Driving assistance device, driving assistance method, and recording medium

Abstract

The invention provides a driving assistance device, a driving assistance method, and a recording medium, which can inform monitoring objects in the periphery of a moving body in a manner easy to grasp by a driver. A driving assistance device (1) is provided with: a monitored object recognition unit that recognizes a monitored object present in the vicinity of a moving body (100); and a warning notification unit that displays a character image (50) having a face in front of the driver's seat of the moving body (100) by means of a display device (31) provided in the moving body (100), and that notifies the warning notification unit when the monitored object is recognized by the monitored object recognition unit. An attention alert notification is executed in which the character image (50) is changed from a traveling direction gaze image (50a) in which the face faces the traveling direction of the moving body (100) to monitored object gaze images (50b, 50c) in which the face faces the direction of the monitored object.

Description

Technical Field

[0001] The present invention relates to a driving assistance device, a driving assistance method, and a recording medium. Background Art

[0002] In recent years, there has been active implementation of measures that take into account the participation of vulnerable people among traffic participants in a sustainable transportation system. In order to achieve the above, research and development related to driving assistance technology is being devoted to further improving the safety and convenience of traffic. For example, Patent Document 1 discloses a vehicle information display device that projects a character as a display image onto the windshield for notifying the user of the vehicle of the existence of an object that may hinder the movement of the vehicle. The above-mentioned vehicle information display device changes the size, position, shape, color, expression, etc. of the character's projection according to at least one of the dangerousness and urgency of the object.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2009-9446 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] Furthermore, in driving assistance technology, notifying the driver of objects that could potentially obstruct the vehicle's movement is effective. However, when the size, position, shape, color, and expression of the character displayed on the windshield are altered based on the object's dangerousness and urgency, as in the aforementioned conventional vehicle information display devices, it is difficult for the driver to grasp the object's dangerousness and urgency. Therefore, the present invention aims to notify the driver of monitored objects around a mobile object, such as a vehicle, in a manner that is easily understood by the driver.

[0008] The present application aims to solve the above-mentioned problems by reporting monitoring objects existing around a mobile body in a manner that is easy for the driver to understand, thereby contributing to the development of a sustainable transportation system.

[0009] Means for solving problems

[0010] As a first method for achieving the above-mentioned purpose, a driving assistance device can be cited, which comprises: a monitoring object recognition unit, which recognizes a monitoring object existing in the vicinity of a mobile body; and an attention reminder notification unit, which displays a character image with a face in front of a driver's seat of the mobile body through a display device possessed by the mobile body, and when the monitoring object is recognized by the monitoring object recognition unit, performs the following attention reminder notification: the character image is changed from a travel direction gaze image with the face facing the travel direction of the mobile body to a monitoring object gaze image with the face facing the direction of the monitoring object.

[0011] In the above-mentioned driving assistance device, it can also be constructed that the character image has a line of sight determination part for determining the direction of the line of sight of the character image, and in the travel direction gaze image, the line of sight determination part can be used to identify that the line of sight of the character image is toward the travel direction of the moving body, and in the monitored object gaze image, the line of sight determination part can be used to identify that the line of sight of the character image is toward the monitored object.

[0012] In the above-mentioned driving assistance device, it can also be constructed that the display device is a head-up display that projects an image onto a specified portion of the front window of the mobile body that is in front of the driver's seat of the mobile body, and the attention reminder notification unit projects the character image onto the specified portion of the front window of the mobile body through the display device for display.

[0013] In the above-mentioned driving assistance device, it can also be configured that the driving assistance device has a risk level determination unit, which determines the risk level of the monitored object identified by the monitored object identification unit to the mobile body, and the attention reminder notification unit changes the display method of the character image according to the risk level of the monitored object.

[0014] In the driving assistance device described above, the attention call notification unit may be configured to change at least one of the size, color, and movement of the character image according to the risk level of the monitored object.

[0015] In the driving assistance device, the attention-calling notification unit may be configured to shorten the time it takes to change from the traveling direction attention image to the monitoring object attention image as the risk level of the monitoring object increases.

[0016] In the above-mentioned driving assistance device, it can also be configured to perform the attention reminder notification multiple times when the angular difference between the facial orientation of the character image in the traveling direction attention image and the facial orientation of the character image in the monitored object attention image is less than a specified value.

