Apparatus and method for notifying approach of emergency vehicle

Abstract

The invention provides a device and a method for notifying approaching of an emergency vehicle. The device and the method are used for detecting approaching of the emergency vehicle and notifying a driver. A notification device includes: a distance measurement unit that determines a distance between a host vehicle and an emergency vehicle; a travel angle calculation unit that calculates the travel angle of the host vehicle; a relative travel angle calculation unit that calculates a relative travel angle between the host vehicle and the emergency vehicle; a storage unit that stores proximity notification history information; a notification determination unit that determines whether or not to perform an approach notification of the emergency vehicle; and a notification unit that performs notification to the driver on the basis of the determination result of the notification determination unit. When the distance is equal to or less than a predetermined threshold value and the emergency vehicle is in an emergency state, the notification determination unit determines that notification is to be performed when the storage unit has an approach notification history corresponding to the emergency vehicle for a predetermined time and when the travel angle and the relative travel angle are within respective predetermined ranges.

Description

Technical Field

[0001] The invention relates to a notification device and method for approaching emergency vehicles. Background Art

[0002] In the prior art, when an emergency vehicle in an emergency state (such as with a siren or patrol lights activated) approaches the host vehicle, it is a known technology to notify the driver of the host vehicle of the approach of the emergency vehicle, which is called emergency vehicle support control).

[0003] However, in the prior art, whenever an emergency vehicle in an emergency state approaches the host vehicle, the emergency vehicle support control will notify the driver of the host vehicle.

[0004] However, determining whether to notify the driver based on the distance between the emergency vehicle and the vehicle may cause the following problem: when it is obviously not necessary to take evasive measures to give way to the emergency vehicle (give way), notifying each time the emergency vehicle approaches the threshold distance will lead to excessive notifications, which may annoy the driver.

[0005] Prior art literature:

[0006] Patent document 1: Japanese Patent Publication: Tokkaihei 09-007096. Summary of the invention

[0007] According to an embodiment of the present invention, there is provided a notification device for approaching an emergency vehicle, which is used to detect the approach of an emergency vehicle and notify the driver. The notification device includes: a distance measurement unit for determining the distance between the host vehicle and the emergency vehicle; a travel angle calculation unit for calculating the travel angle of the host vehicle; a relative travel angle calculation unit for calculating the relative travel angle between the host vehicle and the emergency vehicle; a storage unit for storing information on the approach notification history; a notification judgment unit for judging whether to make an approach notification of the emergency vehicle; and a notification unit for implementing notification to the driver based on the judgment result of the notification judgment unit. When the distance is below a prescribed threshold and the emergency vehicle is in an emergency state, the notification judgment unit judges that a notification is to be made when the storage unit has the approach notification history corresponding to the emergency vehicle within a prescribed time and when the travel angle and the relative travel angle are respectively within their respective prescribed ranges.

[0008] According to an embodiment of the present invention, in the notification device, the prescribed threshold includes a first threshold and a second threshold, wherein the first threshold is a threshold for general notification, the second threshold is a threshold for reapproximation notification, and the second threshold is less than the first threshold. When the notification determination unit determines that notification is to be made, the notification unit makes a notification when the distance is less than or equal to the second threshold.

[0009] According to an embodiment of the present invention, the notification device further comprises: a height determination unit for determining the height of the host vehicle or the emergency vehicle. The notification determination unit determines that notification is to be made when the height of the host vehicle and the height of the emergency vehicle are within a specified value.

[0010] According to an embodiment of the present invention, the notification device further includes: a driving path determination unit for determining whether the driving path of the host vehicle or the emergency vehicle is a toll road. When the driving path determination unit determines that either the host vehicle or the emergency vehicle is traveling on the toll road, the notification determination unit determines that notification is not necessary.

[0011] According to another embodiment of the present invention, there is provided a notification device for approaching an emergency vehicle, which is used to detect the approach of an emergency vehicle and notify the driver. The notification device includes: a distance measurement unit, which is used to determine the distance between the host vehicle and the emergency vehicle; a traveling direction determination unit, which is used to determine the current traveling direction of the host vehicle and the emergency vehicle; a storage unit, which is used to store information of the approach notification history; a notification judgment unit, which determines whether to make an approach notification of the emergency vehicle; and a notification unit, which implements notification to the driver based on the judgment result of the notification judgment unit. In the case where the distance is below a specified threshold and the emergency vehicle is in an emergency state, the notification judgment unit determines whether to make the approach notification of the emergency vehicle based on the approach notification history and the traveling direction when the storage unit has the approach notification history corresponding to the emergency vehicle within a specified time.

[0012] According to another embodiment of the present invention, in the notification device, when the traveling direction of the host vehicle matches the traveling direction of the host vehicle recorded in the proximity notification history, the notification determination unit determines that notification is to be made.

[0013] According to another embodiment of the present invention, in the above-mentioned notification device, when the traveling direction of the vehicle and the traveling direction of the vehicle in the proximity notification history record are inconsistent, the notification judgment unit judges whether to make a notification based on the traveling direction of the vehicle and the traveling direction of the emergency vehicle.

[0014] According to another embodiment of the present invention, in the above-mentioned notification device, when the path of the vehicle is a path with a central dividing strip and the traveling direction of the vehicle is inconsistent with the traveling direction of the emergency vehicle, the notification judgment unit determines that no notification is needed.

[0015] According to another embodiment of the present invention, in the notification device, when the traveling direction of the host vehicle matches the traveling direction of the emergency vehicle, the notification determination unit determines that notification is to be made.

[0016] According to another embodiment of the present invention, in the notification device, the prescribed threshold includes a first threshold and a second threshold, wherein the first threshold is a threshold for general notification, the second threshold is a threshold for re-approach notification, and the second threshold is less than the first threshold. When the traveling direction of the host vehicle is inconsistent with the traveling direction of the host vehicle in the approach notification history record, the notification unit performs notification when the distance is less than or equal to the second threshold.

[0017] According to another embodiment of the present invention, the notification device further comprises: a height determination unit for determining the height of the host vehicle or the emergency vehicle. The notification determination unit determines that notification is to be made when the height of the host vehicle and the height of the emergency vehicle are within a specified value.

[0018] According to another embodiment of the present invention, the notification device further includes: a driving path determination unit for determining whether the driving path of the host vehicle or the emergency vehicle is a toll road. When the driving path determination unit determines that either the host vehicle or the emergency vehicle is traveling on the toll road, the notification determination unit determines that no notification is required.

