Notification device and notification method

Abstract

The invention relates to a notification device and a notification method. A notification device that performs a first notification process when a notification object satisfies a first notification condition, and performs a second notification process when the notification object satisfies a second notification condition, the notification device performing a first notification process or a second notification process in a first notification state in which the first notification process or the second notification process is performed due to detection of the notification object, and performing a second notification process in a second notification state in which the first notification process or the second notification process is performed due to detection of the notification object. In a case where it is detected that a second object is a different object to be reported from a first object to be reported in a first reporting state, even if the second object satisfies a first reporting condition, a first reporting process in which the second object is the object to be reported is not executed, and if the second object satisfies a second reporting condition, a second reporting process in which the second object is the object to be reported is not executed. If the priority of the first notification processing is higher than the priority of the second notification processing, the priority of the second notification processing for the first object and the priority of the second notification processing for the second object are determined, and if the priority of the second notification processing for the second object is higher, the second notification processing for the second object is executed.

Description

Technical Field

[0001] The present disclosure relates to a notification (notification, report) device and a notification method, and in particular, to a technology for notifying a driver of a vehicle (host vehicle) of surrounding objects and / or approaching objects. Background Art

[0002] For example, Japanese Patent Application 2007-048102 discloses a device that, when multiple approaching objects are detected approaching the vehicle, notifies the driver of the presence of multiple approaching objects by changing the properties (pulses, timbre, frequency, etc.) of the sounds emitted from multiple sound sources according to the degree of danger of each approaching object. Summary of the invention

[0003] According to the device recorded in Japanese Patent Laid-Open No. 2007-048102, although it is possible to inform the driver of multiple approaching targets, for example, when the alarm sound (sound) for requesting a braking operation is ringing, if different alarm sounds are sounded, the driver may be confused. Therefore, it can also be considered that even if the alarm objects are different, when the content to be notified to the driver (for example, a braking operation request, etc.) is the same, it is better to prevent the driver from being confused by sounding the same alarm sound. On the other hand, when the driver recognizes the alarm object of the alarm sound and does not make the vehicle stationary but makes it run in such a state, when a new high-risk level (risk level) surrounding target object and / or approaching target object appears, it is hoped that the driver will be reliably informed of the new risk.

[0004] The technology disclosed herein aims to reliably notify the driver of the existence of high-risk surrounding objects and / or approaching objects while effectively preventing the driver from being confused by a plurality of notification sounds (notification sounds) sounding simultaneously.

[0005] The present disclosure relates to a notification device, which detects a surrounding target object existing around a vehicle or a proximity target object approaching the vehicle as a notification object, performs a first notification process on an occupant of the vehicle when the notification object satisfies a first notification condition, and performs a second notification process on the occupant when the notification object satisfies a second notification condition, wherein the first notification condition is a notification condition of a predetermined first risk level, and the second notification condition is a notification condition of a predetermined second risk level higher than the first risk level, and is characterized in that a first characteristic of notification sounds of the first notification process and the second notification process are the same and a second characteristic is different, and the second characteristic is different from the first characteristic, and according to the detection of the notification object, a transition is made from a non-notification state in which the first notification process and the second notification process are not performed to a first notification state in which either the first notification process or the second notification process is performed, and in the first notification state, when the second target object is detected as the first target object of the first notification state, the notification sound of the first notification process and the second notification process is changed to a first notification state in which either the first notification process or the second notification process is performed. In the case of different target objects for notification, even if the second target object satisfies the first notification condition, the first notification process with the second target object as the notification object is not executed. If the second target object satisfies the second notification condition, the priority of the second notification process for the first target object and the second notification process for the second target object is determined based on the directions of the first target object and the second target object relative to the own vehicle and the risk level. When it is determined that the priority of the second notification process for the second target object is higher than the priority of the second notification process for the first target object, the second notification process for the second target object is executed, and the notification sound of the second notification process for the second target object has the same second characteristic as the notification sound of the second notification process for the first target object, and a third characteristic different from the second characteristic is different between the notification sound of the second notification process for the first target object and the notification sound of the second notification process for the second target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals denote like elements, and in which:

[0007] Figure 1 It is a schematic diagram showing the hardware configuration of a vehicle to which the control device according to the present embodiment is applied.