[0017] In the above-mentioned driving assistance device, it can also be configured that the driving assistance device has a risk level determination unit, which determines the risk level of the monitored object identified by the monitored object identification unit to the mobile body. In the case that multiple monitored objects are identified by the monitored object identification unit, the attention reminder notification unit executes the attention reminder notification with the monitored object with the highest risk level as the object.

[0018] In the above-mentioned driving assistance device, it can also be constructed as follows: the driving assistance device has a risk level determination unit, which determines the risk level of the monitored object identified by the monitored object recognition unit to the mobile body, and the attention reminder notification unit performs the following processing as the attention reminder notification when the monitored object recognition unit recognizes multiple monitored objects: the orientation of the face of the character image starts from the image looking at the direction of travel, and is displayed in order from the monitored object with the highest risk level to the monitored object with the lowest risk level.

[0019] In the above-mentioned driving assistance device, it can also be configured that the driving assistance device has a driving operation recognition unit that recognizes the driving operation of the mobile body, and when the driving operation recognition unit does not recognize the driving operation for avoiding the risk caused by the monitored object after the attention reminder notification is performed, the attention reminder notification unit executes the attention reminder notification again.

[0020] In the above-mentioned driving assistance device, it can also be configured that the driving assistance device has a line of sight direction recognition unit that recognizes the direction of the line of sight of the driver of the mobile body, and when the line of sight direction recognition unit does not recognize that the direction of the driver's line of sight becomes the direction of the monitored object after the attention reminder notification is performed, the attention reminder notification unit executes the attention reminder notification again.

[0021] As a second method for achieving the above-mentioned purpose, a driving assistance method can be cited, which is executed by a computer, and the driving assistance method includes: a monitoring object recognition step, identifying a monitoring object existing in the vicinity of a mobile body; and an attention reminder notification step, displaying a character image with a face in front of a driver's seat of the mobile body through a display device possessed by the mobile body, and when the monitoring object is recognized through the monitoring object recognition step, performing the following attention reminder notification: changing the character image from a travel direction gaze image with the face facing the travel direction of the mobile body to a monitoring object gaze image with the face facing the direction of the monitoring object.

[0022] As a third method for achieving the above-mentioned purpose, a recording medium can be cited, which records a program for causing a computer to function as the following parts: a monitoring object recognition unit, which recognizes a monitoring object existing in the vicinity of a mobile body; and an attention reminder notification unit, which displays a character image with a face in front of a driver's seat of the mobile body through a display device possessed by the mobile body, and when the monitoring object is recognized by the monitoring object recognition unit, performs the following attention reminder notification: the character image is changed from a travel direction gaze image with the face facing the travel direction of the mobile body to a monitoring object gaze image with the face facing the direction of the monitoring object.

[0023] Effects of the Invention

[0024] According to the driving assistance device, driving assistance method, and recording medium, it is possible to notify the driver of a monitoring object existing around the mobile body in a manner that is easy for the driver to understand. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural diagram of a driving assistance device.

[0026] Figure 2 This is an explanatory diagram of a display method of a character image displayed by a driving support device.

[0027] Figure 3 This is a flowchart of the processing of the attention reminder notification.

[0028] Figure 4 This is an explanatory diagram of how to change the orientation of the face of a character image.

[0029] Description of Reference Numerals

[0030] 1: Driving assistance device; 2: Front window; 3: Steering wheel; 4: Accelerator pedal; 5: Brake pedal; 10: Processor; 11: Monitoring object recognition unit; 12: Risk level determination unit; 13: Driving operation recognition unit; 14: Eye direction recognition unit; 15: Attention reminder notification unit; 20: Memory; 21: Program; 30: Communication unit; 31: HUD; 32: Display; 40: Front camera; 41: Front radar; 42: Rear camera; 43: Rear radar; 44: Driver monitoring camera; 45: Speed sensor; 46: Steering angle sensor; 47: Accelerator pedal sensor; 48: Brake pedal sensor; 50: Character image (travel direction gaze image); 51, 52: Character image (monitoring object gaze image); 90: Pedestrian; 100: Vehicle (moving body); 110: Other vehicles; 200: Communication network; 210: Traffic information server; D: Driver. DETAILED DESCRIPTION

[0031] [1. Structure of driving assistance device]

[0032] Reference Figure 1 、 Figure 2 , the structure of the driving assistance device 1 of the present disclosure is described. Figure 1 Driving assistance device 1 is mounted on vehicle 100 and is connected to a communication unit 30, a HUD (Head-Up Display) 31, a display 32 (e.g., DA (Display Audio), etc.), a front camera 40, a front radar 41, a rear camera 42, a rear radar 43, a driver monitoring camera 44, a speed sensor 45, a steering angle sensor 46, an accelerator pedal sensor 47, a brake pedal sensor 48, and the like. Vehicle 100 corresponds to the mobile object of the present disclosure. HUD 31 corresponds to the display device of the present disclosure.

