Attention reminder system and recording media

Abstract

The present invention provides an attention reminder system and a recording medium, which assist an operator in quickly directing his attention to an object. The attention reminder system (1) comprises a display device (30), a display control unit (12), and an object recognition unit (11). When the number of objects recognized by the object recognition unit (11) is greater than an upper limit, the display control unit (12) sets the display range of a surrounding icon (52) to the entire annular area. When the number of objects is greater than the upper limit and the display range of the surrounding icon (52) is set to the entire annular area, if the number of objects increases, the size of the surrounding icon (52) is reduced.

Description

Technical Field

[0001] The present invention relates to an attention reminding system and a recording medium. Background Art

[0002] In the past, the following vehicle image display system has been proposed: other vehicles traveling around the vehicle are detected by a camera or radar, and marked images of the other vehicles are displayed on the front window by a HUD (Head Up Display) in a manner overlapping with the other vehicles visually recognized by the driver (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent Document 1:

[0005] Japanese Patent Application Laid-Open No. 2017-021546 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] As described above, when an object such as another vehicle existing around a moving body such as a host vehicle is detected, it is desirable that the operator's attention be quickly directed toward the object.

[0008] The present invention has been made in view of the above background, and an object of the present invention is to provide an attention reminding system and a recording medium for assisting a driver in quickly directing his attention to an object.

[0009] Means for solving problems

[0010] As a first method for achieving the above-mentioned purpose, a attention reminder system is provided, which includes: a display device, which outputs a visual display that can be visually confirmed by the operator of the mobile body to the front windshield of the mobile body; a display control unit, which causes the display device to output a specified attention reminder display to the front windshield as the visual display; and an object recognition unit, which recognizes objects existing in the vicinity of the mobile body, wherein the display control unit causes the attention reminder display to be displayed on the front windshield through the display device, and the attention reminder display includes: a mobile body icon that imitates the mobile body; and a surrounding icon whose display range changes in the circumferential direction of a ring-shaped area surrounding the mobile body icon, which is displayed by the object recognition unit. When the object is identified, the display control unit uses the range including the portion corresponding to the direction of the object relative to the moving body as the display range and displays the surrounding icon on the front windshield through the display device. When the number of objects identified by the object recognition unit is greater than or equal to a prescribed upper limit, the display control unit sets the display range of the surrounding icon to the entire annular area. When the number of objects identified by the object recognition unit increases while the display range of the surrounding icon is set to the entire annular area because the number of objects identified by the object recognition unit is greater than or equal to the upper limit, the display control unit reduces the size of the surrounding icon.

[0011] In the above-mentioned attention reminder system, the following structure can also be adopted, that is, when the object recognition unit does not recognize the object, the display control unit sets the display range of the surrounding icon to the entire annular area, and when the state is changed from the state in which the object recognition unit does not recognize the object to the state in which the object recognition unit recognizes the object, the display control unit gradually reduces the display range of the surrounding icon from the entire annular area toward a part of the annular area corresponding to the direction from the moving body to the object.

[0012] In the above-mentioned attention reminder system, it can also be constructed so that when the display control unit switches from a state in which the object recognition unit recognizes that the number of objects is less than the upper limit and the display mode of the surrounding icons is set to a first display mode in which a part of the annular area corresponding to the direction of the object relative to the moving body is used as the display range to a state in which the object recognition unit does not recognize the object, the display control unit switches the display mode of the surrounding icons to a second display mode in which the entire annular area is used as the display range.

[0013] In the above-mentioned attention prompting system, the display control unit may be configured to temporarily increase the distance between the moving object icon and the surrounding icons while switching the display mode of the surrounding icons from the first display mode to the second display mode.

[0014] In the above-mentioned attention reminder system, it can also be constructed so that when the object recognition unit fails to recognize the object, the display control unit sets the display mode of the surrounding icons to a third display mode in which the entire annular area is used as a display range, and when the situation in which the object recognition unit fails to recognize the object continues for more than a specified time, the display mode of the surrounding icons is set to a fourth display mode in which the entire annular area is used as a display range and which is different from the third display mode.

[0015] In the above-mentioned attention reminder system, it can also be constructed as follows:

[0016] The attention calling system includes an influence degree recognition unit that recognizes the influence degree of the object recognized by the object recognition unit on the moving body, and the display control unit changes the display mode of the surrounding icons according to the influence degree of the object.

[0017] In the above-mentioned attention reminder system, it can also be constructed as follows: the attention reminder system includes a sound image localization control unit, which controls the output mode of the multiple speakers provided by the mobile body to change the position of the sound image of the specified attention reminder sound perceived by the operator. When the object recognition unit does not recognize the object, the sound image localization control unit sets the position of the sound image of the attention reminder sound to a specified range around the operator. When the state changes from the state in which the object recognition unit does not recognize the object to the state in which the object recognition unit recognizes the object, the sound image localization control unit gradually reduces the range of the position of the sound image of the attention reminder sound from the specified range toward the direction from the operator to the object.