[0019] According to another embodiment of the present invention, a notification method for approaching an emergency vehicle is provided, which is used to detect the approach of an emergency vehicle and notify the driver. The notification method includes: determining the distance between the host vehicle and the emergency vehicle; calculating the travel angle of the host vehicle; calculating the relative travel angle between the host vehicle and the emergency vehicle; storing information on the approach notification history record; determining whether to make an approach notification of the emergency vehicle; and notifying the driver based on the determination result of the approach notification; and when the distance is below a specified threshold and the emergency vehicle is in an emergency state, when the approach notification history record corresponding to the emergency vehicle within a specified time is stored and when the travel angle and the relative travel angle are respectively within their respective specified ranges, determining that a notification is to be made.

[0020] According to another embodiment of the present invention, a notification method for approaching an emergency vehicle is provided, which is used to detect the approach of an emergency vehicle and notify the driver. The notification method includes: determining the distance between the host vehicle and the emergency vehicle; determining the current travel direction of the host vehicle and the emergency vehicle; storing information of the proximity notification history record; determining whether to make the approach notification of the emergency vehicle; implementing notification to the driver based on the determination result of the proximity notification; and when the distance is below a specified threshold and the emergency vehicle is in an emergency state, when the proximity notification history record corresponding to the emergency vehicle within a specified time is stored, determining whether to make the approach notification of the emergency vehicle based on the proximity notification history record and the travel direction.

[0021] According to the embodiment of the present invention, when the emergency vehicle approaching the host vehicle has been notified to the driver once, if the emergency vehicle approaches again, it can be determined whether notification is required based on the current vehicle conditions of the host vehicle and the emergency vehicle. Thus, the driver can be notified in appropriate situations to avoid notifying the driver even in situations where it is not necessary to avoid the emergency vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 4 is a block diagram of a notification device for approaching an emergency vehicle according to an embodiment of the present invention.

[0023] Figure 2A and Figure 2B This is an explanatory diagram for explaining the definition of the traveling angle of each vehicle illustrated in the embodiment of the present invention.

[0024] Figure 3 This is an explanatory diagram for explaining the definition of the relative travel angle between the host vehicle and the emergency vehicle illustrated in the embodiment of the present invention.

[0025] Figure 4A It is an explanatory diagram for explaining the calculation of the traveling angle and the relative traveling angle according to the embodiment of the present invention.

[0026] Figure 4B It is an explanatory diagram for explaining the calculation of the traveling angle and the relative traveling angle according to the embodiment of the present invention.

[0027] FIG. 5A to FIG. 5D It is a diagram illustrating an example of a situation in which a notification device performs re-notification when an emergency vehicle approaches according to an embodiment of the present invention.

[0028] Figure 6 This is a diagram for explaining the setting of a predetermined threshold value according to an embodiment of the present invention.

[0029] Figure 7FIG. 4 is a block diagram of a notification device for approaching an emergency vehicle according to another embodiment of the present invention.

[0030] Fig. 8A and Figure 8B Schematic diagram illustrating the scenario of the first notification.

[0031] Fig.9A and Fig. 9B Schematic diagram illustrating a scenario in which an emergency vehicle approaches the vehicle again after the first notification.

[0032] Fig. 10A and Fig. 10B Schematic diagrams illustrating other scenarios in which an emergency vehicle approaches the vehicle again after the first notification.

[0033] Fig.11 Schematic diagrams illustrating other scenarios in which an emergency vehicle approaches the vehicle again after the first notification.

[0034] Fig.12 Schematic diagram of the vehicle avoidance scenario according to an embodiment of the present invention.

[0035] Fig.13A and Fig. 13B Schematic diagram illustrating a scenario in which the host vehicle and the emergency vehicle are traveling on a road environment at different heights.

[0036] Fig.14 Schematic diagram illustrating scenarios in which the host vehicle and the emergency vehicle are traveling in different types of road environments.

[0037] Fig.15 4 is a flowchart of a notification method for approaching an emergency vehicle according to an embodiment of the present invention.

[0038] Fig.16 FIG. 4 is a flow chart of another method for notifying an approaching emergency vehicle according to an embodiment of the present invention.

[0039] Description of Reference Numerals

[0040] 100, 100A: Emergency vehicle approach notification device

[0041] 102: Distance measurement unit

[0042] 104: Travel angle calculation unit

[0043] 105: Travel direction determination unit

[0044] 106: Relative travel angle calculation unit

[0045] 108: Storage

[0046] 110: Report to the Judgment Department

[0047] 112: Notification Department

[0048] 114: Altitude determination unit

[0049] 116: Driving route determination unit

[0050] 200: Overpass

[0051] 202: Surface road

[0052] 204: Interchange

[0053] 250: Toll Road

[0054] V1: This vehicle

[0055] V2: Emergency Vehicle

[0056] V3: Other vehicles

[0057] D1, D2: distance

[0058] H1, H2: Height

[0059] θ1: relative travel angle

[0060] θ2: travel angle DETAILED DESCRIPTION

[0061] Reference will now be made in detail to exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Whenever possible, the same reference numerals are used in the drawings and the description to refer to the same or like parts.

[0062] Figure 1 is a block diagram of a notification device for approaching an emergency vehicle according to an embodiment of the present invention. Figure 1 As shown, the notification device for approaching an emergency vehicle (hereinafter referred to as notification device) 100 includes at least but not limited to a distance measuring unit 102, a travel angle calculating unit 104, a relative travel angle calculating unit 106, a storage unit 108, a notification determining unit 110, and a notification unit 112. The notification device 100 is basically also one of the support systems of the vehicle.

[0063] besides, Figure 2A and Figure 2B This is an explanatory diagram for explaining the definition of the traveling angle of each vehicle illustrated in the embodiment of the present invention. Figure 3This is an explanatory diagram for explaining the definition of the relative travel angle between the host vehicle and the emergency vehicle illustrated in the embodiment of the present invention. This embodiment uses the relative travel angle (azimuth) θ1 between the host vehicle V1 and the emergency vehicle V2 and the travel angle (azimuth) θ2 of the host vehicle V1 to determine the driving state between the two vehicles. Therefore, when the emergency vehicle V2 approaches the host vehicle V1 again, the notification device 100 can determine whether to notify the driver of the host vehicle of the approach of the emergency vehicle V2 again.

[0064] Here, the emergency vehicle V2 is, for example, an ambulance, a fire truck, a police vehicle, or various necessary vehicles that need to provide support in response to an emergency.

[0065] The distance measuring unit 102 is used to determine the distance between the vehicle V1 and the emergency vehicle V2. For example, the distance measuring unit 102 can use the lidar or other similar equipment equipped on the vehicle V1 to calculate the distance between the vehicle V1 and the emergency vehicle V2. In addition, the distance can also be obtained through the global satellite system GNSS and the Internet of Vehicles. For example, the vehicle V1 and the emergency vehicle V2 can each obtain their own coordinate information from the GNSS system, and then obtain the coordinate information of the emergency vehicle V2 through the Internet of Vehicles between the vehicle V1 and the emergency vehicle V2, and then calculate the distance between the vehicle V1 and the emergency vehicle V2. Regarding the distance measuring unit 102, the present invention can adopt any technical method without any special limitation.