[0033] The communication unit 30 communicates with the traffic information server 210, other vehicles 110, and the like via the communication network 200. Alternatively, communication between other vehicles 110 and the like can be conducted directly between vehicles, without going through the communication network 200. The front camera 40 captures the front of the vehicle 100 and inputs the front image to the driving assistance device 1. The front radar 41 detects the position of objects in front of the vehicle 100 and inputs the position detection data to the driving assistance device 1.

[0034] The rear camera 42 captures images of the rear of the vehicle 100 and inputs the rear image to the driving assistance device 1. The rear radar 43 detects the position of objects behind the vehicle 100 and inputs the position detection data to the driving assistance device 1. Furthermore, in addition to radar, laser radar (LiDAR) can also be used as a means for identifying the positions of objects around the vehicle 100. The driver monitoring camera 44 captures images of the driver D of the vehicle 100 and inputs an image of the driver D (primarily an image of the driver D's face) to the driving assistance device 1.

[0035] The speed sensor 45 detects the running speed of the vehicle 100 and inputs the speed detection data to the driving assistance device 1. The steering angle sensor 46 detects the steering wheel 3 (see FIG. Figure 2 ) and inputs the steering angle detection data to the driving assistance device 1. The accelerator pedal sensor 47 detects the accelerator pedal 4 (refer to Figure 2 ) and inputs the operation amount detection data to the driving assistance device 1. The brake pedal sensor 48 detects the brake pedal 5 (refer to Figure 2 ) and inputs the operation amount detection data into the driving assistance device 1.

[0036] like Figure 2As shown, the HUD 31 projects an image onto a predetermined portion 2a of the front window 2 of the vehicle 100. The predetermined portion 2a is located in front of the driver's seat 6. Figure 2 , a state where character images 50 (50a, 50b, 50c) imitating people are projected by the HUD 31 is exemplified. Route guidance information, traffic information, and the like are displayed on the display 32.

[0037] The driving assistance device 1 is a control unit comprising a processor 10, a memory 20, and the like. The processor 10 may be a single processor or multiple processors. The memory 20 stores a program 21 for controlling the driving assistance device 1. The program 21 may be read from a recording medium (a magnetic disk, an optical disk, a flash memory, etc.) and stored in the memory 20, or downloaded from a vehicle management server, etc., via a communication network 200 and stored in the memory 20.

[0038] By reading and executing program 21, processor 10 functions as a monitored object recognition unit 11, a risk level determination unit 12, a driving operation recognition unit 13, a line of sight recognition unit 14, and a caution notification unit 15. The processing performed by monitored object recognition unit 11 corresponds to the monitored object recognition step in the driving assistance method disclosed herein, and the processing performed by caution notification unit 15 corresponds to the caution notification step in the driving assistance method disclosed herein.

[0039] The monitored object recognition unit 11 identifies monitored objects in front of the vehicle 100 based on images of the front of the vehicle 100 captured by the front camera 40 and position detection data of objects in front of the vehicle 100 detected by the front radar 41. For objects in front of the vehicle 100, the monitored object recognition unit 11 calculates the predicted time until the object comes into contact with the vehicle 100 based on the vehicle 100's travel direction and speed, the object's travel direction and speed, and other factors. The monitored object recognition unit 11 then identifies as monitored objects objects whose predicted time until contact with the vehicle 100 is a predetermined time or less.