[0018] As a second method for achieving the above-mentioned purpose, a non-volatile recording medium is provided, which records a control program, wherein the control program causes a computer to obtain a recognition result in an object recognition unit that recognizes an object existing in the periphery of a mobile body, and causes the computer to execute the following processing through a controller that controls the operation of a display device, wherein the display device outputs a visual display that can be visually confirmed by the operator of the mobile body to the front windshield of the mobile body, and the processing is as follows: causing the display device to display a prescribed warning reminder display corresponding to the recognition result on the front windshield as the visual display; causing the display device to change a mobile body icon that imitates the mobile body and a display range in the circumferential direction of a ring area surrounding the mobile body icon. The attention reminder display of the surrounding icon is displayed on the front windshield. When the object is recognized by the object recognition unit, the range including the part corresponding to the direction of the object relative to the moving body is used as the display range and the surrounding icon is displayed on the front windshield through the display device. When the number of the objects recognized by the object recognition unit is greater than the specified upper limit, the display range of the surrounding icon is set to the entire annular area. When the number of the objects recognized by the object recognition unit is greater than the upper limit and the display range of the surrounding icon is set to the entire annular area, if the number of the objects recognized by the object recognition unit increases, the size of the surrounding icon is reduced.

[0019] Effects of the Invention

[0020] According to the above-mentioned attention prompting system, it is possible to assist the operator in quickly directing his attention to the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 1 is a diagram showing the configuration of a caution calling system and a vehicle equipped with the caution calling system.

[0022] Figure 2 This diagram illustrates the arrangement of the HUD and speakers in a vehicle.

[0023] Figure 3 This is an explanatory diagram of the output method of the caution display displayed on the front windshield by the HUD.

[0024] Figure 4 This is the first flowchart of the attention reminder process.

[0025] Figure 5 This is a second flowchart of the attention reminder process.

[0026] Figure 6 This is the third flowchart of the attention reminder process.

[0027] Figure 7 This is an explanatory diagram of a process of gradually reducing the display range of surrounding icons when a single object existing in front of a vehicle is recognized.

[0028] Figure 8 This is an explanatory diagram of a process of expanding the display range of surrounding icons when the number of objects existing in front of the vehicle increases.

[0029] Figure 9 This is a diagram for explaining the process of reducing the diameter of surrounding icons as the attention call level increases.

[0030] Figure 10 This is an explanatory diagram of a process of changing the display form of surrounding icons when a state transitions from a state where an object is recognized to a state where an object is not recognized.

[0031] Figure 11 This is an explanatory diagram of a process of gradually reducing the range of the position of the sound image of the attention-calling sound in a direction from the driver toward the object.

[0032] Figure 12 This is a setting table for how surrounding icons are displayed.

[0033] Description of Reference Numerals

[0034] 1…Caution warning system, 2…Controller, 10…Processor, 11…Object recognition unit, 12…Display control unit, 13…Sound and image localization control unit, 14…Impact degree recognition unit, 20…Memory, 21…Control program, 30…HUD (display device), 31a to 31d…Camera, 32…Radar, 33a to 33h…Sonar, 34a to 34d…Speakers, 40…Front windshield, 50…Caution warning display, 51…Moving object icon, 52…Surrounding icon, 60…Position of the sound and image of the caution warning sound, P…Driver (operator), T…Object DETAILED DESCRIPTION

[0035] [1. Attention reminder system and vehicle structure]

[0036] Reference Figures 1 to 3 , the structure of the vehicle 100 and the attention reminder system 1 mounted on the vehicle 100 will be described. The vehicle 100 is equivalent to the mobile body of the present disclosure. Figure 1 As shown, the attention calling system 1 includes a controller 2 and a HUD (Head Up Display) 30. The HUD 30 corresponds to the display device of the present disclosure.

[0037] The controller 2 is a control unit including a processor 10, a memory 20, an interface circuit (not shown), etc. The processor 10 corresponds to the computer of the present disclosure. The HUD 30 outputs the image to the front windshield 40 of the vehicle 100. Figure 2 The visual display shown is a caution display 50 that can be visually recognized by the driver (operator) P. Figure 2 、 Figure 3 The HUD 30 is disposed on an instrument panel or the like below a front windshield 40 and projects (outputs) a warning display 50 onto the front windshield 40, thereby projecting a virtual image of the warning display 50 in front of the driver. The HUD 30 of this embodiment is configured to be capable of color display.

[0038] like Figure 3 As shown, the caution display 50 includes a moving object icon 51 that resembles the vehicle 100 and a surrounding icon 52 whose display range changes circumferentially within a ring-shaped area 52r surrounding the moving object icon 51. Details of the display method of the surrounding icon 52 will be described later.

[0039] In addition to the attention calling system 1, the vehicle 100 is equipped with a plurality of cameras 31a to 31d, a radar 32, a plurality of sonars 33a to 33h, and a plurality of speakers 34a to 34d. Figure 2 As shown, the camera 31a is installed at the upper portion of the front windshield 40 or the like, and outputs an image captured in front of the vehicle 100 to the controller 2. The camera 31b is installed near the right door mirror or the like, and outputs an image captured on the right side of the vehicle 100 to the controller 2. The camera 31c is installed near the left door mirror or the like, and outputs an image captured on the left side of the vehicle 100 to the controller 2. The camera 31d is installed at the rear of the vehicle 100 and outputs an image captured on the rear of the vehicle 100 to the controller 2.