[0008] Figure 2A It is a schematic diagram for explaining an example of the vehicle-mounted position of each sensor of the external sensor device according to the present embodiment.

[0009] Figure 2B It is a schematic diagram for explaining an example of the vehicle-mounted position of each sensor of the external sensor device according to the present embodiment.

[0010] Figure 3 It is a schematic diagram showing the software configuration of the control device according to the present embodiment.

[0011] Figure 4A It is a schematic plan view for explaining the alarm sound selection process performed by the control device according to the present embodiment.

[0012] Figure 4B It is a schematic plan view for explaining the alarm sound selection process performed by the control device according to the present embodiment.

[0013] Figure 4C It is a schematic plan view for explaining the alarm sound selection process performed by the control device according to the present embodiment.

[0014] Figure 4D It is a schematic plan view for explaining the alarm sound selection process performed by the control device according to the present embodiment.

[0015] Figure 5 This is a flowchart illustrating the flow of alarm processing performed by the control device according to the present embodiment. DETAILED DESCRIPTION

[0016] Hereinafter, a control device and a control method for a vehicle according to the present embodiment will be described with reference to the drawings.

[0017] [Hardware Structure]

[0018] Figure 1 Schematic diagram showing the hardware configuration of a vehicle VH to which the control device according to the present embodiment is applied. Hereinafter, the vehicle VH may be referred to as a self-vehicle when it is necessary to distinguish it from other vehicles or the like.

[0019] The vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 has a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an interface device (I / F) 14, etc. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data required for the CPU 11 to execute various programs. The RAM 13 is a volatile memory that provides a work area where various programs are deployed when executed by the CPU 11. The interface device 14 is a communication device for communicating with external devices.

[0020] ECU10 is a device that serves as a hub for driving assistance control, etc. Driving assistance control is a concept that includes automatic driving control. ECU10 is connected to a drive device 20, a steering device 21, a brake device 22, a transmission device 23, an internal sensor device 30, an external sensor device 40, and an HMI (Human Machine Interface) 60, etc. in a communicative manner.

[0021] The drive device 20 generates a driving force transmitted to the drive wheels of the vehicle VH. As the drive device 20, for example, an electric motor and an engine can be listed. In the present embodiment, the vehicle VH can be any one of a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell vehicle (FCEV), an electric vehicle (BEV) and an engine vehicle. The steering device 21 applies a steering force to the wheels of the vehicle VH. The braking device 22 applies a braking force to the wheels of the vehicle VH. The speed change device 23 changes the speed of the rotation output from the drive device 20 at a predetermined speed ratio, and transmits the rotation with the changed speed to the drive wheels.

[0022] The inner sensor device 30 is a sensor class (group) for detecting the state of the vehicle VH. Specifically, the inner sensor device 30 includes a vehicle speed sensor 31, an acceleration sensor 32, a brake sensor 33, a steering angle sensor 34, and a shift sensor 35. The inner sensor device 30 sends the state of the vehicle VH detected by each sensor 31 to 35 to the ECU 10 at a predetermined period.

[0023] The vehicle speed sensor 31 detects the running speed of the vehicle VH (hereinafter referred to as the vehicle speed). The acceleration sensor 32 detects the amount of operation of the driver on the accelerator pedal (accelerator pedal) not shown. The brake sensor 33 detects the amount of operation of the driver on the brake pedal (brake pedal) not shown. The steering angle sensor 34 detects the rotation angle of the steering wheel or steering shaft not shown of the vehicle VH, that is, the steering angle. The shift sensor 35 detects the gear position of the transmission 23 (parking gear P, reverse gear R, neutral gear N, and forward gear D, etc.).

[0024] The external sensor device 40 is a sensor type that recognizes target object information related to the target object existing around the vehicle VH. Specifically, the external sensor device 40 includes a front camera 41F, a rear camera 41R, a front radar sensor 42F, a left front side radar sensor 42FL, a right front side radar sensor 42FR, a left rear side radar sensor 42RL, a right rear side radar sensor 42RR, a left front side sonar sensor 43FL1, a right front side sonar sensor 43FR1, a left front sonar sensor 43FL2, a right front sonar sensor 43FR2, a left rear side sonar sensor 43RL1, a right rear side sonar sensor 43RR1, a left rear sonar sensor 43RL2, and a right rear sonar sensor 43RR2. Here, as the target object information, for example, mobile objects such as other vehicles and pedestrians, and stationary objects such as walls and poles can be listed. The external sensor device 40 repeatedly sends the acquired target object information to the ECU 10 every time a predetermined time passes.