[0040] Similarly, the monitored object recognition unit 11 identifies the situation behind the vehicle 100 based on the rear image of the vehicle 100 captured by the rear camera 42 and the position detection data of objects behind the vehicle 100 detected by the rear radar 43. For objects located behind the vehicle 100, the monitored object recognition unit 11 calculates the predicted time until the object comes into contact with the vehicle 100 based on the vehicle 100's travel direction and speed, as well as the object's travel direction and speed. The monitored object recognition unit 11 then identifies objects whose predicted time until contact with the vehicle 100 is less than a predetermined time as monitored objects. Alternatively, the monitored object recognition unit 11 may identify monitored objects by receiving position information, travel speed information, and other information about other vehicles located around the vehicle 100, transmitted from the traffic information server 210 or other vehicles 110.

[0041] The risk level determination unit 12 determines the risk level of the monitored object to the vehicle 100, based on the monitored object identified by the monitored object recognition unit 11. The shorter the predicted time until the monitored object comes into contact with the vehicle 100, the higher the risk level determined by the risk level determination unit 12. In addition, the risk level determination unit 12 may also determine the risk level based on the type of monitored object, for example, in the order of pedestrians > other vehicles > fixed objects (walls, houses, guardrails, etc.). Alternatively, the greater the degree of damage in the event of contact between the vehicle 100 and the monitored object, the higher the risk level determined to be for the monitored object.

[0042] The driving operation recognition unit 13 recognizes the operation status of the driver D on the steering wheel 3, the accelerator pedal 4, and the brake pedal 5 based on the detection signals of the steering angle sensor 46, the accelerator pedal sensor 47, and the brake pedal sensor 48. The line of sight recognition unit 14 recognizes the line of sight of the driver D based on the image of the driver D's face captured by the driver monitoring camera 44.

[0043] When the monitoring object recognition unit 11 recognizes the monitoring object, the attention warning notification unit 15 Figure 2 The facial orientation of the character image 50 shown is switched to that of the monitored object, thereby issuing a warning notification. Character image 50 includes a face, a hairstyle with a specific orientation, clothing with a collar, and arms, which serve as a sightline identification unit for easily identifying the direction of the character image 50's sightline. Alternatively, character image 50 may include an image of a hat with a brim, clothing styles, and other image components as the sightline identification unit.

[0044] For example, when the monitored object recognition unit 11 recognizes the pedestrian 90 existing in front of the left side of the vehicle 100 as the monitored object, the attention reminder notification unit 15 performs the following attention reminder notification, in which the character image 50 is changed from a character image (travel direction gaze image) 50a whose face is facing the travel direction of the vehicle 100 to a character image (monitored object gaze image) 50b whose face is facing the direction of the pedestrian 90 as shown in the dialog box B1 (the character image 50 is rotated around the axis of the body).

[0045] Similarly, when the monitored object recognition unit 11 recognizes a monitored object located to the right front of the vehicle 100, the attention-calling notification unit 15 changes the character image 50 from the traveling direction gaze image 50a to a character image 50c with the face facing toward the right front of the vehicle 100, as shown in dialog box B2. Furthermore, when the monitored object recognition unit 11 recognizes a monitored object located behind the vehicle 100, the attention-calling notification unit 15 changes the character image 50 from the traveling direction gaze image 50a to a character image with the face facing toward the rear of the vehicle 100 (monitored object gaze image).

[0046] [2. Pay attention to the handling of reminder notifications]

[0047] according to Figure 3 The flowchart shown in FIG. 1 illustrates the procedure of processing for issuing a notification to draw attention to a monitored object, which is executed by the driving assistance device 1 .

[0048] exist Figure 3 In step S1, the attention warning notification unit 15 determines whether the running speed of the vehicle 100 identified by the speed detection signal of the speed sensor 45 exceeds a predetermined speed (for example, several kilometers per hour). Then, when the running speed of the vehicle 100 exceeds the predetermined speed, the attention warning notification unit 15 advances the processing to step S2. In step S2, if Figure 2 As shown, the attention notification unit 15 displays a character image (traveling direction gaze image) 50 a whose face is facing the traveling direction of the vehicle 100 at a predetermined location 2 a of the front window 2 via the HUD 31 .

[0049] In the next step S3, the monitoring object recognition unit 11 searches for monitoring objects around the vehicle 100. In the next step S4, the monitoring object recognition unit 11 proceeds to step S5 if it recognizes a monitoring object, and proceeds to step S9 if it does not recognize a monitoring object. Figure 4As shown by the middle arrow C, the attention reminder notification unit 15 changes the character image 50 from the traveling direction attention image 50a with the face facing the traveling direction A1 of the vehicle 100 to the monitoring object attention image 50b with the face facing the direction A2 of the monitoring object (rotates the character image 50 around the body axis).