[0040] like Figure 2 As shown, radar 32 is provided at the front of vehicle 100 to detect the position of objects in front of vehicle 100 and output a position detection signal to controller 2. Sonars 33a to 33d are provided at the front of vehicle 100 to detect the position of objects in the vicinity of the front of vehicle 100 and output a position detection signal to controller 2. Sonars 33e to 33h are provided at the rear of vehicle 100 to detect the position of objects in the vicinity of the rear of vehicle 100 and output a position detection signal to controller 2. Speakers 34a to 34d are provided, for example, at driver's door 35a, passenger door 35b, right rear door 35c, and left rear door 35d of vehicle 100, respectively.

[0041] The processor 10 functions as the object recognition unit 11, the display control unit 12, the sound image localization control unit 13, and the impact degree recognition unit 14 by reading and executing the control program 21 for the attention reminder system 1 stored in the memory 20. The control program 21 can be read from a non-volatile recording medium (such as a magnetic disk, an optical disk, or a flash memory) and stored in the memory 20, or downloaded from an external server and stored in the memory 20.

[0042] The object recognition unit 11 identifies objects (such as pedestrians and other vehicles) in front of the vehicle 100 based on images captured by the cameras 31a to 31d, object position detection signals from the radar 32, and object position detection signals from the sonar 33a to 33h. While this embodiment illustrates a configuration in which objects surrounding the vehicle 100 are recognized using the cameras 31a to 31d, the radar 32, and the sonar 33a to 33h, it is also possible to utilize a configuration in which objects are recognized using any one or a combination of two or more of these devices, rather than all of them. Alternatively, other types of detection devices may be used to recognize objects.

[0043] The display control unit 12 controls the operation of the HUD 30 and the output of the caution display 50, thereby changing the display format of the surrounding icons 52. The sound image localization control unit 13 controls the output format (output level, output timing, etc.) of the speakers 34a-34d to change the position of the sound image of the predetermined caution sound perceived by the driver P. It should be noted that the number of speakers may be multiple, and may be three or fewer or five or more.

[0044] The impact level identification unit 14 identifies the impact of the object on the vehicle 100 using four levels, from Level 0 to Level 3, based on the object recognition status of the object recognition unit 11. Level 0 indicates that the object recognition unit 11 has not recognized the object. Levels 1 to 3 correspond to situations where the object recognition unit 11 has recognized the object. As the distance between the object and the vehicle 100 decreases, the impact level identification unit 14 switches from Level 1 to Level 2 to Level 3 for identification.

[0045] Furthermore, the influence degree identification unit 14 may also identify the influence degree in consideration of the speed at which the object approaches the vehicle 100. In this case, the influence degree identification unit 14 switches the influence degree from level 1 to level 2 to level 3 for identification as the speed at which the object approaches the vehicle 100 increases.

[0046] The display control unit 12 obtains the number of objects recognized by the object recognition unit 11 (object recognition result), and sets the surrounding icon 52 and the attention warning level of the attention warning sound to four levels, from level 0 to level 3, based on the number of objects and the degree of influence recognized by the influence degree recognition unit 14. If there are no objects recognized by the object recognition unit 11, the display control unit 12 sets the attention warning level to level 0.

[0047] Furthermore, when the number of objects recognized by the object recognition unit 11 is 1 (one object), the display control unit 12 sets the level of influence of the object recognized by the influence level recognition unit 14 as the caution warning level. For example, when the influence level is level 2, the display control unit 12 sets the caution warning level to level 2.

[0048] Furthermore, when the object recognition unit 11 recognizes multiple objects, the display control unit 12 increases the attention warning level as the number of objects increases. In this embodiment, the display control unit 12 sets the attention warning level to level 1 when the number of objects is 2, to level 2 when the number of objects is 3, and to level 3 when the number of objects is 4 or greater. In this case, the number 2 corresponds to the upper limit number (threshold number) of the present disclosure.

[0049] Furthermore, if the object recognition unit 11 recognizes multiple objects and the impact of any of the objects increases, the attention warning level may be increased. For example, if there are two objects and the attention warning level is set to level 1, and the impact of any of the objects increases to level 2, the attention warning level may be increased from level 1 to level 2.

[0050] The display control unit 12 follows Figure 12 The settings table shown sets the display method (display range, diameter, and color) of the surrounding icon 52 according to the attention warning level. The size of the surrounding icon 52 is determined by its diameter. For example, if the object recognition unit 11 recognizes two objects, the display control unit 12 determines the attention warning level to be level 1. The object recognition unit 11 then sets the display method of the surrounding icon 52 to the entire annular area, a medium diameter, and a yellow color, corresponding to level 1 when there are multiple objects.

