Information processing apparatus, information processing method, and recording medium

Abstract

The invention provides an information processing apparatus, an information processing method, and a recording medium. An information processing device (10) is provided with a vehicle determination unit (20A) and an output control unit (20E). A vehicle determination unit (20A) determines which of a two-wheeled vehicle and a four-wheeled vehicle the other vehicle captured in the captured image of the periphery of the host vehicle (1) is. The output control unit (20E) outputs warning information on the basis of an output condition corresponding to the result of the determination.

Description

Technical Field

[0001] The present disclosure relates to an information processing device, an information processing method, and a recording medium. Background Art

[0002] Previously, the introduction of warning functions that notify the driver of approaching vehicles has been progressing. For example, a function has been disclosed that determines whether the distance to a detected vehicle is below a warning threshold to determine whether a warning is necessary, and a function that changes the warning distance threshold based on whether the detected vehicle is a two-wheeled vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2022-151314

[0006] Patent Document 2: International Publication No. 2016 / 147584 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] However, in the conventional technology, warning information may be output even in a situation where a warning is not necessary, which may make it impossible to output appropriate warning information corresponding to other vehicles around the host vehicle.

[0009] The problem to be solved by the present disclosure is to provide an information processing device, an information processing method, and an information processing program capable of outputting appropriate warning information corresponding to other vehicles around the host vehicle.

[0010] Solutions for solving problems

[0011] The information processing device disclosed herein includes a vehicle determination unit and an output control unit. The vehicle determination unit determines whether another vehicle captured in a photographic image of the surrounding area of ​​the vehicle is a two-wheeled vehicle or a four-wheeled vehicle. The output control unit outputs a warning message based on an output condition corresponding to the determination result.

[0012] Effects of the Invention

[0013] According to the information processing device, information processing method, and information processing program according to the present disclosure, it is possible to output appropriate warning information corresponding to other vehicles around the host vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram illustrating an example of how the information processing device according to the embodiment is used.

[0015] Figure 2 This is a block diagram showing an example of the functional structure of the vehicle.

[0016] Figure 3 This is a hardware configuration diagram of an example of an information processing device.

[0017] Figure 4 This is a schematic diagram showing an example of the positional relationship between the host vehicle and other vehicles.

[0018] Figure 5A This is a schematic diagram showing an example of warning information related to a two-wheeled vehicle displayed on the display unit.

[0019] Figure 5B This is a schematic diagram showing an example of warning information related to a two-wheeled vehicle displayed on the display unit.

[0020] Figure 6A This is a schematic diagram showing an example of warning information related to a four-wheeled vehicle displayed on the display unit.

[0021] Figure 6B This is a schematic diagram showing an example of warning information related to a four-wheeled vehicle displayed on the display unit.

[0022] Figure 6C This is a schematic diagram showing an example of warning information related to a four-wheeled vehicle displayed on the display unit.

[0023] Figure 7 This is a flowchart showing an example of the flow of information processing executed by the information processing device according to the embodiment. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of an information processing device, an information processing method, and a recording medium according to the present disclosure will be described with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram showing an example of how the information processing device 10 according to this embodiment is used.

[0026] The information processing device 10 is a device for notifying passengers of the host vehicle 1 of the presence of other vehicles 2 around the host vehicle 1. In this embodiment, a mode in which the information processing device 10 is mounted on the host vehicle 1 will be described as an example.

[0027] The host vehicle 1 is a vehicle equipped with an information processing device 10. The other vehicle 2 is a vehicle other than the vehicle equipped with the information processing device 10.

[0028] In this embodiment, the information processing device 10 outputs warning information related to the determined other vehicle 2 to the passengers of the vehicle 1 based on the output conditions corresponding to the result obtained by determining whether the other vehicle 2 around the vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B (details will be described later).

[0029] Two-wheeled vehicles 2A are vehicles with two wheels. Examples of two-wheeled vehicles 2A include motorcycles, scooters, electric bicycles, bicycles, and electric scooters. Four-wheeled vehicles 2B are vehicles with four or more wheels. Examples of four-wheeled vehicles 2B include standard cars, compact cars, mid-sized cars, large cars, light cars, and special vehicles.

[0030] Next, the functional structure of the vehicle 1 will be described in detail.

[0031] Figure 2 This is a block diagram showing an example of the functional configuration of the vehicle 1 .

[0032] The host vehicle 1 includes a communication unit 12 , a camera 13 , an external sensor 14 , an internal sensor 15 , a travel control unit 16 , an operating unit 17 , an instrument computer 18 , a storage unit 19 , and an information processing device 10 .

[0033] The communication unit 12, the imaging device 13, the external sensor 14, the internal sensor 15, the driving control unit 16, the operating unit 17, the meter computer 18, the storage unit 19, and the information processing device 10 are connected in a communicative manner via a bus 11 or the like. For example, a local area network such as a CAN (Controller Area Network) can be used as the bus 11.

[0034] The communication unit 12 is a communication interface for communicating with external devices. For example, the communication unit 12 communicates with external information processing devices via a network. Furthermore, the communication unit 12 can also communicate with other vehicles 2 via inter-vehicle communication, for example, using V2V (Vehicle to Vehicle) communication.

[0035] The imaging device 13 captures the surroundings of the vehicle 1, generating image data. Hereinafter, the image data will be referred to simply as "image data." In this embodiment, the imaging device 13 continuously captures images over time and sequentially outputs the captured images to the information processing device 10.

