CN115709726A - Driving assistance device - Google Patents

Abstract

The problem of the present invention is to provide a driving assistance device that can avoid uneasiness of a driver who is driving. To solve the above problem, the driving assist device 11 includes: a cause determination unit 204 that determines a cause of the generation of the alarm sound based on the behavior information acquired by the behavior information acquisition unit 201 and the surrounding information acquired by the surrounding information acquisition unit 40 when the occupant state determination unit 203 determines that the occupant is affected by the alarm sound; and a voice output device 91 and a display device 92 for notifying the passenger of the cause of the generation of the alarm sound determined by the cause determination unit 204.

Description

Driving assistance device

Technical Field

The present invention relates to a driving assistance device.

Background

In recent years, improvement of traffic safety has been demanded in order to make cities and human habitats compatible, safe, tough and sustainable. In a vehicle, from the viewpoint of improving the safety of traffic, for example, it is necessary to intervene in driving behavior from the mental level of an occupant to ensure the safety of traffic.

Conventionally, the following techniques are known: the state of an occupant is detected using a driver monitoring camera of a vehicle, and the driving behavior of the occupant is interfered with when the occupant makes a trap or lacks concentration (for example, refer to patent document 1). The method described in patent document 1 includes the steps of: vehicle systems and driver monitoring systems are monitored to address low reaction times, attentiveness degradation, and/or alertness of the driver.

[ Prior Art document ]

(patent literature)

Patent document 1: japanese patent application laid-open No. 2014-511301

Disclosure of Invention

[ problems to be solved by the invention ]

During driving of a vehicle, an occupant of the vehicle may sometimes be disturbed from focusing on driving by a condition outside the vehicle. In particular, when an alarm sound (for example, a horn sound) is emitted from another vehicle, the occupant pays attention to whether or not the own vehicle causes the alarm sound, and thus concentration of driving is disturbed or uneasy.

Therefore, an object of the present invention is to provide a driving assistance device capable of avoiding uneasiness of a driver who is driving.

[ means for solving problems ]

A driving assistance device (for example, the following driving assistance device 11) of an aspect of the present disclosure includes: an alarm sound acquiring unit (for example, a vehicle exterior sound collecting device 44 described below) that acquires alarm sound information relating to an alarm sound emitted from another vehicle outside the vehicle; a biological information acquisition unit (for example, a biological information acquisition unit 60 described below) that acquires biological information of an occupant of the vehicle; a behavior information acquiring unit (for example, a behavior information acquiring unit 201 described below) that acquires behavior information indicating a behavior of the vehicle; a peripheral information acquisition unit (for example, a peripheral information acquisition unit 40 described below) that acquires peripheral information of the vehicle; an alarm sound determination unit (e.g., an alarm sound determination unit 202 described below) that determines whether the alarm sound is directed to the vehicle based on the alarm sound information acquired by the alarm sound acquisition unit; an occupant state determination unit (for example, an occupant state determination unit 203 described below) configured to determine whether or not the occupant is affected by the alarm sound based on the biological information acquired by the biological information acquisition unit when the alarm sound determination unit determines that the alarm sound is directed to the vehicle; a cause determination unit (e.g., a cause determination unit 204 described below) that determines a cause of the generation of the alarm sound based on the behavior information acquired by the behavior information acquisition unit and the surrounding information acquired by the surrounding information acquisition unit when the occupant state determination unit determines that the occupant is affected by the alarm sound; and an occupant notification unit (e.g., a voice output device 91 and a display device 92 described below) configured to notify the occupant of the cause of the generation of the alarm sound determined by the cause determination unit.

The reason determination unit generates first notification information indicating that the cause of the alarm sound is not related to the vehicle when the cause of the alarm sound is not related to the vehicle, generates second notification information indicating that the cause of the alarm sound is related to the vehicle when the cause of the alarm sound is related to the vehicle, and notifies the occupant of the first notification information or the second notification information as the cause of the alarm sound.

The occupant state determination unit determines whether or not the occupant is in a physically or mentally unstable state based on the biological information, thereby determining whether or not the occupant is affected by the alarm sound.

The cause of the warning sound includes unstable driving of the vehicle, sudden braking, sudden steering, sudden start of the vehicle, and driving behavior of the other vehicle.