[0051] [2. Note reminder processing]

[0052] Reference Figures 7 to 11 As shown in the illustration, follow Figures 4 to 6The flowchart shown in FIG. 1 illustrates the attention-calling process executed by the object recognition unit 11 , the display control unit 12 , the sound image localization control unit 13 , and the influence degree recognition unit 14 .

[0053] exist Figure 4 In step S1, the sound image localization control unit 13 controls the output mode of the speakers 34a to 34d to output the attention warning sound so that the position of the sound image of the attention warning sound becomes the entire surrounding of the driver P (equivalent to the prescribed range around the operator of the present disclosure). Figure 11 As shown in B1, the position 60 of the sound image of the attention warning sound is all around the driver P, so that the driver P can perceive the attention warning sound from all around. In this case, the attention warning sound is set to a calm sound corresponding to attention warning level 0, which creates a sense of security.

[0054] In the next step S2, the display control unit 12 displays the display range of the surrounding icon 52 as the entire area of ​​the annular area through the HUD 30. Figure 7 As shown in A11 of FIG. 5 , a virtual image of a ring-shaped surrounding icon 52 surrounding the entire periphery of the moving body icon 51 is visually recognized by the driver P through the front windshield 40. In this case, the surrounding icon 52 is Figure 12 The setting table is displayed in white corresponding to the attention call level 0, which can prompt the driver P to pay attention to a wide range. The display mode of the surrounding icon 52 shown in A11 corresponds to the third display mode of the present disclosure.

[0055] In the next step S3, the object recognition unit 11 searches for objects existing in the vicinity of the vehicle 100. In the next step S4, when the object recognition unit 11 recognizes an object existing in the vicinity of the vehicle 100, the process proceeds to the next step S5. Figure 5 On the other hand, when no object existing around the vehicle 100 is recognized, the object recognition unit 11 advances the process to step S5.

[0056] In step S5, the display control unit 12 starts a timer for confirming that the state of not recognizing an object existing in the vicinity of the vehicle 100 continues. The setting time of the timer is set to 3 seconds, for example. Through the loop processing of the following steps S6 to S8, the object recognition unit 11 searches for an object existing in the vicinity of the vehicle 100 in step S6 until the timer expires in step S8. Then, in step S7, when the object recognition unit 11 recognizes an object existing in the vicinity of the vehicle 100, the processing enters the Figure 5 In step S20, when no object existing around the vehicle 100 is recognized, the process proceeds to step S8.

[0057] In step S9, the display control unit 12 switches the surrounding icon 52 to a flashing display. The lighting method of the surrounding icon 52 in this case is equivalent to the fourth display method of the present disclosure. The display control unit 12 flashes the surrounding icon 52 at a rhythm of, for example, once every few seconds. Thus, even in a situation where the object is not recognized by the object recognition unit 11, it is not considered safe, and the driver P can be prompted to expand his attention range. In the next step S10, the object recognition unit 11 searches for objects existing in the vicinity of the vehicle 100. In the next step S11, when the object recognition unit 11 recognizes an object existing in the vicinity of the vehicle 100, the processing enters Figure 5 In step S20 , when no object existing around the vehicle 100 is recognized, the process proceeds to step S10 .

[0058] exist Figure 5 In step S20, when the object recognition unit 11 recognizes multiple objects, the process proceeds to Figure 6 In step S40, when the recognized object is one, the process proceeds to step S21. In step S40, as described above, the display control unit 12 determines the attention calling level according to the number of objects.

[0059] In the next step S41, the display control unit 12 sets the display range of the surrounding icon 52 to the entire annular area 52r (see Figure 3 ), according to the level of attention reminder, Figure 12 The setting table changes the diameter and color of the surrounding icon 52, so that the process enters Figure 5 For example, when the attention reminder level is level 2, the display control unit 12 Figure 12 , set the diameter of the surrounding icon 52 to "small" and the color to "orange".

[0060] The sound image localization control unit 13 performs the processing of step S50 in parallel with the processing of step S41 of the display control unit 12. In step S50, the sound image localization control unit 13 sets the position of the sound image to the entire surroundings of the driver P and outputs the attention reminder sound corresponding to the attention reminder level. In this case, the sound image localization control unit 13 performs processing such as increasing the volume of the attention reminder sound and changing the tone of the attention reminder sound so that the higher the attention reminder level, the stronger the effect of the attention reminder on the driver P. In addition, it is also possible to Figure 4 The attention calling sound output in step S1 is superimposed with a sound effect that visualizes the attributes of the object (four-wheeled vehicle, two-wheeled vehicle, pedestrian, etc.), thereby changing the attention calling sound.

[0061] On the other hand, if only one object is recognized, the object recognition unit 11 advances the process from step S20 to step S21. In step S21, the impact level recognition unit 14 recognizes the impact level of the object. In the following step S22, as described above, the display control unit 12 determines the attention warning level based on the impact level of the object.