[0066] The traveling angle calculation unit 104 is used to calculate the traveling angle of the vehicle. Figure 2A and Figure 2B To explain the definition of the travel angle θ2. Figure 2A As shown, the coordinate system XY is established with the vehicle V1 as the reference. For example, the front of the vehicle V1 is 0°, the right is +90°, the left is -90°, and the rear is -180° (counterclockwise) or +180° (clockwise). Figure 2B An example is given in which the travel angle θ2 of the other vehicle V2 with respect to the own vehicle V is 0°, +90°, -90°, -180°, or +180°.

[0067] The relative travel angle calculation unit 106 is used to calculate the relative travel angle between the host vehicle V1 and the emergency vehicle V2. Figure 3 As shown, the relative travel angle θ1 here is a relative angle between the travel direction of the emergency vehicle V2 and the travel direction of the host vehicle V1 based on the orientation of the host vehicle V1. Figure 3 An example is given in which the relative travel angle θ1 between the host vehicle V1 and the emergency vehicle V2 is approximately −45°.

[0068] Regarding the calculation of the travel angle and the relative travel angle, firstly, the control device of the vehicle V (such as integrated in the ECU, etc.) can communicate with the GNSS (Global Navigation Satellite System) to obtain the information of the vehicle, such as the location (such as longitude and latitude, etc.), vehicle speed, travel angle, etc. In addition, the emergency vehicle V2 as another vehicle can also obtain relevant information in this way.

[0069] Next, the vehicle V1 and the emergency vehicle V2 can also communicate through the vehicle-to-everything (V2X) communication system. Thus, the vehicle V1 can obtain information such as distance, speed, travel angle, longitude, latitude, etc. of the emergency vehicle V2 through the V2X vehicle network.

[0070] Afterwards, the notification device 100 of the vehicle V1 can calculate the travel angle θ2 of the vehicle V1 and the relative travel angle θ1 between the vehicle V1 and the emergency vehicle V2 based on the above-obtained information of the vehicle V1 and the emergency vehicle V2 to determine whether to support the notification. If notification is required, it can be displayed through a human-machine interface (HMI) such as a display on the vehicle V1 to notify the user (driver, passenger, etc.) of the vehicle V1 that a dangerous situation is approaching.

[0071] The following is based on Figure 4A and Figure 4B The following is an example of calculating the relative travel angle θ1 between the host vehicle V1 and the emergency vehicle V2. Figure 4A As shown, based on the above description, for example, the vehicle V1 can obtain the coordinate position (x, y) of the emergency vehicle V2 and the coordinate position (x0, y0) of the vehicle V1. Afterwards, taking the vehicle V1 as the origin, coordinate transformation is performed to obtain the coordinate position (xh, yh) of the emergency vehicle V2 relative to the vehicle V1. Of course, it is also possible to directly calculate without coordinate transformation, that is, xh=x-x0, yh=y-y0. In addition, the Hubeny calculation method is used to calculate the straight line L between the vehicle V1 and the emergency vehicle V2. The Hubeny calculation method is an existing formula, and existing literature can be referred to. The detailed calculation method is not described in this embodiment. Therefore, the relative travel angle θ1 between the vehicle V1 and the emergency vehicle V2 can be calculated in the following way.

[0072]

[0073] In addition, the travel angle θ2 of the vehicle V can be expressed as follows: Figure 4B The calculation method is shown. Figure 4BAs shown, it is assumed that the vehicle V1 is traveling along the Y-axis direction. The vehicle V1 obtains the information of the emergency vehicle V2 through the above-mentioned V2X vehicle network. Afterwards, the rotation radius R can be calculated from the speed and steering angle of the emergency vehicle V2, and then the circumference (2πR) corresponding to the rotation radius R is calculated. Next, the relative travel angle calculation unit 106 of the notification device 100 of the vehicle V1 divides the necessary communication distance corresponding to the speed of the vehicle V1 by the above-mentioned circumference to calculate the relative travel angle θ1. Afterwards, the travel angle calculation unit 104 calculates the base angle α of the triangle OV1V2 based on the relative travel angle θ1 by the following formula.

[0074] α=(180°-θ1) / 2

[0075] Then, the travel angle θ2 of the vehicle is calculated from the base angle α, that is, θ2 = 90° - α. The above is an example of calculating the relative travel angle θ1 and the travel angle θ2, but the present invention is not limited to using only these methods, and any other applicable method can be used.

[0076] In addition, the storage unit 108 of the notification device 100 is used to store information of the proximity notification history record. The storage unit 108 can adopt any usable storage device, such as dynamic random access memory (DRAM), flash memory, etc., and the present invention is not particularly limited. It can be a memory used in conjunction with a car computer, a memory of an independent device, or a removable memory card, etc. The information of the proximity notification history record refers to the record that the emergency vehicle V2 is in an emergency state and approaches the vehicle V1, and the notification device 100 notifies the driver of the vehicle V1 that the emergency vehicle V2 has approached the vehicle V1. The proximity notification history record can at least include the identification number of the emergency vehicle V2 and the notification time.

[0077] Thus, by storing the approach notification history in the storage unit 108, when an emergency vehicle V2 approaches the vehicle V1 again, the notification device 100 can determine whether the emergency vehicle V2 is the same vehicle and how much time has passed since the last notification.

[0078] Furthermore, the notification judgment unit 110 of the notification device 100 determines whether to notify the approach of the emergency vehicle V2. Furthermore, the notification unit 112 implements notification to the driver of the vehicle V1 based on the judgment result of the notification judgment unit 110. The notification unit 112 can notify the driver in the form of a specific sound, text or a combination thereof, for example, through a display or a speaker on the dashboard of the vehicle V1. Furthermore, when the mobile terminal held by the driver of the vehicle V1 can be linked to the support system of the vehicle V1 (i.e., the notification device 100), the driver can also be notified through the mobile terminal.

[0079] The above-mentioned travel angle calculation unit 104, relative travel angle calculation unit 106, notification judgment unit 110 and notification unit 112 can be integrated into a control unit. The control unit can independently notify the device 100. The control unit can also be implemented by a processor as part of the entire vehicle control device, such as the ECU (Electronic Control Unit) unit of the vehicle. The ECU unit can be used to control various sensors of the vehicle. Therefore, the control unit can receive data, and perform various processing and judgments on the data, and then control various actuation components of the vehicle. Various different system controls in the vehicle are controlled by the ECU unit. The control unit can be used to control the above-mentioned parts. In addition, when the control unit is an ECU unit, it can also be used to control the vehicle, such as controlling the driving support unit to control the driving support function. Therefore, the control unit can control various behavior modes of the vehicle, such as acceleration and deceleration, parking, avoidance, etc., and can also detect the vehicle state or the state of the surrounding area of ​​the vehicle by controlling various sensors and detectors. For those skilled in the art, various control methods of the control unit can be designed according to actual needs.