The biological information includes a captured image obtained by capturing an image of the occupant of the vehicle or a heart rate of the occupant.

(Effect of the invention)

According to the present invention, it is possible to provide a driving assistance device capable of avoiding uneasiness of a passenger who is driving.

Drawings

Fig. 1 is a block diagram illustrating a configuration of a vehicle according to the present embodiment.

Fig. 2 is a diagram illustrating a functional configuration of the driving assistance device for a vehicle according to the present embodiment.

Fig. 3 is a flowchart showing the processing of the driving assistance apparatus of the present embodiment.

Detailed Description

Hereinafter, embodiments of the driving assistance device according to the present invention will be described with reference to the drawings.

Fig. 1 is a block diagram illustrating a configuration of a vehicle 1 according to the present embodiment. Fig. 1 shows an outline of a vehicle 1 in combination with a plan view and a side view. The vehicle 1 is, for example, a sedan-type four-wheeled passenger vehicle.

The vehicle 1 includes a control device 2. The Control device 2 includes a plurality of Electronic Control Units (ECUs) (the steering ECU 21 to the stop Control ECU 29) that can be connected in communication via an in-vehicle network. Each ECU functions as a computer including a processor typified by a CPU, a storage device such as a semiconductor memory, an interface to an external device, and the like. The storage device stores therein a program executed by the processor, data used for processing by the processor, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

The functions and the like of the steering ECU 21 to the stop control ECU29 will be described below. The number of ECUs and the functions in charge of the ECUs may be appropriately designed, or the ECUs shown in the present embodiment may be refined or integrated.

The steering ECU 21 controls the electric power steering device 3. The electric power steering apparatus 3 includes a mechanism for steering the front wheels in accordance with a driving operation (steering operation) of the steering wheel 31 by the driver. Further, the electric power steering apparatus 3 includes: a motor for assisting a steering operation or applying a driving force required for automatically steering the front wheels, a sensor for detecting a steering angle, and the like. When the driving state of the vehicle 1 is the automated driving, the steering ECU 21 automatically controls the electric power steering apparatus 3 in response to an instruction from the automated driving ECU 20 to control the traveling direction of the vehicle 1.

The travel assist ECUs 22 and 23 control the camera 41, the LIDAR 42, the millimeter wave radar 43, and the vehicle exterior sound collection device 44 that detect the surrounding conditions of the vehicle, and perform information processing of the detection results. The camera 41 captures images of the front, side, and rear of the vehicle 1. In the present embodiment, two cameras 41 are provided at the front portion of the vehicle 1, and one camera 41 is provided at each of the side portion and the rear portion. The driving assist ECUs 22 and 23 can extract the target outline and the lane marks (white lines, etc.) on the road by analyzing the image captured by the camera 41.

The LIDAR 42 is Light Detection and Ranging (LIDAR) for detecting a target around the vehicle 1 and measuring a distance to the target. In the case of the present embodiment, five LIDAR 42 are provided, one at each corner of the front portion of the vehicle 1, one at the center of the rear portion, and one at each side of the rear portion.

The millimeter wave radar 43 detects a target around the vehicle 1 and measures a distance to the target. In the case of the present embodiment, five millimeter wave radars 43 are provided, one at the center of the front portion of the vehicle 1, one at each corner of the front portion, and one at each corner of the rear portion.

The vehicle exterior sound collecting devices 44 are provided one at each of the front and rear portions of the vehicle 1. The vehicle exterior sound collection device 44 is constituted by a microphone group including a plurality of microphones having directivity, for example.

The vehicle exterior sound collecting device 44 detects an alarm sound emitted from another vehicle (for example, a sound of a horn of another vehicle), and can determine which microphone detected the alarm sound and detect from which direction the alarm sound was emitted. The vehicle exterior sound collection device 44 outputs information on the detected alarm sound and the position and direction in which the alarm sound is emitted to the driving assist ECUs 22 and 23.

The travel assist ECU22 controls one camera 41 and each LIDAR 42 in the front portion of the vehicle 1 and performs information processing of detection results. The travel assist ECU 23 performs control of the other camera 41 and each millimeter wave radar 43 on the front portion of the vehicle 1 and information processing of the detection results. By including two sets of ECUs for detecting the surrounding conditions of the vehicle 1, the reliability of the detection result can be improved, and by including different kinds of detection units, such as the camera 41, the LIDAR 42, and the millimeter wave radar 43, the surrounding environment of the vehicle 1 can be analyzed in many ways.