[0062] In the next step S23, the display control unit 12 displays the warning level according to the warning level. Figure 12 The color and diameter of the surrounding icon 52 are set according to the setting table. For example, when the attention reminder level is level 1, the display control unit 12 sets the color of the surrounding icon 52 to "yellow" and the diameter to "large". In the next step S24, as shown in FIG. Figure 7 As shown, the display control unit 12 gradually reduces the display range of the surrounding icon 52 toward the portion 52 a corresponding to the direction from the vehicle 100 to the object, and proceeds to step S25 .

[0063] Figure 7 The example illustrates a case where the object recognition unit 11 recognizes an object located to the right front of the vehicle 100. The display control unit 12 changes the display mode of the surrounding icon 52 from the state of displaying the entire annular area as shown in A11 to gradually reducing the display area toward the portion 52a as shown in A12 and A13. This encourages the driver P to pay attention to the right front of the vehicle 100.

[0064] The sound image localization control unit 13 performs the processing of steps S30 and S31 in parallel with the processing of steps S22 and S24. In step S30, the sound image localization control unit 13 outputs a warning sound corresponding to the warning level. In this case, the higher the level of the object's influence, the stronger the warning sound output by the sound image localization control unit 13. For example, the sound image localization control unit 13 may also output a warning sound corresponding to the warning level. Figure 4 The attention warning sound that starts to be output in step S1 is superimposed with an effect sound (such as an engine simulation sound) that visualizes the attributes of the object (four-wheeled vehicle, two-wheeled vehicle, pedestrian, etc.).

[0065] In the next step S31, as Figure 11 As shown in B2 and B3 of FIG. , the sound image localization control unit 13 gradually reduces the range of the sound image position 60 of the attention-calling sound from the entire surroundings of the driver P shown in B1 toward the direction G from the driver P toward the object T, and then proceeds to step S24. As a result, the driver P perceives only the attention-calling sound from the direction of the object, and it can be expected that the driver P's attention is directed toward the object.

[0066] In step S25, the object recognition unit 11 searches for an object existing in the vicinity of the vehicle 100. In the next step S26, if the object recognition unit 11 recognizes an object, the process proceeds to step S26, and if the object recognition unit 11 does not recognize an object, the process proceeds to step S26. Figure 4 Step S1.

[0067] In step S27, the impact level identification unit 14 identifies the impact level of the object. In the following step S28, the display control unit 12 determines the attention warning level based on the number of objects identified by the object identification unit 11 and the impact level of the objects identified by the impact level identification unit 14. The display control unit 12 then changes the display method of the surrounding icons 52 in accordance with the change in the attention warning level. Furthermore, the sound image localization control unit 13 changes the output method of the attention warning sound in accordance with the attention warning level. Specifically, the display control unit 12 changes the display method of the surrounding icons 52 as follows.

[0068] (1) When the number of objects changes from one to multiple.

[0069] like Figure 8 As shown, the display control unit 12 expands the display range of the surrounding icon 52 to the entire range of the annular area in the order of A21 → A22 → A23 → A24. Figure 8 A21 indicates that the object recognition unit 11 recognizes an object existing in the right front of the vehicle 100, and the display control unit 12 sets the portion 52b corresponding to the direction from the vehicle 100 to the object as the display range of the surrounding icon 52. Figure 8 A22 indicates that an object existing in the left front of the vehicle 100 is also recognized, and the display control unit 12 adds a portion 52 c corresponding to the direction from the vehicle 100 to the object in the left front to the display range of the surrounding icon 52 .

[0070] Then, as shown in A23, the display control unit 12 expands the portions 52a and 52b corresponding to the directions of the two objects in the circumferential direction, and as shown in A24, sets the display range of the surrounding icon 52 to the entire annular area. In this way, when the number of objects recognized by the object recognition unit 11 increases from one to multiple, by expanding the display range of the surrounding icon 52 from the portion corresponding to the directions of the objects to the entire annular area, the driver P can be urged to pay attention to multiple objects.

[0071] (2) When the number of objects increases.

[0072] When the number of objects recognized by the object recognition unit 11 increases, the display control unit 12 Figure 12 The display mode of the surrounding icons 52 can be changed by referring to the setting table shown. Figure 9 The illustrated state is where the object recognition unit 11 recognizes a plurality of objects, and the display control unit 12 displays the surrounding icon 52 with the entire annular area as the display range.

[0073] like Figure 9 As shown, the display control unit 12 adjusts the number of objects according to the increase in the number of objects (2 → 3 → 4). Figure 12 The setting table shown has been changed from "medium diameter, yellow" for A31 corresponding to level 1 of the attention call level to "small diameter, orange" for A32 corresponding to level 2, and "extremely small diameter, flashing red" for level 3. Thus, by reducing the diameter of the surrounding icon 52 and shortening the distance between the moving object icon 51 and the surrounding icon 52, and by changing the color and lighting pattern of the surrounding icon 52, the driver P can be more strongly alerted to the object.

[0074] In addition, when the number of objects decreases, the display control unit 12 also Figure 12 For example, when the number of objects decreases from 4 objects recognized by the object recognition unit 11 (4 → 3 → 2), the display control unit 12 changes the display mode of the surrounding icons 52. Figure 9 The display mode of the surrounding icon 52 of A33→A32→A31.