[0080] The following is an explanation of whether to make a notification of the approach of the emergency vehicle V2. First, when a notification of the emergency vehicle V2 is required, the distance between the host vehicle V1 and the emergency vehicle V2 must be below a specified threshold, and the emergency vehicle V2 is in an emergency state, such as an ambulance or fire truck with a siren turned on, or a police car or patrol car with patrol lights turned on.

[0081] At this time, the notification judgment unit 110 determines that notification is necessary when the storage unit 108 has a corresponding approach notification history of the emergency vehicle V2 within a specified time, and when the relative travel angle θ1 between the host vehicle V1 and the emergency vehicle V2 and the travel angle θ2 of the host vehicle V1 are respectively within their respective specified ranges. In this case, the notification unit 112 notifies the driver of the host vehicle V1 based on the judgment result of the notification judgment unit 110 (i.e., the result of "notification is necessary").

[0082] The following references FIG. 5A to FIG. 5D Let's explain a situation where an emergency vehicle V2 needs to be notified again. For the same emergency vehicle V2, the situation is that after the last notification, the distance between the host vehicle V1 and the emergency vehicle V2 is separated by a certain distance, such as 100 meters (m). At this time, if Figure 5A , Figure 2A and Figure 3As shown, the relative travel angle θ1 between the host vehicle V1 and the same emergency vehicle V2 is -10°~10°, and the travel angle of the emergency vehicle V2 is -120°~-180° or 120°~180°, which means that the emergency vehicle V2 turns in front of the host vehicle V1, and the emergency vehicle V2 after turning is close to the host vehicle V1 again. At this time, the notification device 100 will again notify the driver of the host vehicle V1 of the "approach" of the same emergency vehicle V2.

[0083] Also, if Figure 5B , Figure 2A , Figure 2B and Figure 3 As shown, the relative travel angle θ1 between the host vehicle V1 and the same emergency vehicle V2 is -100°~-180° or 100°~180°, and the travel angle of the emergency vehicle V2 is -20~20°, which means that the emergency vehicle V2 turns behind the host vehicle V1 and the emergency vehicle V2 approaches the host vehicle V1 again. At this time, the notification device 100 notifies the driver of the host vehicle V1 again of the "approach" of the same emergency vehicle V2.

[0084] Also, if Figure 5C As shown in FIG. 1 , the situation is that the emergency vehicle V2 is on a road that intersects the road that the host vehicle V1 is traveling on. Similarly, for the same emergency vehicle V2, the situation is that after the previous notification, the distance between the host vehicle V1 and the emergency vehicle V2 is separated by a certain distance, such as 100 meters (m). At this time, if Figure 5C As shown, the relative travel angle θ1 between the host vehicle V1 and the same emergency vehicle V2 is -100°~-50°, and the travel angle of the emergency vehicle V2 is 80°~110°, which means that the emergency vehicle V2 is in front of the host vehicle V1, and after turning from the state of traveling in the left direction, it becomes traveling in the right direction, and the emergency vehicle V2 after turning is close to the host vehicle V1 again. At this time, the notification device 100 will again notify the driver of the host vehicle V1 of the "approach" of the same emergency vehicle V2.

[0085] Also, if Figure 5D As shown, the relative travel angle θ1 between the host vehicle V1 and the same emergency vehicle V2 is 100°~50°, and the travel angle of the emergency vehicle V2 is -80°~-110°, which means that the emergency vehicle V2 is in front of the host vehicle V1, and after turning from the state of traveling in the right direction, it becomes traveling in the left direction, and the emergency vehicle V2 after turning is close to the host vehicle V1 again. At this time, the notification device 100 will once again notify the driver of the host vehicle V1 of the "approach" of the same emergency vehicle V2.

[0086] exist FIG. 5A to FIG. 5DThe relative travel angle θ1 between the host vehicle V1 and the emergency vehicle V2 and the travel angle of the emergency vehicle V2 are only for illustrative purposes, and the condition for initiating re-notification is not limited to a specific angle.

[0087] According to the above-mentioned embodiment of the present invention, when the emergency vehicle V2 that has been notified once approaches the present vehicle V1 again, the notification device 100 can determine whether notification is needed based on the current vehicle conditions of the present vehicle V1 and the emergency vehicle V2, thereby notifying the driver of the present vehicle V1 when appropriate.

[0088] Figure 6 It is an illustration of the setting of the prescribed threshold value according to an embodiment of the present invention. According to one embodiment of the present invention, the prescribed threshold value Dth may also include a first threshold value Dth1 and a second threshold value Dth2. The first threshold value Dth1 is a threshold value for general notification, and the second threshold value Dth2 is a threshold value for re-approach notification. The second threshold value Dth2 is less than the first threshold value Dth1. As an example, the first threshold value Dth1 is, for example, 300 meters, and the second threshold value Dth2 is, for example, 150 meters. The settings of these thresholds may be set according to different requirements. In addition, these thresholds may also be set by the user (driver), such as through the human-machine interface of the vehicle V1. In this case, when the notification judgment unit 110 determines that the emergency vehicle V2 is to be notified again, the notification unit 112 notifies when the distance is less than the second threshold value Dth2.

[0089] According to this embodiment, if the driver of the vehicle V1 approaches the emergency vehicle V2 again due to the behavior of the vehicle V1 (for example, attempting to overtake), the notification distance condition can be relaxed to improve the accuracy of the notification because the driver is likely to have realized the presence of the emergency vehicle V2.

[0090] Figure 7 FIG. 4 is a block diagram of a notification device for approaching an emergency vehicle according to another embodiment of the present invention. Figure 7 and Figure 1 The architectural difference is that Figure 1 The implementation method is based on the relative travel angle between the host vehicle V1 and the emergency vehicle, and Figure 7 The architecture is based on the relative travel direction (direction) between the host vehicle V1 and the emergency vehicle V2. In the following description, only the differences are described, and the description of the same or similar components is omitted. For related content, please refer to Figure 1 Description.

[0091] like Figure 7As shown, the notification device 100A includes a traveling direction determination unit 105. The traveling direction determination unit 105 is used to determine the current traveling directions of the host vehicle V1 and the emergency vehicle V2. The traveling direction determination unit 105 can, for example, determine the traveling directions of the host vehicle V1 and the emergency vehicle V2 by using a navigation device (GPS, GNSS, etc.) on the host vehicle V1 or a camera installed on the host vehicle V1, such as whether the two are in the same direction or in the opposite direction. The determination of the traveling direction determination unit 105 can be implemented, for example, by the above-mentioned control unit.