[0025] Hereinafter, when it is not necessary to distinguish between the cameras 41F and 41R, they are also simply referred to as “camera 41”. Also, when it is not necessary to distinguish between the radar sensors 42F, 42FL, 42FR, 42RL, and 42RR, they are also simply referred to as “radar sensor 42”. Also, when it is not necessary to distinguish between the sonar sensors 43FL1, 43FR1, 43FL2, 43FR2, 43RL1, 43RR1, 43RL2, and 43RR2, they are also simply referred to as “sonar sensor 43”.

[0026] The camera 41 is, for example, a stereo camera and / or a monocular camera, and a digital camera having a photographing element such as a CMOS or a CCD can be used. The camera 41 photographs the surroundings of the vehicle VH, processes the photographed image data, and thereby obtains target object information around the vehicle VH. The target object information is information indicating the type of target object detected around the vehicle VH, the relative distance between the vehicle VH and the target object, and the relative speed between the vehicle VH and the target object. The type of the target object can be identified, for example, by machine learning such as pattern matching.

[0027] The radar sensor 42 detects targets existing around the vehicle VH. The radar sensor 42 includes a millimeter wave radar and / or a laser radar. The millimeter wave radar transmits radio waves (millimeter waves) in the millimeter wave band and receives millimeter waves (reflected waves) reflected by targets existing in the transmission range. The millimeter wave radar obtains the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc. based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from transmitting the millimeter wave to receiving the reflected wave. The laser radar obtains the shape of the target detected around the vehicle VH, the relative distance between the vehicle VH and the target, and the relative speed between the vehicle VH and the target by sequentially emitting pulsed lasers with a wavelength shorter than the millimeter wave in multiple directions and receiving the reflected light reflected by the target.

[0028] The sonar sensor 43 is a well-known sensor using ultrasonic waves. The sonar sensor 43 emits ultrasonic waves to a predetermined range around the vehicle VH. The sonar sensor 43 receives reflected waves reflected by a target object that exists within the transmission range of the ultrasonic waves, and detects the presence or absence of the target object and the distance between the vehicle VH and the target object based on the time from the transmission to the reception of the ultrasonic waves. The sonar sensor 43 can detect a target object located substantially in front of it by emitting highly directional ultrasonic waves.

[0029] Figure 2A It is a schematic diagram showing an example of the vehicle-mounted positions of the front camera 41F, the rear camera 41R, the front radar sensor 42F, the left front side radar sensor 42FL, the right front side radar sensor 42FR, the left rear side radar sensor 42RL and the right rear side radar sensor 42RR.

[0030] like Figure 2A As shown, the front camera 41F is, for example, disposed at the center of the upper portion of the front window of the vehicle VH in the vehicle width direction. The imaging area AF of the front camera 41F is a wide-angle area extending from the approximate center of the front window in the vehicle width direction toward the front of the vehicle VH. The rear camera 41R is, for example, disposed at the approximate center of the rear bumper in the vehicle width direction of the vehicle VH. The imaging area AR of the rear camera 41R is a wide-angle area extending from the approximate center of the rear bumper in the vehicle width direction toward the rear of the vehicle VH.

[0031] The front radar sensor 42F is, for example, disposed at the substantially central portion of the front bumper in the vehicle width direction. The detection area BF of the front radar sensor 42F is a wide-angle area extending from the substantially central portion of the front bumper in the vehicle width direction to the front of the vehicle VH. The left front side radar sensor 42FL is disposed at the left end portion of the front bumper, and the right front side radar sensor 42FR is disposed at the right end portion of the front bumper. The detection area BFL of the left front side radar sensor 42FL is a wide-angle area extending from the left end portion of the front bumper to the left front side. The detection area BFR of the right front side radar sensor 42FR is a wide-angle area extending from the right end portion of the front bumper to the right front side. The left rear side radar sensor 42RL is disposed at the left end portion of the rear bumper, and the right rear side radar sensor 42RR is disposed at the right end portion of the rear bumper. The detection area BRL of the left rear side radar sensor 42RL is a wide-angle area extending from the left end portion of the rear bumper to the left rear side. The detection area BRR of the right rear side radar sensor 42RR is a wide-angle area extending from the right end of the rear bumper toward the right rear side.