The position recognition ECU 24 performs control and information processing of the detection result or the communication result on the gyro sensor 5, the GPS sensor 24b, and the communication device 24 c. The gyro sensor 5 detects a rotational motion of the vehicle 1. The position recognition ECU 24 can determine the course of the vehicle 1 from the detection result of the gyro sensor 5, the wheel speed, and the like.

The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information, traffic information, and the like to acquire these pieces of information. The position recognition ECU 24 can access the database 24a of map information constructed in the storage device, and the position recognition ECU 24 can search for a route or the like from the current position to the destination.

The communication control ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a performs wireless communication with another vehicle in the vicinity to exchange information between the vehicles.

The drive control ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The drive control ECU 26 controls the output of the engine, for example, in response to a driver's driving operation (accelerator operation or acceleration operation) detected by an operation detection sensor 7D provided on an accelerator pedal 7A. The drive control ECU 26 switches the gear position of the transmission based on information such as the vehicle speed detected by the vehicle speed sensor 7C. When the driving state of the vehicle 1 is the automated driving, the drive control ECU 26 controls the acceleration and deceleration of the vehicle 1 by automatically controlling the power unit 6 in response to an instruction from the automated driving ECU 20.

The vehicle exterior notification control ECU 27 controls the direction indicator (turn signal lamp) 8a, the headlight 8b, and the tail lamp 8 c. In the example of fig. 1, the direction indicator 8a is provided at the front, door mirror, and rear of the vehicle 1. The headlights 8b are disposed at the front of the vehicle 1, and the taillights 8c are disposed at the front of the vehicle 1.

The vehicle interior notification control ECU 28 controls the input/output device 9. The input/output device 9 outputs information to the driver and accepts input of information from the driver. The input/output device 9 includes a voice output device 91, a display device 92, and an input device 93.

The voice output device 91 notifies the driver of information by voice. The voice output device 91 includes a speaker that outputs voice in the vehicle 1.

The display device 92 notifies the driver of information by displaying an image. The display device 92 is disposed on the front surface of the driver's seat, for example, and constitutes an instrument panel or the like. Further, here, although voice and display are exemplified, information may be notified using vibration and light. The input/output device 9 may also notify by combining a plurality of voice, display, vibration, or light. Further, the input/output device 9 may have different combinations, or different notification manners, according to the level of information to be notified (e.g., the degree of urgency).

The input device 93 is a switch group that is disposed at a position where the driver can operate and instructs the vehicle 1, but may include a voice input device.

The stop control ECU29 controls the brake device 10, a parking brake (not shown), and the like. The brake device 10 is, for example, a disc brake device that is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by applying resistance to rotation of the wheel.

The stop control ECU29 controls the operation of the brake device 10, for example, in response to a driver's driving operation (braking operation) detected by an operation detection sensor 7E provided on the brake pedal 7B. The brake device 10 and the parking brake may also be operated to maintain the stopped state of the vehicle 1. In addition, when the transmission of the power plant 6 includes a parking lock mechanism, the parking lock mechanism may also be operated to maintain the stopped state of the vehicle 1.

The vehicle 1 also has a driver monitoring camera 50 that photographs the driver of the vehicle 1 and identifies the driver of the vehicle 1. Here, the driver monitoring camera 50 is constituted by a camera, a lens, and the like, and the kind thereof is not particularly limited.

The following describes the processing of the driving assistance device 11 of the vehicle 1 according to the present embodiment.

Fig. 2 is a diagram illustrating a functional configuration of the driving assistance device 11 of the vehicle 1 according to the present embodiment. As shown in fig. 2, the driving assistance device 11 includes a control device 2, a peripheral information acquisition unit 40, a vehicle exterior sound collection device 44, a biological information acquisition unit 60, a voice output device 91, and a display device 92.

The control device 2 includes an action information acquisition unit 201, an alarm sound determination unit 202, an occupant state determination unit 203, and a cause determination unit 204. The peripheral information acquisition unit 40 includes the camera 41, the LIDAR 42, and the millimeter wave radar 43 described above. The biological information acquisition unit 60 includes a driver monitoring camera 50 and a heart rate sensor 55.

