201a is the same as the estimation unit 201 of the first embodiment, except that it includes a driver state estimation unit 211a instead of the driver state estimation unit 211 and does not include the factor estimation unit 212.

The driver state estimating unit 211a estimates the degree of deterioration of the driver's mental state in three or more stages. The driver state estimating unit 211a is similar to the driver state estimating unit 211 of the first embodiment, except that the configuration is limited to estimating three or more levels of deterioration of the mental state. In the example of this embodiment as well, the description will be made assuming that the driver state estimation unit 211a estimates the degree of stress of the driver. The driver state estimation section 211a also corresponds to a mental-related state estimation section. The processing in this driver state estimating unit 211a also corresponds to a mental-related state estimation step.

The search instruction unit 202a sends an instruction to the automatic driving ECU 8 to search for a recommended route according to the degree of deterioration of the mental state of three or more levels estimated by the driver state estimation unit 211a. In the example of the present embodiment, the search instruction unit 202a uses search conditions (hereinafter referred to as (relaxed search conditions). Then, the search instruction unit 202a sends an instruction to the automatic driving ECU 8 to search for a recommended route under the search conditions.

The search instruction unit 202a may determine more types of relaxation search conditions as the degree of deterioration of the driver's mental state estimated by the driver state estimation unit 211a increases. Examples of mitigation measures include the following.

One type of relaxed search condition is a search condition in which a route with less traffic congestion is preferentially searched. This search condition may be, for example, a search condition that gives priority to links with lower congestion levels. This is because it is estimated that stress will be alleviated if there is less traffic jam. One type of relaxed search condition is a search condition in which routes with fewer pedestrians are searched preferentially. This search condition may be, for example, a search condition that gives priority to links on expressways. This is because it is presumed that when there are fewer pedestrians in the vicinity, the driver does not have to pay attention to pedestrians jumping out, which reduces stress. One type of relaxed search condition is a search condition in which a route with a low speed regulation value is searched preferentially. This search condition may be, for example, a search condition that gives priority to links with lower speed limit values. This is because it is estimated that those who can travel at low speeds can travel more leisurely and relieve stress.

One type of relaxed search condition is a search condition in which a route passing through a service area is preferentially searched. This search condition may be, for example, a search condition that gives priority to links in the service area. This is because it is estimated that stress will be alleviated by taking a break in the service area. One type of relaxed search condition is a search condition in which a route that allows continued automatic driving at level 3 or higher is preferentially searched. This search condition may be a search condition that gives priority to links that can continue automatic driving at level 3 or higher. This is because it is assumed that stress will be alleviated by being freed from driving. One type of relaxing search condition is a search condition in which routes that pass through places and scenery that are estimated to be relaxing are preferentially searched. This search condition may be, for example, a search condition that gives priority to links that go through points that are estimated to be more relaxing, such as forests or beaches. One type of relaxed search condition is a search condition in which a route that passes through a driver's favorite store is preferentially searched. This search condition may be, for example, a search condition that gives priority to links that go through the driver's preferred store. The driver's favorite store may be estimated from the search history of the mobile terminal carried by the driver, which is obtained via the short-range communication unit 31.

The search instruction unit 202a determines more types of relaxed search conditions as the estimated degree of stress of the driver increases, and issues an instruction to the automatic driving ECU 8 to search for a recommended route using the determined relaxed search conditions. You can send it to For example, as the degree of stress increases by one level, the number of search conditions to be combined as relaxation search conditions may be increased one by one. The combination of relaxation search conditions depending on the degree of stress may be a fixed combination set in advance, or may be a combination learned by machine learning. Regarding learning of combinations of relaxation search conditions, for example, combinations of relaxation search conditions are randomly changed depending on the degree of stress, and combinations that are highly effective in alleviating the degree of stress estimated by the driver state estimation unit 211a are learned. do it.

Further, the search instruction unit 202a uses a learning device that performs machine learning, which inputs the degree of stress and outputs search conditions for preferentially searching for routes that are estimated to be effective in alleviating stress. , the combination of search conditions may be determined based on the estimated stress level. In this machine learning, it is preferable to sequentially learn events when the degree of stress of the driver estimated by the driver state estimation unit 211a actually decreases in the same manner as described in the first embodiment.