[0050] In the next step S6, the attention-calling notification unit 15 determines whether the position of the monitored object is in front of the vehicle 100. Then, the attention-calling notification unit 15 advances the processing to step S7 when the position of the monitored object is in front of the vehicle 100, and advances the processing to step S9 when the position of the monitored object is not in front of the vehicle 100. In step S7, the attention-calling notification unit 15 determines the angular difference θ (refer to the angular difference θ between the orientation of the face in the traveling direction attention image 50a and the orientation of the face in the monitored object attention image 50b) Figure 4 ) is below the specified value.

[0051] The attention-calling notification unit 15 then proceeds to step S8 if the angle difference θ is less than the predetermined value, and proceeds to step S9 if the angle difference θ is greater than the predetermined value. In step S8, the attention-calling notification unit 15 again executes the attention-calling notification, changing the character image 80 from the traveling direction gaze image 80a to the monitored object gaze image 50b.

[0052] In this way, assuming that the monitored object is located in front of the vehicle 100, and because the angle difference between the facial orientations of the traveling direction gaze image and the monitored object gaze image is small, it is difficult for the driver D to notice that there has been a change from the traveling direction gaze image to the monitored object gaze image, by executing multiple attention reminder notifications, the effect of reminding the driver D's attention can be improved.

[0053] [3. Other Implementation Methods]

[0054] In the caution notification issued by the caution notification unit 15, the display method of the character image 50 may be changed, for example, as in the following Risk Display Examples 1 to 4, based on the risk level of the monitored object determined by the risk level determination unit 12. Furthermore, any combination of the following Risk Display Examples 1 to 4 may be displayed.

[0055] Risk Display Example 1: As the risk level of the monitored object increases, the color of the character image 50 is changed, for example, from green to yellow to red.

[0056] Risk Display Example 2: As the risk level of the monitored object increases, the size of the character image 50 increases.

[0057] Risk Display Example 3: As the risk level of the monitoring object increases, the time required to change the character image 50 from the traveling direction gaze image to the monitoring object gaze image is shortened.

[0058] Risk Display Example 4: As the risk level of the monitored object increases, the blinking cycle of the character image 50 is shortened.

[0059] When the monitoring object recognition unit 11 recognizes a plurality of monitoring objects, the monitoring object with the highest risk level determined by the risk level determination unit 12 may be selected as the target for execution. Figure 3 Alternatively, the facial orientation of the character image 50 may be changed sequentially from the highest-risk surveillance object to the lowest-risk surveillance object. For example, if the risk level is set to 10 levels, from level 1 (lowest) to level 10 (highest), and if a pedestrian with a risk level of 9, an oncoming vehicle with a risk level of 7, or a guardrail with a risk level of 3 is identified as a surveillance object, the attention notification unit 15 changes the facial orientation of the character image 50 in the following order.

[0060] The traveling direction of the vehicle 100 → the direction of the pedestrian → the direction of the oncoming vehicle → the direction of the guardrail.

[0061] If the driving operation recognition unit 13 does not recognize an operation performed by the driver D to avoid contact with the monitored object after the warning notification unit 15 has issued a warning notification, the warning notification unit 15 may issue a warning notification again. The operation to avoid contact with the monitored object includes operating the steering wheel 3 to deviate the direction of travel of the vehicle 100 from the direction of the monitored object, reducing the amount of operation of the accelerator pedal 4, or operating the brake pedal 5 to decelerate the vehicle 100.

[0062] If the sight line recognition unit 14 does not recognize that the driver D's sight line is directed toward the monitored object after the attention notification unit 15 has issued the attention notification, the attention notification unit 15 may issue the attention notification again.

[0063] In the above embodiment, the character image 50 imitating a human is shown as the character image of the present disclosure. However, the character image of the present disclosure only needs to have a face and may be a character imitating an animal, a character imitating a robot, or the like.

[0064] In the above embodiment, the vehicle 100 is shown as the mobile object of the present disclosure. However, the mobile object of the present disclosure may be an airplane, a ship, or the like as long as it can recognize monitoring objects existing around it and effectively call the driver's attention.