[0032] Figure 2B The diagram is a schematic diagram showing an example of vehicle-mounted positions of the left front side sonar sensor 43FL1, the right front side sonar sensor 43FR1, the left front sonar sensor 43FL2, the right front sonar sensor 43FR2, the left rear side sonar sensor 43RL1, the right rear side sonar sensor 43RR1, the left rear sonar sensor 43RL2, and the right rear sonar sensor 43RR2.

[0033] like Figure 2B As shown, the left front side sonar sensor 43FL1 is provided at the left end of the front bumper, and the right front side sonar sensor 43FR1 is provided at the right end of the front bumper. The detection area CFL1 of the left front side sonar sensor 43FL1 is a narrow area extending from the left end of the front bumper to the left front side. The detection area CFR1 of the right front side sonar sensor 43FR1 is a narrow area extending from the right end of the front bumper to the right front side. The left front sonar sensor 43FL2 is provided between the left end of the front bumper and the center in the vehicle width direction, and the right front sonar sensor 43FR2 is provided between the right end of the front bumper and the center in the vehicle width direction. The detection area CFL2 of the left front sonar sensor 43FL2 is a narrow area extending from the left end and the center of the front bumper to the left front. The detection area CFR2 of the right front sonar sensor 43FR2 is a narrow area extending from the right end and the center of the front bumper to the right front.

[0034] The left rear side sonar sensor 43RL1 is provided at the left end of the rear bumper, and the right rear side sonar sensor 43RR1 is provided at the right end of the rear bumper. The detection area CRL1 of the left rear side sonar sensor 43RL1 is a narrow area extending from the left end of the rear bumper to the left rear side. The detection area CRR1 of the right rear side sonar sensor 43RR1 is a narrow area extending from the right end of the rear bumper to the right rear side. The left rear sonar sensor 43RL2 is provided between the left end of the rear bumper and the center in the vehicle width direction, and the right rear sonar sensor 43RR2 is provided between the right end of the rear bumper and the center in the vehicle width direction. The detection area CRL2 of the left rear sonar sensor 43RL2 is a narrow area extending from the left end and the center to the left rear of the rear bumper. The detection area CRR2 of the right rear sonar sensor 43RR2 is a narrow area extending right rearward from between the right end and the center of the rear bumper.

[0035] Back to Figure 1 HMI 60 is an interface for inputting and outputting information between ECU 10 and the driver, and has an input device and an output device. As the input device, a touch panel, a switch, and a sound collecting microphone can be listed. As the output device, a display device 61, a speaker 62, and a buzzer 63 can be listed. The display device 61 is, for example, a central display provided on the instrument panel, a multi-function information display, a head-up display, and a display of a navigation system. The speaker 62 is, for example, a speaker of an audio system and a navigation system.

[0036] [Software Structure]

[0037] Figure 3 Schematic diagram showing the software structure of the ECU 10 involved in this embodiment. Figure 3 As shown, the ECU 10 includes a target object recognition unit 100, an alarm control unit 110, and an alarm sound selection unit 120 as functional elements. The above-mentioned functional elements 100 to 120 are realized by the CPU 11 of the ECU 10 reading the program stored in the ROM 12 to the RAM 13 and executing it. In addition, all or part of the functional elements 100 to 120 can also be set in another ECU separated from the ECU 10 or an information processing device of a facility (such as a management center) that can communicate with the vehicle VH.