It is preferable that the search instruction unit 202a sends an instruction to the automatic driving ECU 8 to search for a recommended route according to the state of the passenger estimated by the passenger state estimation unit 213, in the same manner as described in the first embodiment. In other words, as described in the first embodiment, when the degree of stress of the driver estimated by the driver state estimation section 211a is equal to or higher than a predetermined threshold, the search instruction section 202a performs a search according to the state of the fellow passenger. It is preferable to configure the system to not issue an instruction to search for a recommended route, but to issue an instruction to search for a recommended route depending on the driver's stress factor. On the other hand, the search instruction unit 202a does not issue an instruction to search for a recommended route according to the driver's stress factor when the degree of stress of the driver estimated by the driver state estimation unit 211a is less than a predetermined threshold. , it is preferable to provide an instruction to search for a recommended route according to the condition of the fellow passenger. Further, in the same manner as described in Embodiment 1, both an instruction to search for a recommended route according to the stress factor of the driver and an instruction to search for a recommended route according to the condition of the passenger can be given. The automatic driving ECU 8 may be configured to search for a recommended route that satisfies both conditions.

The automatic driving ECU 8 searches for a recommended route that satisfies the search conditions sent from the search instruction unit 202a and sends it back to the HCU 20 in the same manner as described in the first embodiment. In other words, the automatic driving ECU 8 searches for a recommended route according to the degree of deterioration of the mental state estimated by the driver state estimation unit 211a. The automatic driving ECU 8 also searches for a recommended route according to at least the type and state of the passenger estimated by the passenger state estimation unit 213. In this case, the automatic driving ECU 8 may search for a recommended route that satisfies the search conditions sent from the search instruction unit 202, giving priority to time and distance.

The recommended route determination unit 203 determines the recommended route searched by the automatic driving ECU 8 according to the instruction from the search instruction unit 202a as the recommended route. In other words, the recommended route determining unit 203 determines a recommended route according to the degree of deterioration of the mental state of three or more levels estimated by the driver state estimating unit 211a. The recommended route determining unit 203 determines routes that satisfy more types of relaxation search conditions as recommended routes as the degree of deterioration of the driver's mental state estimated by the driver state estimating unit 211a increases. It turns out.

<Processing related to condition improvement in HCU 20a>
Here, an example of the flow of condition improvement related processing in the HCU 20a will be described using the flowchart of FIG. 5. The flowchart in FIG. 5 may also be configured to start in the same manner as the flowchart in FIG. 3.

First, in step S21, the estimation unit 201a performs estimation related to the condition of the occupant of the own vehicle. In S21, the driver state estimating unit 211a estimates the driver's stress level in three or more levels. In S21, the fellow passenger state estimation unit 213 estimates the state of the fellow passenger.

In step S22, similarly to S2, if the degree of stress of the driver estimated in S21 is equal to or higher than a predetermined threshold (YES in S22), the process moves to step S23. On the other hand, if the degree of stress of the driver estimated in S21 is less than the predetermined threshold (NO in S22), the process moves to step S24.

In step S23, the search instruction unit 202a determines search conditions under which a route estimated to be effective in alleviating stress is preferentially searched according to the degree of stress estimated in S21, and the process moves to step S26. . In S23, the types of search conditions to be determined may be increased as the degree of stress increases.

In step S24, similarly to S5, if there is a fellow passenger in the own vehicle (YES in S24), the process moves to step S25. On the other hand, if there is no passenger in the vehicle (NO in S24), the process moves to step S33. In step S25, the search instruction unit 202a determines search conditions according to at least the state of the passenger's type and state estimated in S21, and the process moves to step S26.