[0065] In the above embodiment, the attention-alerting notification unit 15 projects the character image 50 onto the front window via the HUD 31. In other embodiments, the attention-alerting notification unit 15 may display the character image on a display device such as the monitor 32 that is located in front of the driver's seat 6. Alternatively, the character image may be displayed in front of the driver's seat 6 using a hologram.

[0066] also, Figure 1 This is a schematic diagram showing the structure of the driving assistance device 1 according to the main processing contents in order to facilitate understanding of the present invention. The structure of the driving assistance device 1 can also be configured in other ways. In addition, the processing of each component can be performed by one hardware unit or by multiple hardware units. Figure 3 The processing of each component shown may be executed by one program or by a plurality of programs.

[0067] [4. Structures Supported by the Above-mentioned Embodiments]

[0068] The above-mentioned embodiment is a specific example of the following structure.

[0069] (Structure 1) A driving assistance device comprising: a monitoring object recognition unit that recognizes a monitoring object existing in the vicinity of a moving body; and an attention reminder notification unit that displays a character image having a face in front of a driver's seat of the moving body via a display device possessed by the moving body, and when the monitoring object is recognized by the monitoring object recognition unit, performs the following attention reminder notification: the character image is changed from a traveling direction gaze image in which the face is facing the traveling direction of the moving body to a monitoring object gaze image in which the face is facing the direction of the monitoring object.

[0070] According to the driving assistance device of Configuration 1, it is possible to provide notification of a monitoring object existing around the mobile body in a manner that is easy for the driver to understand.

[0071] (Structure 2) According to the driving assistance device described in Structure 1, the character image has a line of sight determination part for determining the direction of the line of sight of the character image, and in the travel direction gaze image, the line of sight determination part can be used to identify that the line of sight of the character image is toward the travel direction of the mobile body, and in the monitored object gaze image, the line of sight determination part can be used to identify that the line of sight of the character image is toward the monitored object.

[0072] According to the driving assistance device of the second configuration, the driver can easily recognize that the line of sight of the character image is directed toward the monitoring object, thereby improving the effect of the attention-calling notification.

[0073] (Structure 3) A driving assistance device according to Structure 1 or Structure 2, wherein the display device is a head-up display that projects an image onto a specified portion of the front window of the mobile body that is in front of the driver's seat of the mobile body, and the attention reminder notification unit displays the character image by projecting it onto the specified portion of the front window of the mobile body through the display device.

[0074] According to the driving assistance device of configuration 3, by displaying the character image at a predetermined position in front of the driver's seat using the head-up display, the driver can easily recognize changes in the facial orientation of the character image without significantly shifting their line of sight. This improves the visibility of the attention-calling notification.

[0075] (Structure 4) A driving assistance device according to any one of Structures 1 to 3, wherein the driving assistance device has a risk level determination unit that determines the risk level of the monitored object identified by the monitored object identification unit to the mobile body, and the attention reminder notification unit changes the display method of the character image according to the risk level of the monitored object.

[0076] According to the driving assistance device of the fourth configuration, the driver can recognize the risk level of the monitoring object by changing the display mode of the character image.

[0077] (Configuration 5) According to the driving assistance device of Configuration 4, the attention call notification unit changes at least any one of the size, color, and movement of the character image according to the risk level of the monitoring object.

[0078] According to the driving assistance device of configuration 5, the driver can recognize the risk level of the monitoring object by changing at least one of the size, color, and movement of the character image according to the risk level of the monitoring object.

[0079] (Structure 6) The driving assistance device according to Structure 4, wherein the higher the risk level of the monitoring object, the shorter the time the attention call notification unit takes to change from the traveling direction gaze image to the monitoring object gaze image.

[0080] According to the driving assistance device of the sixth configuration, the driver can recognize the risk level of the monitoring object based on the length of time the driver switches from the traveling direction viewing image to the monitoring object viewing image.

[0081] (Structure 7) A driving assistance device according to any one of Structures 1 to 6, wherein the attention reminder notification is performed multiple times when the angular difference between the orientation of the face of the character image in the traveling direction gaze image and the orientation of the face of the character image in the monitored object gaze image is less than a specified value.

[0082] According to the driving assistance device of structure 7, when the angular difference between the orientation of the face of the character image in the traveling direction gaze image and the monitored object gaze image is small, so that it is difficult for the driver to notice the difference between the traveling direction gaze image and the monitored object gaze image, the effect of reminding the driver's attention can be improved by executing multiple attention reminder notifications.