[0038] The object recognition unit 100 recognizes peripheral objects such as stationary objects existing around the own vehicle VH, and approaching objects such as other vehicles and pedestrians approaching the own vehicle VH, based on the detection results of the external sensor device 40. The object recognition unit 100 recognizes the distance between the own vehicle VH and the peripheral objects existing around the own vehicle VH, and the direction of the peripheral objects relative to the own vehicle VH, based on the detection results of the sonar sensor 43, while the own vehicle VH is traveling at a predetermined low speed. In addition, the object recognition unit 100 recognizes the distance between the own vehicle VH and the approaching objects approaching the own vehicle VH, and the direction of the approaching objects relative to the own vehicle VH, based on the detection results of the radar sensor 42 and / or the camera 41, while the own vehicle VH is traveling at a predetermined low speed. The object recognition unit 100 sends the recognition results (distance, direction, etc.) of the peripheral objects and / or the approaching objects to the alarm control unit 110.

[0039] The alarm control unit 110 performs an alarm process to notify the driver that the surrounding targets and / or the approaching targets are approaching the own vehicle VH, based on the distance between the own vehicle VH and the surrounding targets, and the distance between the own vehicle VH and the approaching targets, which are recognized by the target object recognition unit 100. In the present embodiment, the alarm control unit 110 performs the alarm process in two stages: "attention call (reminder) alarm" and "brake operation request alarm". The attention call alarm is an example of the "first notification process" of the present disclosure, and the brake operation request alarm is an example of the "second notification process" of the present disclosure. The brake operation request alarm is an alarm with a higher risk level than the attention call alarm.

[0040] The alarm control unit 110 performs an attention-calling alarm by causing the speaker 62 and / or the buzzer 63 to emit a first alarm sound when the first alarm condition is satisfied, and the first alarm condition is a condition that at least one of the distance between the own vehicle VH and the surrounding target objects and the distance between the own vehicle VH and the approaching target objects is less than a predetermined first threshold value D1. The first alarm condition is an example of the "first notification condition" of the present disclosure. Regardless of the difference in the surrounding target objects and / or the approaching target objects (the difference in the sensor that detects the target object) or the difference in direction (for example, front, back, left, and right), the first alarm sound is sounded as a unified alarm sound with common characteristics (for example, frequency, etc.). The common characteristics mentioned here are an example of the "first characteristics" of the present disclosure.

[0041] In addition, the alarm control unit 110 performs a brake operation request alarm by causing the speaker 62 and / or the buzzer 63 to emit a second alarm sound when the second alarm condition is satisfied, and the second alarm condition is a condition that at least one of the distance between the own vehicle VH and the surrounding target object and the distance between the own vehicle VH and the approaching target object becomes less than or equal to a predetermined second threshold value D2 that is less than the first threshold value D1. The second alarm condition is an example of the "second notification condition" of the present disclosure. The second alarm sound is also similar to the first alarm sound, and is sounded as a unified alarm sound having common characteristics (such as frequency, etc.) regardless of the difference in the surrounding target object and / or the approaching target object or the difference in direction (such as front, back, left, and right).

[0042] The first alarm sound and the second alarm sound need to make the driver recognize the difference in risk levels. Therefore, the first alarm sound and the second alarm sound are sounded as alarm sounds with different characteristics. The different characteristics mentioned here are an example of the "second characteristic" of the present disclosure. In the present embodiment, the first alarm sound is emitted from the speaker 62 and / or the buzzer 63 as an intermittent sound (intermittent sound), and the second alarm sound is emitted from the speaker 62 and / or the buzzer 63 as a continuous sound (continuous sound).

[0043] However, if the alarm control unit 110 performs alarm processing on all of the surrounding objects and / or approaching objects as the object recognition unit 100 recognizes them, the driver may be confused due to the simultaneous sounding of multiple alarms. Therefore, for example, when the first object and the second object exist in the same direction relative to the own vehicle VH as the alarm objects, and the second object exists at a position farther than the first object, it is desired to perform alarm processing on the first object closer to the own vehicle VH, and not to perform alarm processing on the second object existing at a position farther than the first object. However, when the risk level of the second object becomes higher than the risk level of the first object as the second object moves, it is necessary to reliably inform the driver of the risk of the second object.

[0044] To solve this problem, when multiple alarm targets are detected, the alarm sound selection unit 120 determines the priority of the multiple alarm targets based on their directions relative to the own vehicle VH and risk levels, and appropriately selects the alarm sound to be sounded according to the determined priority. Figure 4A , Figure 4B , Figure 4C and Figure 4D , the specific selection process of the alarm sound is explained.