The biological information acquiring unit 60 acquires biological information of the occupant. For example, the biological information acquisition unit 60 acquires a captured image including an occupant as biological information by the driver monitoring camera 50. Alternatively, the biological information acquiring unit 60 acquires the heart rate of the occupant as the biological information by the heart rate sensor 55. The heart rate sensor 55 is provided in, for example, a seat of an occupant's seat, and acquires the heart rate of the occupant as biological information.

That is, the biological information includes a captured image obtained by capturing an occupant of the vehicle 1 or the heart rate of the occupant. The biological information acquisition unit 60 may acquire biological information by both the driver monitoring camera 50 and the heartbeat sensor 55, or may acquire biological information by either the driver monitoring camera 50 or the heartbeat sensor 55.

The surrounding information acquisition unit 40 acquires surrounding information of the vehicle 1. For example, the peripheral information acquiring unit 40 acquires peripheral information on the front, side, and rear of the vehicle 1. The peripheral information is, for example, images of the front, side, and rear periphery of the vehicle 1 acquired by the camera 41. The peripheral information may be data of the front, side, and rear periphery of the vehicle 1 acquired by the LIDAR 42 or the millimeter wave radar 43, for example.

The behavior information acquiring unit 201 acquires behavior information indicating the behavior of the vehicle 1 from the steering ECU 21.

The alarm sound determination unit 202 determines whether the alarm sound is directed to the vehicle 1 based on the alarm sound information acquired by the vehicle exterior sound collection device 44. For example, the alarm sound determination unit 202 determines that the alarm sound is directed to the vehicle 1 when the alarm sound information includes information indicating that the alarm sound is emitted from another vehicle closer to the vehicle 1.

When the alarm sound determination unit 202 determines that the alarm sound is directed to the vehicle 1, the occupant state determination unit 203 determines whether the occupant is affected by the alarm sound based on the biological information acquired by the biological information acquisition unit 60.

Specifically, the occupant state determination unit 203 determines whether or not the occupant is in a physically or mentally unstable state (whether or not the occupant is anxious) based on the biological information, thereby determining whether or not the occupant is affected by the alarm sound.

For example, when the biological information is a captured image including the physical activity of the occupant and the physical activity of the occupant is more than usual, the occupant condition determination unit 203 determines that the occupant is in a physically or mentally unstable state. Further, when the biological information is a captured image including the facial expression of the occupant and the facial expression matches the specific pattern, the occupant state determination section 203 determines that the occupant is in a physically or mentally unstable condition. When the biological information is a heart rate and the heart rate is higher than normal, the occupant state determination unit 203 determines that the occupant is in a physically or mentally unstable state.

When the occupant condition determination unit 203 determines that the occupant is affected by the alarm sound, the cause determination unit 204 determines the cause of the alarm sound based on the action information acquired by the action information acquisition unit 201 and the peripheral information acquired by the peripheral information acquisition unit 40 during a specific period (for example, within the past 5 seconds).

Here, the causes of the generation of the warning sound include unstable driving of the vehicle 1, sudden braking, sudden steering, and sudden start of the vehicle 1, and other driving behaviors of the vehicle.

For example, when the acquired action information includes meandering driving of the vehicle 1 and the acquired peripheral information includes another vehicle approaching the vehicle 1, the cause determination unit 204 determines that the cause of the generation of the alarm sound is unstable driving of the vehicle 1. Further, for example, when the acquired action information includes sudden braking of the vehicle 1 and the acquired surrounding information includes another vehicle traveling behind the vehicle 1, the cause determination unit 204 determines that the cause of the generation of the warning sound is sudden braking of the vehicle 1.

The voice output device 91 and the display device 92 notify the occupant of the cause of the generation of the alarm sound determined by the cause determination unit 204. Specifically, the voice output device 91 notifies the occupant of the cause of generation of the alarm sound determined by the cause determination unit 204 by sound. The display device 92 then notifies the occupant of the cause of the generation of the alarm sound determined by the cause determination unit 204 via an image.

When the cause of the alarm sound is not related to the vehicle, the cause determination unit 204 generates first notification information indicating that the cause of the alarm sound is not related to the vehicle 1. For example, the cause determination unit 204 generates a message including a sound and an image such as "the vehicle is not whistled, and there is no need to worry about" as the first notification information.