[0092] The following is an explanation of whether to make a notification of the approach of the emergency vehicle V2. First, when a notification of the emergency vehicle V2 is required, the distance between the host vehicle V1 and the emergency vehicle V2 must be below a specified threshold, and the emergency vehicle V2 is in an emergency state, such as an ambulance or fire truck with a sirens on, or a police car or patrol car with patrol lights on.

[0093] At this time, when the notification judgment unit 110 has a historical record of approach notification corresponding to the emergency vehicle V2 within the specified time in the storage unit 108, and the notification device 100A of the vehicle V1 determines whether to make an approach notification to the emergency vehicle V2 again based on the historical record of approach notification and the traveling direction of the vehicle V1 and the emergency vehicle V2.

[0094] According to this embodiment, when the same emergency vehicle V2 approaches the present vehicle V1 again within a predetermined time (for example, within 5 minutes), it can be determined whether notification is needed based on the current travel direction of the present vehicle V1 and / or the emergency vehicle V2, thereby notifying the driver of the present vehicle V1 if appropriate.

[0095] According to one embodiment of the present invention, when the traveling direction of the host vehicle V1 matches the traveling direction of the host vehicle V1 recorded in the proximity notification history, the notification determination unit determines that notification is to be made.

[0096] Fig. 8A and Figure 8B Schematic diagram showing the scenario of the first notification. Fig. 8A As shown, it illustrates that the vehicle V1 and the emergency vehicle V2 behind it are traveling in the same direction. When the distance between the two vehicles is within a specified threshold (such as Figure 6 When the distance is 300 meters (300 meters in the example), the host vehicle V1 notifies the driver of the approach of the emergency vehicle V2. Figure 8B As shown, it illustrates that the vehicle V1 and the emergency vehicle V2 traveling in the opposite lane are traveling in opposite directions. When the distance between the two vehicles is within a specified threshold (such as Figure 6 When the distance is 300 meters (300 meters in the example), the host vehicle V1 notifies the driver of the approach of the emergency vehicle V2.

[0097] Fig.9A and Fig. 9B Schematic diagram showing a scenario where an emergency vehicle approaches the vehicle again after the first notification. Fig.9A As shown, the example is shown in Fig. 8A After the emergency vehicle V2 turns around and becomes the front of the host vehicle V1. At this time, the current traveling direction of the host vehicle V1 (see Fig.9A ) and the traveling direction of the vehicle V1 in the historical record of the approach notification (see Fig. 8A ) are determined to be consistent by the traveling direction determination unit 105. At this time, the notification device 100A of the host vehicle V1 notifies its driver of the approach of the emergency vehicle V2 that is approaching again.

[0098] Also, if Fig. 9B As shown, the example is shown in Figure 8B After the emergency vehicle V2 turns around and becomes the rear of the host vehicle V1. At this time, the current traveling direction of the host vehicle V1 (see Fig. 9B ) and the traveling direction of the vehicle V1 in the historical record of the approach notification (see Figure 8B ) are determined to be consistent by the traveling direction determination unit 105. At this time, the notification device 100A of the host vehicle V1 notifies its driver of the approach of the emergency vehicle V2 that is approaching again.

[0099] According to this embodiment, by determining whether or not to notify the emergency vehicle V2 of approaching again based on the current position of the host vehicle V1, the driver can be notified in appropriate situations using a simple architecture.

[0100] Furthermore, according to one embodiment of the present invention, when the traveling direction of the host vehicle V1 is inconsistent with the traveling direction of the host vehicle V1 recorded in the proximity notification history, the notification determination unit 110 determines whether to make a notification based on the traveling direction of the host vehicle V1 and the traveling direction of the emergency vehicle V2. Furthermore, when the traveling direction of the host vehicle V1 is consistent with the traveling direction of the emergency vehicle V2, the notification determination unit 110 determines that a notification is necessary. When the traveling direction of the host vehicle V1 is inconsistent with the traveling direction of the emergency vehicle V2, the notification determination unit 110 determines that a notification is not necessary.

[0101] Fig. 10A and Fig. 10B Schematic diagram showing a scenario where an emergency vehicle approaches the vehicle again after the first notification. Fig. 10A As shown, the example is shown in Fig. 8A After the situation, the host vehicle V1 turns and becomes the situation in front of the emergency vehicle V2. At this time, the current travel direction of the host vehicle V1 (see Fig. 10A ) and the traveling direction of the vehicle V1 in the historical record of the approach notification (see Fig. 8A ) are determined to be inconsistent by the traveling direction determination unit 105. At this time, the notification determination unit 110 of the notification device 100A of the host vehicle V1 determines whether to notify the emergency vehicle again based on the traveling direction of the host vehicle V1 and the traveling direction of the emergency vehicle V2. In this case, because the traveling direction of the host vehicle V1 is different from that of the emergency vehicle V2, and the driving lanes of the host vehicle V1 and the emergency vehicle V2 are different, the host vehicle V1 does not need to take evasive measures against the emergency vehicle V2, so the notification determination unit 110 can determine that it is not necessary to notify again. Accordingly, the notification unit 112 will not notify the driver of the host vehicle V1 based on the judgment result of the notification determination unit 110.

[0102] Also, if Fig. 10B As shown, the example is shown in Figure 8B After the situation, the host vehicle V1 turns around and becomes the situation behind the emergency vehicle V2 and close to the emergency vehicle. At this time, the current travel direction of the host vehicle V1 (see Fig. 10B ) and the traveling direction of the vehicle V1 in the historical record of the approach notification (see Figure 8B ) are judged as inconsistent by the traveling direction determination unit 105. At this time, the notification determination unit 110 of the notification device 100A of the host vehicle V1 determines whether to notify the emergency vehicle again based on the traveling direction of the host vehicle V1 and the traveling direction of the emergency vehicle V2. In this case, because the traveling direction of the host vehicle V1 is the same as the traveling direction of the emergency vehicle V2, and the driving lanes of the host vehicle V1 and the emergency vehicle V2 are the same (behind the emergency vehicle V2), the notification determination unit 110 determines that the host vehicle V1 needs to notify the emergency vehicle V2 again. Based on the judgment result of the notification determination unit 110, the notification unit 112 notifies the driver of the host vehicle V1 again about the emergency vehicle V2.

[0103] According to this embodiment, whether or not re-notification is necessary is determined based on the current traveling direction of the host vehicle V1 and information on past proximity notification history, thereby improving the accuracy of notification.

[0104] Also, according to one embodiment of the present invention, Fig.11 As shown, when the path of the host vehicle V1 is a path having a central median SP and the traveling direction of the host vehicle V1 does not match the traveling direction of the emergency vehicle V2, the notification determination unit 110 determines that notification is not necessary.