In step S26, the search instruction unit 202a sends an instruction to the automatic driving ECU 8 to search for a recommended route using the search conditions determined in S23 or S25. The processing from step S27 to step S32 is performed in the same manner as the processing from S8 to S13. In step S33, if it is the end timing of the condition improvement related process (YES in S33), the condition improvement related process is ended. On the other hand, if it is not the end timing of the condition improvement related process (NO in S33), the process returns to S21 and repeats the process.

<Summary of Embodiment 2>
According to the configuration of Embodiment 2, it becomes possible to present to the driver a route for improving stress in accordance with three or more levels of stress, which is more detailed than simply the presence or absence of stress. The details are as follows. Even when a driver is feeling stressed, the route that is effective for alleviating stress may vary depending on the level of stress. In contrast, according to the configuration of the second embodiment, a recommended route that is estimated to alleviate stress is proposed depending on the level of stress of three or more levels. Therefore, stress can be alleviated with higher accuracy. As a result, when the mental state of the vehicle driver deteriorates, it becomes possible to improve the mental state with more precision.

Further, according to the configuration of the second embodiment, as the degree of stress of the driver increases, routes that satisfy more types of relaxation search conditions are determined and proposed as recommended routes. According to this, when a plurality of factors cause stress, the higher the stress of the driver is, the more likely it is that stress can be alleviated with higher accuracy.

Furthermore, even in the configuration of the second embodiment, even if the driver does not wish to be guided through a recommended route according to the stress factor, the stress can be alleviated by automatically starting the operation of the condition improvement device 27. becomes possible.

In Embodiment 2, the case where the deterioration of the mental state is due to stress was explained as an example, but also for deterioration of the mental state other than stress, recommended routes are presented according to the degree of deterioration of the mental state of three or more levels. By doing so, the configuration can be configured to more accurately improve the deterioration of the mental state.

(Embodiment 3)
Alternatively, a configuration as in Embodiment 3 below may be used. An example of Embodiment 3 will be described below using figures. The driving support system 1 according to the third embodiment is the same as the driving support system 1 according to the first embodiment except that the HCU 20b is included instead of the HCU 20.

<Schematic configuration of HCU20b>
Here, the schematic configuration of the HCU 20b will be explained using FIG. 6. Regarding the state improvement related processing, as shown in FIG. 6, the HCU 20b includes an estimation unit 201b, a search instruction unit 202b, a recommended route determination unit 203, a presentation control unit 204, a voice recognition unit 205, a selection unit 206, and a stimulation control unit 207. is provided as a functional block. The HCU 20b is the same as the HCU 20 of the first embodiment except that it includes an estimation section 201b and a search instruction section 202b instead of the estimation section 201 and the search instruction section 202. This HCU 20b also corresponds to a vehicle support device. Further, the execution of the processing of each functional block of the HCU 20b by the computer corresponds to the execution of the vehicle support method.

The estimation section 201b includes a driver state estimation section 211, a factor estimation section 212, and a fellow passenger state estimation section 213b as sub functional blocks. The estimating unit 201b is the same as the estimating unit 201 of the first embodiment except that it includes a fellow passenger state estimating unit 213b instead of the fellow passenger state estimating unit 213. In the example of this embodiment as well, the description will be made assuming that the driver state estimation unit 211 estimates the degree of stress of the driver.

The fellow passenger state estimation unit 213b estimates the type and state of the fellow passenger. The passenger state estimating unit 213b is similar to the passenger state estimating unit 213 of the first embodiment, except that the configuration is limited to estimating the type and state of the passenger.

The search instruction unit 202b can also send to the automatic driving ECU 8 an instruction to search for a recommended route according to the state of the passenger estimated by the passenger state estimation unit 213. The search instruction unit 202b is similar to the search instruction unit 202 of the first embodiment, except that which occupant is given priority in determining the search conditions.

The search instruction unit 202b determines the driver's stress factor estimated by the factor estimation unit 212 and the passenger's stress factor estimated by the passenger status estimation unit 213b, according to the type of the passenger estimated by the passenger status estimation unit 213b. Switch which of the states should be prioritized to determine the search conditions for the recommended route. Note that the status of the fellow passenger to be given priority may be set in advance for each type of fellow passenger. For example, in the case of an elderly person, fatigue may be given priority. In the case of children, sleep may be given priority.