On the other hand, when the cause of the generation of the alarm sound is related to the vehicle 1, the cause determination unit 204 generates second notification information indicating that the cause of the generation of the alarm sound is related to the vehicle 1. For example, the cause determination unit 204 generates a message including a sound and an image such as "whistling the host vehicle and please note driving" as the second notification information. The reason determining unit 204 may generate a message for notifying the occupant of the cause of the generation of the warning sound, such as "the vehicle is whistling, the vehicle is shaking, and the driver is noticed" as the second notification information.

Then, the voice output device 91 and the display device 92 notify the occupant of the first notification information or the second notification information as the cause of the generation of the alarm sound.

Fig. 3 is a flowchart showing the processing of the driving assistance device 11 of the present embodiment.

In step S1, the vehicle exterior sound collection device 44 acquires alarm sound information relating to an alarm sound emitted from another vehicle outside the vehicle 1.

In step S2, the biological information acquisition unit 60 acquires biological information of the occupant by the driver monitoring camera 50 and/or the heart rate sensor 55.

In step S3, the behavior information acquiring unit 201 acquires behavior information indicating the behavior of the vehicle 1 from the steering ECU 21.

In step S4, the surrounding information acquisition unit 40 acquires the surrounding information of the vehicle 1.

In step S5, the alarm sound determination unit 202 determines whether the alarm sound is directed to the vehicle 1 based on the alarm sound information acquired by the vehicle exterior sound collection device 44. If the warning sound is directed to the vehicle 1 (yes), the process proceeds to step S6. On the other hand, if the alarm sound is not directed to the vehicle 1 (no), the process returns to step S1.

In step S6, the occupant condition determination unit 203 determines whether or not the occupant is affected by the alarm sound based on the biological information acquired by the biological information acquisition unit 60. If the occupant is affected by the alarm sound (yes), the process proceeds to step S7. On the other hand, if the occupant is not affected by the alarm sound (no), the process returns to step S1.

In step S7, the cause determination unit 204 determines the cause of the generation of the alarm sound based on the action information acquired by the action information acquisition unit 201 and the peripheral information acquired by the peripheral information acquisition unit 40. If the cause of the generation of the warning sound is not related to the vehicle 1 (no), the process proceeds to step S8. On the other hand, if the cause of the generation of the alarm sound is related to the vehicle 1 (yes), the process proceeds to step S9.

In step S8, the cause determination unit 204 generates first notification information indicating that the cause of the generation of the alarm sound is not related to the vehicle 1. Then, the voice output device 91 and the display device 92 notify the occupant of the first notification information as the generation cause of the alarm sound.

In step S9, the cause determination unit 204 generates second notification information indicating that the cause of the alarm sound is related to the vehicle 1. The voice output device 91 and the display device 92 notify the passenger of the second notification information as the cause of the generation of the alarm sound.

According to the present embodiment, for example, the following effects are obtained.

The driving assistance device 11 includes: an outside-vehicle sound collection device 44 that acquires alarm sound information relating to an alarm sound emitted from another vehicle outside the vehicle 1; a biological information acquisition unit 60 that acquires biological information of an occupant of the vehicle 1; an action information acquisition unit 201 that acquires action information indicating an action of the vehicle 1; a peripheral information acquisition unit 40 that acquires peripheral information of the vehicle 1; an alarm sound determination unit 202 that determines whether or not an alarm sound is directed to the vehicle 1 based on the alarm sound information acquired by the vehicle exterior sound acquisition device 44; an occupant state determination unit 203 that determines whether or not the occupant is affected by the alarm sound based on the biological information acquired by the biological information acquisition unit 60 when the alarm sound determination unit 202 determines that the alarm sound is directed to the vehicle 1; a cause determination unit 204 that determines a cause of the generation of the alarm sound based on the behavior information acquired by the behavior information acquisition unit 201 and the surrounding information acquired by the surrounding information acquisition unit 40 when the occupant state determination unit 203 determines that the occupant is affected by the alarm sound; and the sound output device 91 and the display device 92 notifying the occupant of the cause of the generation of the warning sound determined by the cause determination unit 204.