[0045] Assume a state (an example of the first notification state of the present disclosure) in which, when the object recognition unit 100 recognizes the first object approaching the own vehicle VH, the state is changed from the no-alarm state in which both the first alarm condition and the second alarm condition are not satisfied, and the alarm control unit 110 performs the first alarm processing with the first object as the alarm object and then performs the second alarm processing. Examples of such states include Figure 4A As shown, while the own vehicle VH is backing out of a garage, the right rear side sonar sensor 43RR1 detects a stationary object OJ1 on the right rear side of the own vehicle VH, and the distance between the own vehicle VH and the stationary object OJ1 becomes equal to or smaller than the second threshold value D2.

[0046] Assume that in this state, the target object recognition unit 100 recognizes a second target object different from the first target object. When the target object recognition unit 100 recognizes the second target object, the alarm sound selection unit 120 determines whether the second target object satisfies the second alarm condition. In the case where the second target object does not satisfy the second alarm condition, even if the second target object satisfies the first alarm condition, the alarm sound selection unit 120 does not select the second target object as the alarm object. That is, the alarm control unit 110 only executes the brake operation request alarm with the first target object as the alarm object. As such a state, there can be listed such as Figure 4B As shown, for example, the rear camera 41R or the right rear side radar sensor 42RR detects an approaching object OJ2 (such as a pedestrian) at a distance within the first threshold value D1 from the own vehicle VH, but the approaching object OJ2 is located in the same direction as the stationary object OJ1 relative to the own vehicle VH, and the distance between the approaching object OJ2 and the own vehicle VH is greater than the second threshold value D2.

[0047] In addition, even when the second target object recognized by the target object recognition unit 100 satisfies the second alarm condition, if the second target object is located in the same direction as the first target object relative to the own vehicle VH and the risk level of the second target object is lower than the risk level of the first target object, the alarm sound selection unit 120 does not select the second target object as the alarm target. That is, the alarm control unit 110 only executes the brake operation request alarm with the first target object as the alarm target. As such a state, for example, Figure 4C As shown in the figure, the approaching object OJ2 (e.g., a pedestrian) detected by the rear camera 41R or the right rear side radar sensor 42RR exists at a distance within the second threshold value D2, but the approaching object OJ2 is located in the same direction as the stationary object OJ1 relative to the own vehicle VH and exists at a position farther than the stationary object OJ1. In this way, even if the second target object satisfies the second alarm condition, when there is no need to notify the driver of the existence of the second target object, the brake operation request alarm with the second target object as the alarm object is not issued, thereby effectively preventing the driver from being confused.

[0048] In addition, in the present disclosure, the first target and the second target are in the same direction. This concept includes not only Figure 4B and Figure 4C The case where they are on substantially the same straight line as shown in the figure also includes the case where the first target object and the second target object are in the same area when the surrounding of the own vehicle VH is divided into a plurality of areas. The number of divided areas may be, for example, 8 (directly in front, left front, right front, directly left, directly right, left rear, directly rear, right rear), 4 (front and rear, left and right), or 2 (front and rear or left and right). The number of areas may be appropriately set according to the number of sensors provided by the external sensor device 40, etc.

[0049] On the other hand, when the second target object recognized by the target object recognition unit 100 moves in a direction different from the first target object relative to the own vehicle VH and the risk level of the second target object becomes higher than the risk level of the first target object, or when a new stationary object or approaching object recognized by the target object recognition unit 100 as the second target object satisfies the second alarm condition, the alarm sound selection unit 120 selects the third alarm processing. When the alarm sound selection unit 120 selects the third alarm processing, the alarm control unit 110 executes the brake operation request alarm by causing the speaker 62 and / or the buzzer 63 to emit the third alarm sound. As such a state, there can be listed such as Figure 4D As shown, the approaching object OJ2 (e.g., a pedestrian) detected by the rear camera 41R or the right rear side radar sensor 42RR moves in a direction different from the stationary object OJ1 relative to the own vehicle VH, and the approaching object OJ2 satisfies the second alarm condition, or the right front side sonar sensor 43FR1 detects the adjacent vehicle VH1 as a new stationary object within the second threshold value D2, and the adjacent vehicle VH1 satisfies the second alarm condition.