For example, the search instruction unit 202b may be configured to give priority to children>old people>drivers in this order. For example, the driver condition estimating section 211 estimates the driver's degree of stress above a threshold, the passenger condition estimating section 213b estimates the fatigue of an elderly person, and the passenger condition estimating section 213b estimates the child's sleep. In this case, search conditions may be determined to preferentially search for a recommended route according to the child's sleep state. For example, search conditions may be determined such that a detour route is searched preferentially. Further, the driver condition estimating section 211 estimates the degree of stress of the driver above a threshold value, the passenger condition estimating section 213b estimates the fatigue of the elderly, and the passenger condition estimating section 213b estimates the child's sleep. If not, search conditions may be determined to preferentially search for a recommended route according to the fatigue of the elderly person. For example, search conditions may be determined to preferentially search for a route with clean air that allows the windows of the own vehicle to be opened. The driver condition estimating section 211 estimates the driver's degree of stress above the threshold, the passenger condition estimating section 213b does not estimate the fatigue of the elderly, and the passenger condition estimating section 213b estimates the child's sleep. If no estimation has been made, search conditions may be determined to preferentially search for a route that is estimated to be effective in alleviating driver stress.

The recommended route determination unit 203 determines the recommended route searched by the automatic driving ECU 8 according to the instruction from the search instruction unit 202b as the recommended route. In other words, depending on the type of the passenger estimated by the passenger state estimating section 213b, the driver's stress factor estimated by the factor estimating section 212 and the passenger's state estimated by the passenger state estimating section 213b are selected. Switch which recommended route to prioritize.

According to the above configuration, it becomes possible to preferentially propose a recommended route according to the condition of the occupant to be prioritized. Note that the configuration of the third embodiment may be combined with the configuration of the second embodiment instead of the configuration of the first embodiment.

(Embodiment 4)
In the third embodiment, a configuration is shown in which the recommended route is determined for which passenger is prioritized depending on the type of the fellow passenger, but this is not necessarily the case. For example, it may be configured to switch which occupant is given priority in determining the recommended route according to an input received from the driver using the microphone 25 or the operating device 26. According to this, it becomes possible for the driver to select which passenger should be given priority in determining the recommended route.

(Embodiment 5)
In the embodiment described above, a configuration is shown in which a recommended route is proposed depending on the condition of the fellow passenger, but the present invention is not necessarily limited to this. For example, a configuration may be adopted in which a recommended route is not proposed according to the condition of the fellow passenger. In this case, the estimating sections 201, 201a, and 201b may be configured without the passenger state estimating sections 213 and 213b.

(Embodiment 6)
In the embodiment described above, a configuration was shown in which the search instruction units 202, 202a, and 202b instruct the automatic driving ECU 8 to search for a recommended route, but the present invention is not necessarily limited to this. For example, the HCU 20, 20a, 20b may be provided with a functional block for searching for a recommended route, and the HCU 20, 20a, 20b may be configured to search for a recommended route. In this case, the configuration may be such that the recommended route determination unit 203 determines the recommended route by searching for the recommended route. The search instruction units 202, 202a, and 202b may send search conditions to the recommended route determining unit 203 to search for a recommended route. Alternatively, the HCU 20, 20a, 20b may not include the search instruction units 202, 202a, 202b, and the recommended route determination unit 203 may have the functions of the search instruction units 202, 202a, 202b and the function of searching for a recommended route. Good too.

(Embodiment 7)
In the embodiment described above, a configuration was shown in which the operation of the condition improvement device 27 is automatically started when the selection unit 206 selects that guidance on the recommended route is not required, but the configuration is not necessarily limited to this. For example, even if the selection unit 206 selects that guidance on the recommended route is not required, the configuration may be such that the operation of the condition improvement device 27 is not automatically started. Alternatively, the vehicle may not be provided with the condition improvement device 27, and the HCUs 20, 20a, 20b may not be provided with the stimulation control unit 207.

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.

