PROBLEM TO BE SOLVED: To provide a device with an increased accuracy of estimating the psychological state of a driver.SOLUTION: In the above method, psychological state estimating information for estimating a psychological state is detected, and a psychological state is estimated from the detected psychological state estimating information in accordance with a correspondence relation describing a method for relating the psychological state estimating information to a psychological state. Further, a time of reaction or the presence or absence of a reaction of a driver is detected when a detection opportunity presents itself when a psychological state can be found from the time of reaction or the presence or absence of a reaction of the driver, and the result of the detection is reflected in estimation of a psychological state. Since not only using the psychological state estimating information in accordance with the correspondence relation but also reflecting reactions of an actual driver as described above can achieve estimation of a psychological state for each individual driver, the accuracy of estimating a psychological state can be increased.SELECTED DRAWING: Figure 6
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