[0083] (Structure 8) A driving assistance device according to any one of Structures 1 to 7, wherein the driving assistance device has a risk level determination unit that determines the risk level of the monitored object identified by the monitored object identification unit to the mobile body, and in a case where a plurality of monitored objects are identified by the monitored object identification unit, the attention reminder notification unit performs the attention reminder notification on the monitored object with the highest risk level.

[0084] According to the driving assistance device of the eighth configuration, when there are a plurality of monitoring objects, it is possible to give priority to calling the driver's attention to the monitoring object with the highest risk level.

[0085] (Structure 9) A driving assistance device according to any one of Structures 1 to 7, wherein the driving assistance device has a risk level determination unit that determines the risk level of the monitored object identified by the monitored object recognition unit to the mobile body, and when the monitored object recognition unit recognizes multiple monitored objects, the attention reminder notification unit performs the following processing as the attention reminder notification: the orientation of the face of the character image is changed from the image looking at the direction of travel, and displayed in order from the monitored object with the highest risk level to the monitored object with the lowest risk level.

[0086] According to the driving assistance device of structure 9, when there are multiple monitoring objects, by switching the orientation of the face of the character image in order of risk level from high to low, it is possible to give priority to alerting the driver to the monitoring objects with high risk level while prompting the driver to identify all monitoring objects.

[0087] (Structure 10) A driving assistance device according to any one of Structures 1 to 9, wherein the driving assistance device has a driving operation recognition unit that recognizes the driving operation of the mobile body, and when the driving operation recognition unit does not recognize the driving operation for avoiding the risk caused by the monitored object after the attention reminder notification is performed, the attention reminder notification unit performs the attention reminder notification again.

[0088] According to the driving assistance device of configuration 10, when there is a possibility that the driver did not recognize the monitoring object because a driving operation for avoiding a risk caused by the monitoring object was not recognized, the driver can be prompted to recognize the monitoring object by performing the attention call notification again.

[0089] (Structure 11) A driving assistance device according to any one of Structures 1 to 10, wherein the driving assistance device has a line of sight direction recognition unit that recognizes the direction of the line of sight of the driver of the mobile body, and when the line of sight direction recognition unit does not recognize that the direction of the driver's line of sight becomes the direction of the monitored object after the attention reminder notification is performed, the attention reminder notification unit executes the attention reminder notification again.

[0090] According to the driving assistance device of structure 11, when there is a possibility that the driver has not recognized the monitoring object because the driver's line of sight is not recognized as being in the direction of the monitoring object, the driver can be prompted to recognize the monitoring object by performing the attention reminder notification again.

[0091] (Structure 12) A driving assistance method, executed by a computer, comprising: a monitoring object recognition step of recognizing a monitoring object existing in the vicinity of a moving body; and an attention reminder notification step of displaying a character image having a face in front of a driver's seat of the moving body by a display device possessed by the moving body, and when the monitoring object is recognized by the monitoring object recognition step, performing the following attention reminder notification: changing the character image from a traveling direction gaze image in which the face is facing the traveling direction of the moving body to a monitoring object gaze image in which the face is facing the direction of the monitoring object.

[0092] By executing the driving assistance method of the configuration 12 on a computer, the same operational effects as those of the driving assistance method of the configuration 1 can be obtained.

[0093] (Structure 13) A recording medium having recorded thereon a program for causing a computer to function as: a monitoring object recognition unit that recognizes a monitoring object existing in the vicinity of a moving body; and an attention reminder notification unit that displays a character image having a face in front of a driver's seat of the moving body via a display device provided in the moving body, and when the monitoring object is recognized by the monitoring object recognition unit, performs the following attention reminder notification: changing the character image from a traveling direction gaze image in which the face is facing the traveling direction of the moving body to a monitoring object gaze image in which the face is facing the direction of the monitoring object.

[0094] The configuration of the driving assistance device of Configuration 1 can be realized by executing the program of Configuration 13 on a computer.

Claims

1. A driving assistance device comprising: a monitoring object recognition unit that recognizes a monitoring object existing around the mobile body; and An attention reminder notification unit displays a character image with a face in front of the driver's seat of the mobile body through a display device provided in the mobile body, and when the monitored object is identified by the monitored object identification unit, performs the following attention reminder notification: the character image is changed from a traveling direction gaze image with the face facing the traveling direction of the mobile body to a monitored object gaze image with the face facing the direction of the monitored object.