1 driving support system, 20, 20a, 20b HCU (vehicle support unit), 25 microphone (input device), 26 operating device (input device), 27 condition improvement device, 202, 202a, 202b search instruction unit, 203 recommended route Determination unit, 204 Presentation control unit, 206 Selection unit, 207 Stimulation control unit, 211, 211a Driver state estimation unit (mental related state estimation unit), 212 Factor estimation unit (mental related state estimation unit), 213, 213b Passenger State estimation part

Claims (20)

a mental-related state estimating unit (211, 211a, 212) that estimates the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction unit that causes a recommended route to be searched according to the mental-related state estimated by the mental-related state estimation unit;
a recommended route determining unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimating unit searched by the search instruction unit ;
a presentation control unit (204) that causes the driver to present the recommended route determined by the recommended route determination unit;
a selection unit (206) that selects whether or not to provide guidance on the recommended route determined by the recommended route determination unit in accordance with an input received from the driver through the input device (25, 26);
a stimulation control unit (207) that is provided in the vehicle and controls the operation of a condition improvement device (27) that provides the driver with a stimulus that improves the mental condition from the deterioration of the mental condition;
The presentation control unit is also capable of guiding the recommended route,
If the selection unit selects that guidance on the recommended route is not required, the presentation control unit does not provide guidance on the recommended route, and the stimulation control unit automatically starts the operation of the condition improvement device. On the other hand, when the selection unit selects that guidance on the recommended route is necessary, the stimulation control unit does not automatically start the operation of the condition improvement device, and the presentation control unit provides guidance on the recommended route. A vehicle support device that allows you to do this. In claim 1,
The mental-related state estimating unit at least estimates a factor of deterioration of the mental state of the driver as the mental-related state,
The recommended route determining unit is a vehicle support device that determines the recommended route that is estimated to improve the mental state of the driver, in accordance with the factor of deterioration of the mental state of the driver estimated by the mental related state estimating unit. In claim 1,
The mental-related state estimation unit at least estimates the degree of deterioration of the mental state of the driver as the mental-related state,
The recommended route determining unit determines the recommended route that is estimated to improve the mental condition of the driver according to a degree of deterioration of the driver's mental condition of three or more levels estimated by the mental related condition estimating unit. support equipment. a mental-related state estimating unit (211, 211a, 212) that estimates the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction unit that causes a recommended route to be searched according to the mental-related state estimated by the mental-related state estimation unit;
a recommended route determining unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimating unit searched by the search instruction unit ;
a presentation control unit (204) that causes the driver to present the recommended route determined by the recommended route determination unit;
The mental-related state estimation unit at least estimates the degree of deterioration of the mental state of the driver as the mental-related state,
The recommended route determining unit determines the recommended route that is estimated to improve the mental condition of the driver according to a degree of deterioration of the driver's mental condition of three or more levels estimated by the mental related condition estimating unit. support equipment. In claim 3 or 4 ,
There are multiple types of search conditions for the route that is estimated to improve the mental state,
The recommended route determining unit selects routes that satisfy more types of the search conditions as the recommended route as the degree of deterioration of the driver's mental state estimated by the mental related state estimating unit increases. Vehicle support equipment to be determined. In any one of claims 1 to 5,
A vehicle support device in which the deterioration of the mental state is stress. In any one of claims 1 to 6,
comprising a fellow passenger state estimation unit (213, 213b) that estimates the state of a fellow passenger who is a passenger other than the driver of the vehicle;
The recommended route determining section is a vehicle support device that determines the recommended route according to the state of the passenger estimated by the passenger state estimating section. In claim 7,
The mental-related state estimation unit at least estimates the degree of deterioration of the mental state of the driver as the mental-related state,
When the degree of deterioration of the driver's mental state estimated by the mental-related state estimating unit is equal to or higher than a predetermined threshold, the recommended route determining unit changes the state of the passenger estimated by the fellow passenger state estimating unit. The recommended route is determined in accordance with the mental-related condition estimated by the mental-related condition estimating section with priority, while the degree of deterioration of the mental condition of the driver estimated by the mental-related condition estimating section is If the value is less than a predetermined threshold, the recommended route is determined in accordance with the state of the passenger estimated by the passenger state estimating unit, giving priority to the state of the passenger estimated by the passenger state estimating unit, rather than the state of the passenger estimated by the mentally related state estimating unit. vehicle support equipment. In claim 7,