[0075] (3) When the state transitions from a state where the object is recognized to a state where the object is not recognized.

[0076] When the display control unit 12 changes from a state where the object is recognized by the object recognition unit 11 to a state where the object is not recognized by the object recognition unit 11, Figure 10 As shown in FIG. 5 , a process is performed to temporarily move the surrounding icon 52 away from the moving object icon 51 .

[0077] Figure 10 A41 indicates a state in which a surrounding icon 52 corresponding to an object located in front of the right side of the vehicle 100 is displayed. The display method of the surrounding icon 52 shown in A41 corresponds to the first display method of the present disclosure. In this state, when the object recognition unit 11 transitions to a state in which the object is not recognized, as shown in A42, the display control unit 12 moves the surrounding icon 52 away from the moving object icon 51 and displays it with a larger display range in the circumferential direction.

[0078] Next, as indicated by A43, the display control unit 12 sets the surrounding icon 52 to a "large diameter" size corresponding to level 0 of the attention reminder level, bringing the surrounding icon 52 closer to the moving object icon 51. Then, as indicated by A44, the display control unit 12 expands the display range of the surrounding icon 52 in the surrounding direction, changing the display mode to "large diameter, white" corresponding to level 0. The display mode of the surrounding icon 52 shown in A44 corresponds to the second display mode of the present disclosure. By thus temporarily moving the surrounding icon 52 away from the moving object icon and then returning it to the display mode corresponding to level 0, the driver P can intuitively perceive that the need for attention to the object has decreased.

[0079] [3. Other Implementation Methods]

[0080] In the above embodiment, as a process for prompting the driver P to pay attention, the display control unit 12 performs a process of changing the display mode of the attention display 50, and the sound image localization control unit 13 performs a process of changing the position range of the sound image of the attention warning sound. In another embodiment, the sound image localization control unit 13 may be omitted, and only the process of changing the display mode of the attention display 50 performed by the display control unit 12 may be performed.

[0081] In the above embodiment, a four-wheeled vehicle 100 is shown as the mobile object of the present disclosure. However, the mobile object of the present disclosure may be any mobile object that is controlled by a driver, and may be, for example, a two-wheeled vehicle, an aircraft, or a ship.

[0082] In the above embodiment, the display control unit 12 Figure 12 The illustrated setting table for the caution display sets a caution level corresponding to the degree of influence of the object identified by the influence level identification unit 14, thereby changing the display mode of the caution display, when the object identification unit 11 identifies a single object. Alternatively, the influence level identification unit 14 may be omitted, and the process of changing the display mode of the caution display according to the degree of influence of the object may be omitted.

[0083] In the above embodiment, the display control unit 12 Figure 4 In the processing of steps S5 to S9, when the object recognition unit 11 fails to recognize the object for a period of time exceeding the predetermined time, the attention reminder display 50 is switched from the light display (third display mode) to the flashing display (fourth display mode). As another structure, the fourth display mode may be set to a display mode other than the flashing display. For example, the display mode of the attention reminder display 50 may be switched to a fourth display mode different from the third display mode by changing the brightness or the color. In addition, the fourth display mode may be omitted. Figure 4The processing of steps S5 to S9.

[0084] In the above embodiment, the HUD 30 is shown as the display device of the present disclosure. However, the display device of the present disclosure may be a display device other than the HUD as long as it has a configuration that outputs a visual display that can be visually recognized by the operator to the front windshield of the moving object.

[0085] In the above embodiment, the size of the surrounding icon 52 is defined by its diameter, but the size of the surrounding icon 52 may be defined by, for example, the circumference of the surrounding icon 52. Furthermore, in the above embodiment, the surrounding icon 52 is circular in shape, but any shape surrounding the moving object icon 51 is sufficient, and the surrounding icon 52 may be an ellipse, a rectangle, or the like.

[0086] also, Figure 1 This is a schematic diagram showing the structure of the attention reminder system 1 according to the main processing content in order to facilitate understanding of the present invention. The structure of the attention reminder system 1 can also be configured by other divisions. In addition, the processing of each component can be performed by one hardware unit or by multiple hardware units. Figures 4 to 6 The processing of each component shown may be executed by one program or by a plurality of programs.

[0087] [4. Structures Supported by the Above-mentioned Embodiments]

[0088] The above-mentioned embodiment is a specific example of the following structure.

[0089] (Structure 1) A caution reminder system comprising: a display device which outputs a visual display which can be visually confirmed by the operator of the mobile body to the front windshield of the mobile body; a display control unit which causes the display device to output a prescribed caution reminder display to the front windshield as the visual display; and an object recognition unit which recognizes objects existing in the vicinity of the mobile body, wherein the display control unit causes the caution reminder display to be displayed on the front windshield via the display device, the caution reminder display comprising: a mobile body icon which imitates the mobile body; and a surrounding icon whose display range changes in the circumferential direction of a ring-shaped area surrounding the mobile body icon, When an object is identified by the object recognition unit, the display control unit will use the range including the portion corresponding to the direction of the object relative to the moving body as the display range and display the surrounding icon on the front windshield through the display device. When the number of objects identified by the object recognition unit is greater than a prescribed upper limit, the display control unit sets the display range of the surrounding icon to the entire annular area. When the number of objects identified by the object recognition unit increases while the display range of the surrounding icon is set to the entire annular area because the number of objects identified by the object recognition unit is greater than the upper limit, the display control unit reduces the size of the surrounding icon.