[0105] like Fig.11 As shown, the example is shown in Fig. 8A After the situation, the host vehicle V1 turns and becomes the situation in front of the emergency vehicle V2. At this time, the current travel direction of the host vehicle V1 (see Fig.11) and the traveling direction of the vehicle V1 in the historical record of the approach notification (see Fig. 8A ) are determined to be inconsistent by the traveling direction determination unit 105. Fig.9A The difference is that there is a central dividing strip SP (such as a central dividing island) on the path traveled by the vehicle V1 and the emergency vehicle V2. In this case, due to the existence of the central dividing strip SP, the vehicle V1 does not need to avoid the emergency vehicle, so the notification judgment unit 110 can determine that no re-notification is required. Accordingly, the notification unit 112 will not notify the driver of the vehicle V1 based on the judgment result of the notification judgment unit 110. In other situations where re-notification is required, if there is a central dividing strip SP between the vehicle V1 and the emergency vehicle V2, it is also not necessary to re-notify the emergency vehicle V2.

[0106] The detection of the central dividing strip SP can be performed, for example, by an obstacle sensor (not shown). Also, a surrounding environment detection unit, such as a camera, can be used to capture the surrounding environment of the vehicle V1 and determine whether there is a central dividing strip SP by image processing.

[0107] According to this embodiment, whether or not re-notification is necessary is determined based on the current traveling direction of the host vehicle V1 and information on past proximity notification history, thereby improving the accuracy of notification.

[0108] According to one embodiment of the present invention, the notification device 100A can further set a first threshold value Dth1 and a second threshold value Dth2 for a specified threshold value, just like the notification device 100. Similarly, the first threshold value Dth1 is a threshold value for general notification, and the second threshold value Dth2 is a threshold value for re-approach notification. The second threshold value Dth2 is smaller than the first threshold value Dth1. In this case, when the traveling direction of the host vehicle V1 is inconsistent with the traveling direction of the host vehicle V1 in the approach notification history record, the notification judgment unit 110 makes a notification when the distance is less than the second threshold value Dth2. According to this embodiment, if the driver of the host vehicle V1 approaches the emergency vehicle V2 again (for example, trying to overtake) due to the behavior of the host vehicle V1, because the driver is likely to have realized the existence of the emergency vehicle V2, the distance condition for the notification can be relaxed to improve the accuracy of the notification.

[0109] Fig.12 is a schematic diagram of the vehicle avoidance scenario according to an embodiment of the present invention. Fig.12 As shown, when there is no central dividing strip SP (such as a central dividing island) on the path where the host vehicle V1 and the emergency vehicle V2 are traveling ( Fig. 10AEven if the host vehicle V1 is traveling in the opposite lane of the emergency vehicle V2, if there is another vehicle V3 in front of the emergency vehicle V2, the emergency vehicle V2 may need to avoid the other vehicle V3. At this time, the emergency vehicle V2 may cross the center lane C and avoid the other vehicle V3 by a roundabout route. At this time, the host vehicle V1 needs to notify the driver of the approach of the emergency vehicle V2. In this case, the notification device 100, 100A can be set to a specified threshold (see Figure 6 The third threshold value may be set to be smaller than the second threshold value.

[0110] Fig.13A and Fig. 13B A schematic diagram illustrating a situation in which the host vehicle and the emergency vehicle are traveling on a road environment at different heights. According to one embodiment of the present invention, Figure 1 The notification device 100 and Figure 7 The notification device 100A may also include a height determination unit 114. The height determination unit 114 is used to determine the height of the host vehicle V1 or the emergency vehicle V2. The notification determination unit 110 determines that a notification is to be made when the height of the host vehicle V1 and the height of the emergency vehicle V2 are within the specified values. The height determination unit 114 can obtain the height of the vehicle (such as the height relative to the sea level) by using the GNSS system as described above. The host vehicle V1 can also obtain the height of the road on which the emergency vehicle V2 is traveling through the above-mentioned V2X vehicle network. The height determination unit 114 can also perform height determination between the two vehicles through the above-mentioned control unit.

[0111] like Fig.13A As shown, it is assumed that the host vehicle V1 is traveling on a general flat road 202, and the emergency vehicle V2 is traveling on an overpass 200. The distance between the host vehicle V1 and the emergency vehicle V2 is D1, and if the height (height difference) H1 between the host vehicle V1 and the emergency vehicle V2 is above a specified value, then regardless of the distance D1 between the two vehicles, the possibility that the host vehicle V1 will give way to the emergency vehicle V2 is quite low, so the notification determination unit 110 of the notification device 100, 100A determines that it is not necessary to notify the driver of the emergency vehicle V2.

[0112] Also, if Fig. 13BAs shown, it is assumed that the vehicle V1 is also traveling on the general flat road 202, and the emergency vehicle V2 is traveling on the interchange 204 of the overpass 200 and is preparing to merge with the flat road 202. At this time, the distance between the vehicle V1 and the emergency vehicle V2 is D2, and the height (height difference) H2 between the vehicle V1 and the emergency vehicle V2 may drop to within the specified value. At this time, the possibility that the vehicle V1 will avoid the emergency vehicle V2 at the confluence ahead is high, so the notification judgment unit 110 of the notification device 100, 100A determines that it is necessary to notify the driver of the emergency vehicle V2.

[0113] In the above example, if the host vehicle V1 is traveling on the overpass 200 and the emergency vehicle V1 is traveling on the flat road 202, it can also be determined whether to make a notification in the same way.

[0114] According to this embodiment, for example, if there is a difference between the driving heights of the two vehicles, such as when the host vehicle V1 is traveling under the overpass 200 and the emergency vehicle V2 is traveling on the overpass 200, the possibility of the driving paths intersecting is low, and the necessity of evasive action is also low. Therefore, by determining whether notification is necessary based on the difference in driving heights of the two vehicles, the driver can be notified in a more appropriate situation.

[0115] Fig.14 A schematic diagram illustrating a scenario in which the host vehicle and the emergency vehicle are traveling in different types of road environments. Fig.14 As shown, Figure 1 The notification device 100 and Figure 7 The notification device 100A may further include a travel path determination unit 116. The travel path determination unit 116 is used to determine whether the travel path of the host vehicle V1 or the emergency vehicle V2 is a toll road 250. When either the host vehicle V1 or the emergency vehicle V2 is traveling on the toll road 250, the notification determination unit 112 determines that notification is not required.

[0116] The driving path determination unit 116 can use the GNSS system as described above to obtain the position of the vehicle, and then cooperate with the navigation map data to determine whether the road the vehicle is traveling on is a toll road 250. The vehicle V1 can also obtain whether the road the emergency vehicle V2 is traveling on is a toll road 250 through the V2X vehicle network described above. The driving path determination unit 116 can also determine the type of road the two vehicles are traveling on through the control unit described above.