2. The driving assistance device according to claim 1, wherein: The character image has a line of sight determination part for determining the direction of the character image's line of sight. In the travel direction gaze image, the line of sight determination part can be used to identify that the character image's line of sight is directed toward the travel direction of the moving object. In the monitored object gaze image, the line of sight determination part can be used to identify that the character image's line of sight is directed toward the monitored object.

3. The driving assistance device according to claim 1, wherein: The display device is a head-up display that projects an image onto a predetermined portion of the front window of the mobile body that is in front of a driver's seat of the mobile body. The attention-calling notification unit projects and displays the character image on the predetermined portion of the front window of the moving object via the display device.

4. The driving assistance device according to any one of claims 1 to 3, wherein: The driving assistance device includes a risk level determination unit that determines a risk level of the monitoring object recognized by the monitoring object recognition unit to the mobile body. The caution notification unit changes a display mode of the character image according to the risk level of the monitoring object.

5. The driving assistance device according to claim 4, wherein: The caution notification unit changes at least one of the size, color, and movement of the character image according to the risk level of the monitored object.

6. The driving assistance device according to claim 4, wherein: The higher the risk level of the monitoring object, the shorter the time it takes for the attention-calling notification unit to change from the traveling-direction attention image to the monitoring object attention image.

7. The driving assistance device according to any one of claims 1 to 3, wherein: The attention call notification is executed a plurality of times when an angular difference between an orientation of the face of the character image in the traveling direction attention image and an orientation of the face of the character image in the monitored object attention image is equal to or smaller than a predetermined value.

8. The driving assistance device according to any one of claims 1 to 3, wherein: The driving assistance device includes a risk level determination unit that determines a risk level of the monitoring object recognized by the monitoring object recognition unit to the mobile body. When the monitoring object recognition unit recognizes a plurality of monitoring objects, the attention call notification unit performs the attention call notification on the monitoring object having the highest risk level.

9. The driving assistance device according to any one of claims 1 to 3, wherein: The driving assistance device includes a risk level determination unit that determines a risk level of the monitoring object recognized by the monitoring object recognition unit to the mobile body. When the monitoring object recognition unit identifies multiple monitoring objects, the attention reminder notification unit performs the following processing as the attention reminder notification: the orientation of the face of the character image is changed from the traveling direction gaze image, and displayed in order from the monitoring object with the highest risk level to the monitoring object with the lowest risk level.

10. The driving assistance device according to any one of claims 1 to 3, wherein: The driving assist device includes a driving operation recognition unit that recognizes a driving operation of the mobile body. The attention calling notification unit performs the attention calling notification again when the driving operation recognition unit does not recognize a driving operation for avoiding a risk caused by the monitoring object after the attention calling notification is performed.

11. The driving assistance device according to any one of claims 1 to 3, wherein: The driving assistance device includes a sight line direction recognition unit for recognizing the direction of the sight line of the driver of the mobile object. If the sight line direction recognition unit does not recognize that the driver's sight line direction is in the direction of the monitoring object after the attention call notification is performed, the attention call notification unit performs the attention call notification again.

12. A driving assistance method, executed by a computer, comprising: a monitoring object recognition step of recognizing a monitoring object existing around the mobile body; as well as An attention reminder notification step is performed, in which a character image with a face is displayed in front of the driver's seat of the mobile body by a display device possessed by the mobile body. When the monitored object is identified by the monitored object identification step, the following attention reminder notification is performed: the character image is changed from a traveling direction gaze image with the face facing the traveling direction of the mobile body to a monitored object gaze image with the face facing the direction of the monitored object.

13. A recording medium having recorded thereon a program for causing a computer to function as: a monitoring object recognition unit that recognizes a monitoring object existing around the mobile body; and An attention reminder notification unit displays a character image with a face in front of the driver's seat of the mobile body through a display device provided in the mobile body, and when the monitored object is identified by the monitored object identification unit, performs the following attention reminder notification: the character image is changed from a traveling direction gaze image with the face facing the traveling direction of the mobile body to a monitored object gaze image with the face facing the direction of the monitored object.

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