The passenger state estimating unit (213b) also estimates the type of the passenger,
The recommended route determining unit determines the mental related state of the driver estimated by the mental related state estimating unit and the passenger state estimating unit according to the type of the passenger estimated by the fellow passenger state estimating unit. A vehicle support device that switches which of the passenger's states estimated in the above-mentioned conditions should be prioritized in determining the recommended route. a mental-related state estimating unit (211, 211a, 212) that estimates the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction unit that causes a recommended route to be searched according to the mental-related state estimated by the mental-related state estimation unit;
a recommended route determining unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimating unit searched by the search instruction unit ;
a presentation control unit (204) that causes the driver to present the recommended route determined by the recommended route determination unit;
a passenger state estimation unit (213, 213b) that estimates the state of a fellow passenger who is a passenger other than the driver of the vehicle;
The recommended route determining section causes the recommended route to be determined in accordance with the state of the fellow passenger estimated by the fellow passenger state estimating section,
The mental-related state estimation unit at least estimates the degree of deterioration of the mental state of the driver as the mental-related state,
When the degree of deterioration of the driver's mental state estimated by the mental-related state estimating unit is equal to or higher than a predetermined threshold, the recommended route determining unit changes the state of the passenger estimated by the fellow passenger state estimating unit. The recommended route is determined in accordance with the mental-related condition estimated by the mental-related condition estimating section with priority, while the degree of deterioration of the mental condition of the driver estimated by the mental-related condition estimating section is If the value is less than a predetermined threshold, the recommended route is determined in accordance with the state of the passenger estimated by the passenger state estimating unit, giving priority to the state of the passenger estimated by the passenger state estimating unit, rather than the state of the passenger estimated by the mentally related state estimating unit. vehicle support equipment. In claim 10 ,
The mental-related state estimating unit at least estimates a factor of deterioration of the mental state of the driver as the mental-related state,
The recommended route determining unit is a vehicle support device that determines the recommended route that is estimated to improve the mental state of the driver, in accordance with the factor of deterioration of the mental state of the driver estimated by the mental related state estimating unit. In claim 10 or 11 ,
A vehicle support device in which the deterioration of the mental state is stress. a mental-related state estimating unit (211, 211a, 212) that estimates the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction unit that causes a recommended route to be searched according to the mental-related state estimated by the mental-related state estimation unit;
a recommended route determining unit (203) that determines a recommended route including a plurality of links according to the mental related state estimated by the mental related state estimating unit searched by the search instruction unit ;
a presentation control unit (204) that causes the driver to present the recommended route determined by the recommended route determination unit;
The mental-related state estimating unit at least estimates a factor of deterioration of the mental state of the driver as the mental-related state,
The recommended route determining unit is for a vehicle that determines the recommended route that is estimated to improve the mental condition of the driver according to the plurality of factors for deterioration of the mental condition of the driver estimated by the mental related condition estimating unit. Support equipment. In claims 1 to 3 ,
A vehicle support device in which the deterioration of the mental state is stress. In claim 13 or 14 ,
comprising a fellow passenger state estimation unit (213, 213b) that estimates the state of a fellow passenger who is a passenger other than the driver of the vehicle;
The recommended route determining section is a vehicle support device that determines the recommended route according to the state of the passenger estimated by the passenger state estimating section. In claim 15 ,
The passenger state estimating unit (213b) also estimates the type of the passenger,
The recommended route determining unit determines the mental related state of the driver estimated by the mental related state estimating unit and the passenger state estimating unit according to the type of the passenger estimated by the fellow passenger state estimating unit. A vehicle support device that switches which of the passenger's states estimated in the above-mentioned conditions should be prioritized in determining the recommended route. executed by at least one processor;
a mental-related state estimation step of estimating the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction step for searching for a recommended route according to the mental-related state estimated in the mental-related state estimation step;
a recommended route determining step of determining a recommended route including a plurality of links according to the mental related state estimated in the mental related state estimation step searched in the search instruction step ;