[0117] Here, the toll road 250 may refer to a toll highway, a private road, or a toll scenic road. Compared with general roads, the toll road 250 is usually a closed road. Therefore, when the host vehicle V1 and the emergency vehicle V2 are traveling on different types of roads (toll road 250 or general road 202), the host vehicle V1 does not need to take evasive measures against the approaching emergency vehicle V2, and does not need to notify the driver of the host vehicle V1.

[0118] According to this embodiment, for example, if there is a difference between the two roads, such as when the host vehicle is traveling on the general road 202 and the emergency vehicle V2 is traveling on the toll road 250, the possibility of the two roads intersecting is low, and the necessity of evasive action is low. Therefore, by determining whether notification is necessary according to the type of road on which the vehicle is traveling, the driver can be notified in a more appropriate situation.

[0119] Fig.15 FIG. 2 is a flow chart of a method for notifying an approaching emergency vehicle according to an embodiment of the present invention. Fig.15 As shown, in step S100, the notification device 100 determines whether the distance between the host vehicle V1 and the emergency vehicle V2 is below the first threshold. When the distance between the host vehicle V1 and the emergency vehicle V2 is above the first threshold (i.e., no), it means that the host vehicle V1 does not need to avoid the emergency vehicle V2, so the control process ends.

[0120] When the distance between the host vehicle V1 and the emergency vehicle V2 is below the first threshold (ie, yes), step S102 is executed. In step S102, the notification device 100 determines whether the emergency vehicle V2 is in an emergency state. For example, the host vehicle V1 determines whether the emergency vehicle V2 is in an emergency state by detecting whether the emergency vehicle V2 has activated the siren or patrol lights. When the emergency vehicle V2 is not in an emergency state (ie, no), it means that the host vehicle V1 does not need to avoid the emergency vehicle V2, so the control process ends.

[0121] When the emergency vehicle V2 is in an emergency state (i.e., yes), step S104 is executed. In step S104, the notification device 100 determines whether the emergency vehicle V2 is a re-notification target. For example, it can be based on whether the emergency vehicle V2 exists in the proximity notification history record within a specified time. This judgment can be based on the identification number of the emergency vehicle V2. When the emergency vehicle V2 is determined not to be a re-notification target, step S109 is executed, and a general notification method can be used for the emergency vehicle V2.

[0122] When the emergency vehicle V2 is determined to be the object of re-notification, step S106 is executed, the traveling angle calculation unit 104 of the notification device 100 determines the information of the traveling angle θ2 of the host vehicle V1, and the relative traveling angle calculation unit 106 of the notification device 100 determines the relative traveling angle θ1 between the host vehicle V1 and the emergency vehicle V2 (refer to Figure 2A to Figure 2B , Figure 3 and Figure 4A to Figure 4B In addition, if step S106 further determines that the relative travel angle θ1 between the host vehicle V1 and the emergency vehicle V2 and the travel angle θ2 of the host vehicle V1 are within their respective prescribed ranges, that is, under the prescribed conditions, step S108 is executed. On the contrary, if step S106 determines that the relative travel angle θ1 between the host vehicle V1 and the emergency vehicle V2 and the travel angle θ2 of the host vehicle V1 are both outside the prescribed conditions, the control flow ends.

[0123] In step S108, the distance between the vehicle V1 and the emergency vehicle V2 is judged again to determine whether the distance between the vehicle V1 and the emergency vehicle V2 is less than or equal to the second threshold. When the distance between the vehicle V1 and the emergency vehicle V2 is greater than the second threshold (i.e., no), the control process ends. On the contrary, when the distance between the vehicle V1 and the emergency vehicle V2 is less than or equal to the second threshold (i.e., yes), it indicates that the vehicle V1 needs to take evasive measures against the emergency vehicle V2. Therefore, the notification device 100 executes step S110 to notify the driver of the approach of the emergency vehicle V2 again. Afterwards, the control process ends. In addition, step S108 can be an optional execution step.

[0124] Fig.16 FIG. 2 is a flow chart of another method for notifying an approaching emergency vehicle according to an embodiment of the present invention. Fig.16 As shown, in step S200, the notification device 100A determines whether the distance between the host vehicle V1 and the emergency vehicle V2 is below the first threshold. When the distance between the host vehicle V1 and the emergency vehicle V2 is above the first threshold (i.e., no), it means that the host vehicle V1 does not need to avoid the emergency vehicle V2, so the control process ends.

[0125] When the distance between the host vehicle V1 and the emergency vehicle V2 is below the first threshold (i.e., yes), step S202 is executed. In step S202, the notification device 100A determines whether the emergency vehicle V2 is in an emergency state. For example, the host vehicle V1 determines whether the emergency vehicle V2 is in an emergency state by detecting whether the emergency vehicle V2 has activated the sirens or patrol lights. When the emergency vehicle V2 is not in an emergency state (i.e., no), it means that the host vehicle V1 does not need to avoid the emergency vehicle V2, so the control process ends.

[0126] When the emergency vehicle V2 is in an emergency state (i.e., yes), step S204 is executed. In step S204, the notification device 100A determines whether the emergency vehicle V2 is a re-notification target. For example, it can be based on whether the emergency vehicle V2 exists in the proximity notification history record within a specified time. This judgment can be based on the identification number of the emergency vehicle V2. When the emergency vehicle V2 is determined not to be a re-notification target, step S209 is executed, and a general notification method can be used for the emergency vehicle V2.

[0127] When the emergency vehicle V2 is determined to be the object of re-notification, step S206 is executed, and the traveling direction determination unit 105 of the notification device 100A determines the information of the traveling direction of the host vehicle V1. In addition, step S206 further determines whether the traveling direction of the host vehicle V1 has not changed when the notification device 100A notified the host vehicle last time. If it is determined that the traveling direction of the host vehicle has not changed, that is, the traveling direction this time is consistent with the previous traveling direction, step S208 is executed to notify the driver of the approach of the emergency vehicle V2 again (refer to Fig. 8A and Figure 8B as well as Fig.9A and Fig. 9B After that, the control process ends.

[0128] Furthermore, when step S206 determines that the traveling direction of the vehicle V1 in the previous notification has changed from the current traveling direction of the vehicle, that is, when the current and previous traveling directions are inconsistent, step S210 is executed.

[0129] In step S210, the traveling direction determination unit 105 of the notification device 100A determines the relative directions of the host vehicle V1 and the emergency vehicle V2. When the traveling directions of the host vehicle V1 and the emergency vehicle V2 are inconsistent, it means that the host vehicle V1 does not need to take evasive measures against the emergency vehicle V2, so this control process ends (refer to Fig. 8A and Figure 8B as well as Fig. 10A Schematic diagram of the situation).

[0130] When the traveling directions of the host vehicle V1 and the emergency vehicle V2 are consistent, step S212 is executed. Step S212 again determines the distance between the host vehicle V1 and the emergency vehicle V2. When step S212 determines that the distance is above the first threshold, it means that the host vehicle V1 does not need to take evasive measures against the emergency vehicle V2, so the control process ends.