[0090] According to the attention-calling system of Structure 1, it is possible to assist the operator in quickly directing his attention toward an object.

[0091] (Structure 2) A warning system according to Structure 1, wherein the display control unit sets the display range of the surrounding icons to the entire annular area when the object recognition unit does not recognize the object, and when the state transitions from the state in which the object recognition unit does not recognize the object to the state in which the object recognition unit recognizes the object, the display control unit gradually reduces the display range of the surrounding icons from the entire annular area toward a portion of the annular area corresponding to the direction from the moving body to the object.

[0092] According to the attention reminder system of structure 2, the operator can be prompted to pay attention to the direction in which the object exists.

[0093] (Structure 3) A warning system according to Structure 1 or Structure 2, wherein the display control unit switches the display mode of the surrounding icons to a second display mode in which the entire annular area is used as the display range when the display control unit switches from a state in which the object recognition unit recognizes that the number of objects is less than the upper limit and the display mode of the surrounding icons is set to a first display mode in which a part of the annular area corresponding to the direction of the object relative to the moving body is used as the display range to a state in which the object recognition unit does not recognize the object.

[0094] According to the attention calling system of Configuration 3, when a situation occurs in which an object is not recognized, the operator can be urged to widely direct his attention toward the periphery of the moving object.

[0095] (Structure 4) The attention reminder system according to Structure 3, wherein the display control unit temporarily increases the distance between the moving object icon and the surrounding icons while switching the display mode of the surrounding icons from the first display mode to the second display mode.

[0096] According to the attention prompting system of Configuration 4, the operator can intuitively perceive that the necessity of paying attention to the object has decreased.

[0097] (Structure 5) A warning system according to any one of Structures 1 to 4, wherein, when the object recognition unit fails to recognize the object, the display control unit sets the display mode of the surrounding icons to a third display mode in which the entire annular area is used as a display range, and when the situation in which the object recognition unit fails to recognize the object continues for more than a prescribed time, the display mode of the surrounding icons is set to a fourth display mode in which the entire annular area is used as a display range and which is different from the third display mode.

[0098] According to the attention prompting system of configuration 5, when the state in which the object recognition unit fails to recognize the object continues for a predetermined time or longer, it is not considered a safe state and the operator can be urged to increase his attention.

[0099] (Structure 6) An attention reminder system according to any one of Structures 1 to 5, wherein the attention reminder system includes an impact degree identification unit, which identifies the impact degree of the object identified by the object identification unit on the moving body, and the display control unit changes the display method of the surrounding icons according to the impact degree of the object.

[0100] According to the attention calling system of the sixth configuration, the degree of influence of the object on the moving body can be reported to the operator by different display modes of the attention calling display.

[0101] (Structure 7) An attention reminder system according to any one of Structures 1 to 6, wherein the attention reminder system includes a sound image localization control unit, which controls the output mode of the multiple speakers provided by the mobile body to change the position of the sound image of the specified attention reminder sound perceived by the operator, and when the object recognition unit does not recognize the object, the sound image localization control unit sets the position of the sound image of the attention reminder sound to a specified range around the operator, and when the state transitions from the state in which the object recognition unit does not recognize the object to the state in which the object recognition unit recognizes the object, the sound image localization control unit gradually reduces the range of the position of the sound image of the attention reminder sound from the specified range toward the direction from the operator to the object.

[0102] According to the attention calling system of configuration 7, the effect of directing the operator's attention to the object can be enhanced by gradually reducing the position range of the sound image of the attention calling sound in the direction from the operator to the object.

[0103] (Structure 8) A non-volatile recording medium having a control program recorded thereon, the control program causing a computer to obtain a recognition result in an object recognition unit for recognizing an object existing in the periphery of a mobile body, and causing the computer to execute the following processing through a controller that controls the operation of a display device, wherein the display device outputs a visual display that can be visually confirmed by the operator of the mobile body to the front windshield of the mobile body, the processing being: causing a prescribed warning reminder display corresponding to the recognition result to be displayed on the front windshield as the visual display by the display device; causing the display device to display a surrounding icon including a mobile body icon that imitates the mobile body and a display range that changes in the circumferential direction of a ring-shaped area surrounding the mobile body icon. The attention reminder display is displayed on the front windshield. When the object is recognized by the object recognition unit, the range including the portion corresponding to the direction of the object relative to the moving body is used as the display range, and the surrounding icon is displayed on the front windshield through the display device. When the number of the objects recognized by the object recognition unit is greater than a prescribed upper limit, the display range of the surrounding icon is set to the entire annular area. When the number of the objects recognized by the object recognition unit is greater than the upper limit and the display range of the surrounding icon is set to the entire annular area, if the number of the objects recognized by the object recognition unit increases, the size of the surrounding icon is reduced.