a presentation control step of causing the driver to be presented with the recommended route determined in the recommended route determining step;
a selection step of selecting whether or not to provide guidance on the recommended route determined in the recommended route determination step in accordance with an input received from the driver through the input device (25, 26);
a stimulation control step of controlling the operation of a condition improvement device (27) provided in the vehicle that provides the driver with a stimulus to improve the mental condition from the deterioration of the mental condition;
In the presentation control step, it is also possible to provide guidance on the recommended route,
If it is selected in the selection step that guidance of the recommended route is not required, the operation of the condition improvement device is automatically started in the stimulation control step without providing guidance of the recommended route in the presentation control step. On the other hand, if it is selected in the selection step that guidance on the recommended route is necessary, guidance on the recommended route is not automatically started in the stimulation control step and guidance on the recommended route is performed in the presentation control step. A vehicle assistance method to perform. executed by at least one processor;
a mental-related state estimation step of estimating the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction step for searching for a recommended route according to the mental-related state estimated in the mental-related state estimation step;
a recommended route determining step of determining a recommended route including a plurality of links according to the mental related state estimated in the mental related state estimation step searched in the search instruction step ;
a presentation control step of causing the driver to present the recommended route determined in the recommended route determining step;
In the mental-related state estimation step, at least the degree of deterioration of the mental state of the driver is estimated as the mental-related state;
In the recommended route determining step, the vehicle determines the recommended route that is estimated to improve the mental state of the driver according to the degree of deterioration of the driver's mental state of three or more levels estimated in the mental related state estimating step. Support method for use. executed by at least one processor;
a mental-related state estimation step of estimating the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction step for searching for a recommended route according to the mental-related state estimated in the mental-related state estimation step;
a recommended route determining step of determining a recommended route including a plurality of links according to the mental related state estimated in the mental related state estimation step searched in the search instruction step ;
a presentation control step of causing the driver to be presented with the recommended route determined in the recommended route determining step;
a passenger state estimation step of estimating the state of a fellow passenger who is a passenger other than the driver of the vehicle,
In the recommended route determining step, the recommended route is determined in accordance with the state of the passenger estimated in the passenger state estimation step;
In the mental-related state estimation step, at least the degree of deterioration of the mental state of the driver is estimated as the mental-related state;
In the recommended route determining step, if the degree of deterioration of the driver's mental state estimated in the mental-related state estimation step is greater than or equal to a predetermined threshold, the state of the passenger estimated in the passenger state estimation step is determined. The recommended route is determined in accordance with the mental-related state estimated in the mental-related state estimation step, while the degree of deterioration of the mental state of the driver estimated in the mental-related state estimation step is If it is less than a predetermined threshold, the recommended route is determined in accordance with the state of the passenger estimated in the passenger state estimation step, giving priority to the state of the passenger estimated in the step of estimating the passenger state, rather than the state of mind related state estimated in the step of estimating mental state related state. vehicle assistance method. executed by at least one processor;
a mental-related state estimation step of estimating the degree of deterioration of the mental state of the driver of the vehicle and a mental-related state that is at least one of the factors for the deterioration of the mental state of the driver;
a search instruction step for searching for a recommended route according to the mental-related state estimated in the mental-related state estimation step;
a recommended route determining step of determining a recommended route including a plurality of links according to the mental related state estimated in the mental related state estimation step searched in the search instruction step ;
a presentation control step of causing the driver to present the recommended route determined in the recommended route determining step;
In the mental-related state estimation step, at least a factor of deterioration of the mental state of the driver is estimated as the mental-related state;
In the recommended route determining step, the recommended route for a vehicle is determined that is estimated to improve the mental condition of the driver according to the plurality of factors for deterioration of the mental condition of the driver estimated in the mental related condition estimating step. How to help.

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