[0131] On the contrary, when step S212 determines that the distance is below the first threshold, it means that the vehicle V1 needs to take evasive measures against the emergency vehicle V2. Therefore, the notification device 100A executes step S208 to notify the driver of the approach of the emergency vehicle V2 again (refer to Fig. 8A and Figure 8B as well as Fig. 10B After that, the control process ends.

[0132] In summary, when an emergency vehicle approaching the host vehicle has been notified to the driver once, if the emergency vehicle approaches again, it can be determined whether notification is necessary based on the current vehicle conditions of the host vehicle and the emergency vehicle. Thus, the driver can be notified when appropriate to avoid the situation where the emergency vehicle does not need to be avoided.

[0133] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A notification device for approaching an emergency vehicle, for detecting the approach of an emergency vehicle and notifying the driver, characterized in that: include: A distance measuring unit for determining the distance between the host vehicle and the emergency vehicle; A traveling angle calculation unit, used for calculating the traveling angle of the vehicle; A relative travel angle calculation unit, used to calculate the relative travel angle between the host vehicle and the emergency vehicle; A storage unit, for storing information of proximity notification history records; a notification determination unit, which determines whether to make an approach notification of the emergency vehicle; and a notification unit, which notifies the driver according to the determination result of the notification determination unit, Wherein, when the distance is below a prescribed threshold and the emergency vehicle is in an emergency state, The notification determination unit determines that notification is to be made when the storage unit has the approach notification history corresponding to the emergency vehicle within a predetermined time and when the travel angle and the relative travel angle are within respective predetermined ranges.

2. The device for notifying an approaching emergency vehicle according to claim 1, characterized in that: The prescribed threshold includes a first threshold and a second threshold, wherein the first threshold is a general notification threshold, the second threshold is a near notification threshold, and the second threshold is smaller than the first threshold. When the notification determination unit determines that notification is to be made, the notification unit makes a notification when the distance is equal to or smaller than the second threshold.

3. The notification device for approaching emergency vehicles according to claim 1, characterized in that: Also includes: A height determination unit, for determining the height of the host vehicle or the emergency vehicle, The notification determination unit determines that notification is to be made when the height of the host vehicle and the height of the emergency vehicle are within a predetermined value.

4. The device for notifying an approaching emergency vehicle according to claim 1, characterized in that: Also includes: a driving path determination unit, for determining whether the driving path of the host vehicle or the emergency vehicle is a toll road, The notification determination unit determines that notification is not necessary when the travel route determination unit determines that either the host vehicle or the emergency vehicle is traveling on the toll road.

5. An emergency vehicle approach notification device, used to detect the approach of an emergency vehicle and notify the driver, characterized in that: include: A distance measuring unit for determining the distance between the host vehicle and the emergency vehicle; A traveling direction determination unit, used for determining the current traveling directions of the host vehicle and the emergency vehicle; A storage unit, for storing information of proximity notification history records; a notification determination unit, which determines whether to make an approach notification of the emergency vehicle; and a notification unit, which notifies the driver according to the determination result of the notification determination unit, Wherein, when the distance is below a prescribed threshold and the emergency vehicle is in an emergency state, The notification determination unit determines whether to perform the approach notification of the emergency vehicle based on the approach notification history and the traveling direction when the storage unit has the approach notification history corresponding to the emergency vehicle within a predetermined time.

6. The device for notifying an approaching emergency vehicle according to claim 5, characterized in that: The notification determination unit determines that notification is to be made when the traveling direction of the host vehicle matches the traveling direction of the host vehicle recorded in the proximity notification history.

7. The device for notifying an approaching emergency vehicle according to claim 5, characterized in that: When the traveling direction of the host vehicle and the traveling direction of the host vehicle in the approach notification history do not match, the notification determination unit determines whether to make a notification based on the traveling direction of the host vehicle and the traveling direction of the emergency vehicle.

8. The device for notifying an approaching emergency vehicle according to claim 7, characterized in that: When the path along which the host vehicle travels is a path having a central median and the traveling direction of the host vehicle is inconsistent with the traveling direction of the emergency vehicle, the notification determination unit determines that notification is not necessary.

9. The device for notifying an approaching emergency vehicle according to claim 7, characterized in that: When the traveling direction of the host vehicle matches the traveling direction of the emergency vehicle, the notification determination unit determines that notification is to be made.

10. The device for notifying an approaching emergency vehicle according to claim 9, characterized in that: The prescribed threshold includes a first threshold and a second threshold, wherein the first threshold is a general notification threshold, the second threshold is a near notification threshold, and the second threshold is smaller than the first threshold. When the traveling direction of the host vehicle and the traveling direction of the host vehicle recorded in the proximity notification history do not match, the notification unit performs notification when the distance is equal to or smaller than the second threshold.

11. The device for notifying an approaching emergency vehicle according to claim 5, characterized in that: Also includes: A height determination unit, for determining the height of the host vehicle or the emergency vehicle, The notification determination unit determines that notification is to be made when the height of the host vehicle and the height of the emergency vehicle are within a predetermined value.

12. The device for notifying an approaching emergency vehicle according to claim 5, characterized in that: Also includes: a driving path determination unit, for determining whether the driving path of the host vehicle or the emergency vehicle is a toll road, The notification determination unit determines that notification is not necessary when the travel route determination unit determines that either the host vehicle or the emergency vehicle is traveling on the toll road.

13. A method for notifying an approaching emergency vehicle, for detecting the approach of an emergency vehicle and notifying the driver, characterized in that: include: determining the distance between the host vehicle and the emergency vehicle; Calculating the travel angle of the vehicle; Calculating a relative travel angle between the host vehicle and the emergency vehicle; Storing proximity notification history information; Determining whether to notify the approach of the emergency vehicle; According to the determination result of the approach notification, the driver is notified; and When the distance is below the specified threshold and the emergency vehicle is in an emergency state, when the proximity notification history corresponding to the emergency vehicle within the specified time is stored and when the travel angle and the relative travel angle are within their respective specified ranges, it is determined that a notification is to be made.

14. A method for notifying an approaching emergency vehicle, for detecting the approach of an emergency vehicle and notifying the driver, characterized in that: include: Determine the distance between your vehicle and the emergency vehicle; Determining the current travel directions of the host vehicle and the emergency vehicle; Storing proximity notification history information; Determining whether to notify the approach of the emergency vehicle; According to the determination result of the approach notification, the driver is notified; and When the distance is below a prescribed threshold and the emergency vehicle is in an emergency state, and when the proximity notification history record corresponding to the emergency vehicle within a prescribed time is stored, it is determined whether to perform the proximity notification of the emergency vehicle based on the proximity notification history record and the traveling direction.

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