[0050] The third alarm sound needs to make the driver recognize that it is a brake operation request with a different alarm object as the target from the second alarm sound. Therefore, the third alarm sound is sounded as an alarm sound with different characteristics from the second alarm sound while having the same characteristics as the second alarm sound. The same characteristics mentioned here are an example of the "second characteristics" of the present disclosure, and the different characteristics are an example of the "third characteristics" of the present disclosure. In the present embodiment, the third alarm sound is a continuous sound that is the same as the second alarm sound, and is emitted from the speaker 62 and / or the buzzer 63 with a different frequency or timbre.

[0051] In this way, when the second target object is in a different direction from the first target object relative to the own vehicle VH and the risk level of the second target object is higher than the risk level of the first target object, by issuing the third alarm sound with the second target object as the alarm object, the driver can be reliably informed of the existence of the second target object with a high risk level. The third alarm sound may sound overlapping with the second alarm sound, or the second alarm sound may be stopped and only the third alarm sound may sound. In addition, the third alarm sound may also be configured to return to the second alarm sound after continuing to sound for a certain period of time to avoid a momentary sound when sounding once.

[0052] Next, based on Figure 5 Next, the flow of the alarm processing performed by the CPU 11 of the ECU 10 will be described. This routine is started when the shift sensor 35 detects a shift position other than the parking position P, for example.

[0053] In step S100, the ECU 10 determines whether there is a first target object that is the object of the alarm based on the detection result of the external sensor device 40. If there is a first target object (yes), the ECU 10 proceeds to the processing of step S110. On the other hand, if there is no first target object (no), the ECU 10 returns this routine.

[0054] In step S110, the ECU 10 determines whether the first target object satisfies the second alarm condition, that is, whether a brake operation request alarm with the first target object as the alarm object is required. If the first target object does not satisfy the second alarm condition (no), the ECU 10 proceeds to the processing of step S170. On the other hand, if the first target object satisfies the second alarm condition (yes), the ECU 10 proceeds to the processing of step S120.

[0055] In step S170, it is determined whether the first target object satisfies the first alarm condition, that is, whether it is necessary to perform an attention-calling alarm with the first target object as the alarm object. If the first target object satisfies the first alarm condition (yes), the ECU 10 proceeds to the processing of step S180, causes the speaker 62 and / or the buzzer 63 to emit the first alarm sound (intermittent sound), and returns to this routine. On the other hand, if the first target object does not satisfy the first alarm condition (no), the ECU 10 returns to this routine.

[0056] In step S120, the ECU 10 determines whether there is a second target object that is the object of the alarm based on the detection result of the external sensor device 40. If the second target object exists (yes), the ECU 10 proceeds to the process of step S140. On the other hand, if the second target object does not exist (no), the ECU 10 proceeds to the process of step S130, causes the speaker 62 and / or the buzzer 63 to emit a second alarm sound (continuous sound), and returns to this routine.

[0057] In step S140, the ECU 10 determines whether the second target object satisfies the second alarm condition, that is, whether a brake operation request alarm with the second target object as the alarm object is required. If the second target object does not satisfy the second alarm condition (no), the ECU 10 proceeds to the processing of step S130, causes the speaker 62 and / or the buzzer 63 to emit a second alarm sound (continuous sound), and returns this routine. On the other hand, if the second target object satisfies the second alarm condition (yes), the ECU 10 proceeds to the processing of step S150.

[0058] In step S150, ECU10 determines whether the execution condition of the third alarm processing is satisfied, and the execution condition of the third alarm processing is that the second target object is in a different direction from the first target object relative to the own vehicle VH, and the risk level is higher than that of the first target object. If the execution condition of the third alarm processing is not satisfied (no), ECU10 enters the processing of step S130, causes the speaker 62 and / or the buzzer 63 to emit the second alarm sound (continuous sound), and returns this routine. On the other hand, if the execution condition of the third alarm processing is satisfied (yes), ECU10 enters the processing of step S160, causes the speaker 62 and / or the buzzer 63 to emit the third alarm sound (continuous sound, and the frequency or timbre is different from the second alarm sound), and returns this routine.