[0104] By executing the control program of the configuration 8 by the controller, the same operational effects as those of the attention-calling system of the configuration 1 can be obtained.

Claims

1. A warning system, comprising: a display device that outputs a visual display that can be visually confirmed by an operator of the mobile body to a front windshield of the mobile body; a display control unit that causes the display device to output a predetermined caution display to the front windshield as the visual display; and an object recognition unit that recognizes an object existing around the mobile body, in, The display control unit causes the attention reminder display to be displayed on the front windshield via the display device, wherein the attention reminder display includes: a moving body icon that imitates the moving body; and a surrounding icon whose display range changes in the circumferential direction of a ring-shaped area surrounding the moving body icon. When the object recognition unit recognizes the object, the display control unit displays the surrounding icon on the front windshield via the display device, using a range including a portion corresponding to the direction of the object relative to the moving body as a display range. When the number of objects recognized by the object recognition unit is equal to or greater than a predetermined upper limit, the display control unit sets the display range of the surrounding icon to the entire annular area. When the number of objects recognized by the object recognition unit is greater than the upper limit and the display range of the surrounding icon is set to the entire annular area, the display control unit reduces the size of the surrounding icon.

2. The attention reminder system according to claim 1, wherein: The display control unit sets the display range of the surrounding icon to the entire annular area when the object recognition unit does not recognize the object, and the display method of the surrounding icon when the object recognition unit does not recognize the object is different from the display method of the surrounding icon when the number of objects recognized by the object recognition unit is greater than a prescribed upper limit. When the state in which the object recognition unit does not recognize the object is changed to the state in which the object recognition unit recognizes the object, the display control unit gradually reduces the display range of the surrounding icon from the entire annular area toward a part of the annular area corresponding to the direction from the moving body to the object.

3. The attention reminder system according to claim 1 or 2, wherein: When the display control unit switches from a state in which the object recognition unit recognizes the objects less than the upper limit and sets the display mode of the surrounding icons to a first display mode in which a part of the annular area corresponding to the direction of the objects relative to the moving body is used as the display range to a state in which the object recognition unit does not recognize the objects, the display control unit switches the display mode of the surrounding icons to a second display mode in which the entire annular area is used as the display range.

4. The attention reminder system according to claim 3, wherein: The display control unit performs a process of temporarily increasing the distance between the moving object icon and the surrounding icons while the display mode of the surrounding icons is switched from the first display mode to the second display mode.

5. The attention reminder system according to claim 1 or 2, wherein: When the object recognition unit fails to recognize the object, the display control unit sets the display mode of the surrounding icons to a third display mode in which the entire annular area is used as a display range. When the object recognition unit fails to recognize the object for more than a specified time, the display control unit sets the display mode of the surrounding icons to a fourth display mode in which the entire annular area is used as a display range and which is different from the third display mode.

6. The attention reminder system according to claim 1 or 2, wherein: The attention prompting system includes an influence degree recognition unit for recognizing the influence degree of the object recognized by the object recognition unit on the moving body. The display control unit changes a display mode of the surrounding icons according to the degree of influence of the object.

7. The attention reminder system according to claim 1 or 2, wherein: The attention warning system includes a sound image localization control unit that controls output modes of a plurality of speakers provided in the mobile body to change the position of a sound image of a predetermined attention warning sound perceived by the operator. The sound image localization control unit sets the position of the sound image of the caution warning sound to a predetermined range around the operator when the object recognition unit does not recognize the object. When the state in which the object recognition unit does not recognize the object is shifted to the state in which the object recognition unit recognizes the object, the sound image localization control unit gradually reduces the range of the position of the sound image of the attention warning sound from the prescribed range toward the direction from the operator to the object.

8. A nonvolatile recording medium having a control program recorded thereon, the control program causing a computer to obtain a recognition result of an object recognition unit that recognizes an object existing around a moving body, The computer is caused to execute the following processing via a controller that controls the operation of a display device, wherein the display device outputs a visual display that can be visually recognized by an operator of the mobile body to a front windshield of the mobile body, the processing comprising: causing the display device to display a predetermined caution display corresponding to the recognition result on the front windshield as the visual display; and The display device displays the caution display on the front windshield, including a moving body icon imitating the moving body and a surrounding icon whose display range changes in a circumferential direction of a ring-shaped area surrounding the moving body icon. When the object is recognized by the object recognition unit, the surrounding icon is displayed on the front windshield via the display device, with a range including a portion corresponding to the direction of the object relative to the moving body as a display range. When the number of objects recognized by the object recognition unit is equal to or greater than a predetermined upper limit, the display range of the surrounding icon is set to the entire annular area. When the number of objects recognized by the object recognition unit is greater than the upper limit and the display range of the surrounding icon is set to the entire annular area, if the number of objects recognized by the object recognition unit increases, the size of the surrounding icon is reduced.

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