PROBLEM TO BE SOLVED: To estimate the intention of a human being in order to properly support the action of the human being.
SOLUTION: The state of a human being is estimated by using a plurality of dispersed feeling intelligences comprising a sensor and a process operation unit. That is, as the sensor for acquiring the action result of the human being, cameras 21, 24, 31 and 32, and a vehicle velocity detecting device 25 are arranged. As the process operation unit, a vehicle position information calculating unit 202, a first face direction information calculating unit 203 and a second face direction information calculating unit 204 are arranged. An intention recognizing unit 207 performs an intention inference based on environmental information such as vehicle position information VL, face direction information θD, and vehicle velocity information Vv acquired from a plurality of the dispersed feeling intelligences, and an intention recognition result is acquired.