[0059] As mentioned above, the notification device and notification method according to the present embodiment have been described, but the present disclosure is not limited to the above-mentioned embodiment, and various modifications are possible without departing from the purpose of the present disclosure.

[0060] For example, in the above embodiment, the alarm control unit 110 performs the first alarm process and the second alarm process in stages for the stationary object detected by the sonar sensor 43 and the approaching object detected by the radar sensor 42 and / or the camera 41, but it can also be configured so that only one of the stationary object and the approaching object is subjected to the staged alarm process, and only one of the first alarm process and the second alarm process is applied to the other. In addition, the third alarm sound has the same characteristics as the second alarm sound (continuous sound), but it can also be configured so that the third alarm sound is set as an alarm sound that does not have the same characteristics as the second alarm sound and is emitted briefly.

Claims

1. A notification device, which detects a surrounding target object existing around a vehicle or a close target object close to the vehicle as a notification object, performs a first notification process on an occupant of the vehicle when the notification object satisfies a first notification condition, and performs a second notification process on the occupant when the notification object satisfies a second notification condition, wherein the first notification condition is a notification condition of a predetermined first risk level, and the second notification condition is a notification condition of a predetermined second risk level higher than the first risk level, characterized in that: The first notification process and the second notification process have the same first characteristic and different second characteristics of the notification sound, and the second characteristic is different from the first characteristic. In response to the detection of the notification object, the state of not performing the first notification process and the second notification process is changed from the state of not performing the first notification process and the state of not performing the second notification process to the state of performing the first notification process and the state of performing the second notification process. In the first notification state, When a second target object is detected as a notification target different from a first target object which is a notification target of the first notification state, Even if the second target object satisfies the first notification condition, the first notification process for the second target object is not performed. If the second target object satisfies the second notification condition, the priority of the second notification processing for the first target object and the second notification processing for the second target object is determined based on the directions of the first target object and the second target object relative to the own vehicle and the risk level, When it is determined that the priority of the second notification process for the second object is higher than the priority of the second notification process for the first object, the second notification process for the second object is executed, The notification sound of the second notification process for the second target object has the same second characteristic as the notification sound of the second notification process for the first target object, and a third characteristic different from the second characteristic is different between the notification sound of the second notification process for the first target object and the notification sound of the second notification process for the second target object.

2. The notification device according to claim 1, characterized in that: The first characteristic is frequency, the second characteristic is onset interval, and the third characteristic is timbre or frequency.

3. The notification device according to claim 2, characterized in that: The first notification sound of the first notification process is an intermittent sound for calling the attention of the occupant, and the second notification sound of the second notification process is a continuous sound for urging the occupant to perform a brake operation.

4. A notification method, comprising: Detecting a surrounding target object existing around the own vehicle or a close target object close to the own vehicle as a notification object, performing a first notification process on an occupant of the own vehicle when the notification object satisfies a first notification condition, and performing a second notification process on the occupant when the notification object satisfies a second notification condition, wherein the first notification condition is a notification condition of a predetermined first risk level, and the second notification condition is a notification condition of a predetermined second risk level higher than the first risk level, characterized in that: The first notification process and the second notification process have the same first characteristic and different second characteristics of the notification sound, and the second characteristic is different from the first characteristic. In response to the detection of the notification object, the state of not performing the first notification process and the second notification process is changed from the state of not performing the first notification process and the state of not performing the second notification process to the state of performing the first notification process and the state of performing the second notification process. In the first notification state, When a second target object is detected as a notification target different from a first target object which is a notification target of the first notification state, Even if the second target object satisfies the first notification condition, the first notification process for the second target object is not performed. If the second target object satisfies the second notification condition, the priority of the second notification processing for the first target object and the second notification processing for the second target object is determined based on the directions of the first target object and the second target object relative to the own vehicle and the risk level, When it is determined that the priority of the second notification process for the second object is higher than the priority of the second notification process for the first object, the second notification process for the second object is executed, The notification sound of the second notification process for the second target object has the same second characteristic as the notification sound of the second notification process for the first target object, and a third characteristic different from the second characteristic is different between the notification sound of the second notification process for the first target object and the notification sound of the second notification process for the second target object.

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