Thus, the driving assistance device 11 can notify the occupant who is driving of the cause of the generation of the warning sound by another vehicle, and therefore the driving assistance device 11 can avoid uneasiness of the occupant who is driving.

The cause determination unit 204 generates first notification information indicating that the cause of the alarm sound is not related to the vehicle 1 when the cause of the alarm sound is not related to the vehicle 1, and generates second notification information indicating that the cause of the alarm sound is related to the vehicle 1 when the cause of the alarm sound is related to the vehicle 1. The voice output device 91 and the display device 92 notify the occupant of the first notification information or the second notification information as the cause of the generation of the alarm sound.

Thus, the driving assistance device 11 can notify the occupant of whether the cause of the generation of the warning sound by another vehicle is related to the own vehicle, and therefore, the driving assistance device 11 can avoid anxiety of the occupant who is driving.

The occupant condition determination unit 203 determines whether or not the occupant is affected by the alarm sound by determining whether or not the occupant is in a physically or mentally unstable state based on the biological information. Thus, the driving assistance device 11 can appropriately determine whether or not the occupant is affected by the warning sound, that is, whether or not the occupant is anxious.

The causes of the generation of the warning sound include unstable driving of the vehicle 1, sudden braking, sudden steering, and sudden start of the vehicle 1, and other driving behaviors of the vehicle. Thus, the driving assistance device 11 can appropriately determine the cause of the generation of the alarm sound.

The biological information includes a captured image obtained by capturing an image of an occupant of the vehicle 1 or a heart rate of the occupant. Thus, the driving assistance device 11 can determine whether or not the occupant is anxious based on the biological information.

While one embodiment of the present invention has been described above, the present invention is not limited to this. The detailed configuration may be appropriately modified within the scope of the present invention.

Reference numerals

1: vehicle with a steering wheel

2: control device

11: driving support device

40: peripheral information acquisition unit

44: vehicle exterior sound collection device

50: driver monitoring camera

55: heart rate sensor

60: biological information acquisition unit

201: action information acquisition unit

202: alarm sound judging part

203: occupant state determination unit

204: cause determination unit

91: voice output device

92: display device

Claims (5)

1. A driving assistance apparatus comprising:

an alarm sound acquisition unit that acquires alarm sound information relating to an alarm sound emitted from another vehicle outside the vehicle;

a biological information acquisition unit that acquires biological information of an occupant of the vehicle;

an action information acquiring unit that acquires action information indicating an action of the vehicle;

a peripheral information acquisition unit that acquires peripheral information of the vehicle;

an alarm sound determination unit configured to determine whether or not the alarm sound is directed to the vehicle based on the alarm sound information acquired by the alarm sound acquisition unit;

an occupant state determination unit configured to determine whether the occupant is affected by the warning sound based on the biological information acquired by the biological information acquisition unit when the warning sound determination unit determines that the warning sound is directed to the vehicle;

a cause determination unit that determines a cause of the generation of the alarm sound based on the behavior information acquired by the behavior information acquisition unit and the surrounding information acquired by the surrounding information acquisition unit, when the occupant state determination unit determines that the occupant is affected by the alarm sound; and a process for the preparation of a coating,

and an occupant notification unit configured to notify the occupant of the cause of the generation of the warning sound determined by the cause determination unit.

2. The driving assistance apparatus according to claim 1,

the cause determination unit generates first notification information indicating that the cause of the warning sound is not related to the vehicle when the cause of the warning sound is not related to the vehicle, and generates second notification information indicating that the cause of the warning sound is related to the vehicle when the cause of the warning sound is related to the vehicle,

the occupant notification unit notifies the occupant of the first notification information or the second notification information as a cause of the generation of the alarm sound.

3. The driving assistance apparatus according to claim 1 or 2, wherein the occupant state determination unit determines whether the occupant is in a physically or mentally unstable state based on the biological information, thereby determining whether the occupant is affected by the alarm sound.

4. The driving assist device according to any one of claims 1 to 3, wherein the cause of the generation of the warning sound includes unstable driving of the vehicle, sudden braking, sudden steering, and sudden start of the vehicle, and driving behavior of the other vehicle.

5. The driving assistance apparatus according to any one of claims 1 to 4, wherein the biological information includes a captured image obtained by capturing an image of the occupant of the vehicle or a heart rate of the occupant.

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