[0036] In this embodiment, a mode in which the vehicle 1 is provided with the imaging device 13 with at least the rear side (rear side) of the vehicle 1 as an imaging area will be described. Figure 1As shown, the photographic device 13 is pre-adjusted in terms of its photographic angle of view and installation position so that it can capture images of other vehicles 2 located at least to the rear of the vehicle 1. Furthermore, the photographic device 13 outputs images of the rear of the vehicle 1 to the information processing device 10. As long as the photographic device 13 is pre-adjusted so that it can capture images of at least the rear of the vehicle 1, there is no limitation on the number or placement of the photographic devices 13 installed in the vehicle 1.

[0037] return Figure 2 Continue with the description.

[0038] The external sensor 14 is mounted on the vehicle 1 and is used to detect the external conditions of the vehicle 1. In this embodiment, the external sensor 14 detects the presence of other vehicles 2, the distance to other vehicles 2, etc. The external sensor 14 is, for example, a distance sensor, a sonar sensor that detects objects through sound waves, an ultrasonic sensor, etc. The distance sensor is, for example, a millimeter wave radar, a laser sensor, etc. The laser sensor is, for example, a two-dimensional LiDAR (Laser Imaging Detection and Ranging) sensor or a three-dimensional LiDAR sensor that is arranged parallel to the horizontal plane. Figure 1 As shown, in this embodiment, the external sensor 14 is arranged at a position where it can detect another vehicle 2 at least behind the host vehicle 1. Furthermore, the external sensor 14 only needs to be pre-adjusted to be able to detect another vehicle 2 at least behind the host vehicle 1, and there is no limitation on the number and arrangement positions of the external sensors 14 provided on the host vehicle 1.

[0039] return Figure 2 Continue with the description.

[0040] The internal sensors 15 detect the state of the vehicle 1. They detect the vehicle's position, speed, acceleration, accelerator pedal position, steering angle, brake pedal depression, and other parameters. Examples of the internal sensors 15 include a GPS (Global Positioning System), a speed sensor, an acceleration sensor such as an IMU (Inertial Measurement Unit) that detects at least the acceleration acting on the vehicle 1 in the front-rear direction, an accelerator pedal position sensor that detects the accelerator pedal position, a steering angle sensor that detects the steering angle, and a sensor that detects the brake pedal depression.

[0041] The driving control unit 16 is an ECU (Engine Control Unit) that controls the driving of the vehicle 1. Based on passenger operation information received from the operating unit 17 and detection results from the internal sensors 15, the driving control unit 16 controls the driving devices of the vehicle 1, such as the engine and motor, and controls the transmission system devices of the vehicle 1, such as the transmission.

[0042] The operating unit 17 is operated by the passenger of the vehicle 1. Examples of the operating unit 17 include an ignition switch, a gear lever, a steering wheel, a turn signal indicator, an accelerator pedal, and a brake pedal. The turn signal indicator is used to notify the surrounding area of ​​changes in the direction of movement of the vehicle 1. However, the operating unit 17 mounted on the vehicle 1 is not limited to this.

[0043] The driving control unit 16 controls the drive device and transmission system devices of the vehicle 1 based on information such as ignition switch operation information, gear position information of the gear lever, direction indicator operation information, steering angle represented by steering operation amount, accelerator pedal operation information of the accelerator pedal, and brake pedal operation information of the brake pedal. In addition, in this embodiment, the driving control unit 16 outputs direction indicator operation information and the like to the information processing device 10.

[0044] The instrument computer 18 has a function for notifying the driver and other passengers of information. An example of this is an HMI (human machine interface). Information notification functions include a display function that displays information, a sound output function that outputs sound indicating information, and a light output function that flashes or illuminates a light indicating information. An example of a display function is a combination meter device that provides notifications to the driver via a display. An example of a sound output function is a notification sound generator such as a buzzer or speaker that provides sound notifications.

[0045] In the present embodiment, description will be given of an example in which the instrument computer 18 includes at least the display unit 18A and the side mirror 18B.

[0046] The display unit 18A is a device that displays information. In this embodiment, the display unit 18A is described as an electronic mirror. An electronic mirror is a device that projects a photographic image from the rear of the vehicle 1 onto a mirror surface. Depending on the manufacturer of the vehicle 1, the electronic mirror is sometimes referred to as a smart rearview mirror (SRVM), a smart interior rearview mirror, a smart interior rearview mirror, or an electronic interior rearview mirror.

[0047] The side mirror 18B is provided with an indicator device, which functions as a device for outputting various information. Alternatively, the side mirror 18B may be configured as an electronic side mirror that displays a photographic image of the side of the vehicle 1. In this case, the side mirror 18B functions as a device for outputting information. This embodiment describes an example in which the indicator device of the side mirror 18B functions as a device for outputting various information.

[0048] The storage unit 19 stores various data. At least a portion of the data stored in the storage unit 19 may be stored in an external storage device connected to the information processing device 10 in a communicable manner.

[0049] Next, the information processing device 10 will be described in detail.

[0050] Figure 3 It is a hardware configuration diagram of an example of the information processing device 10 .

[0051] In the information processing device 10, a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, and an I / F (Interface) 11D are interconnected via a bus 11E. The information processing device 10 utilizes the hardware structure of a conventional computer.

[0052] The CPU 11A is a computing device that controls the information processing device 10 of this embodiment. The ROM 11B stores programs and the like that implement various processes performed by the CPU 11A. The RAM 11C stores data required for the CPU 11A to perform various processes. The I / F 11D is an interface for transmitting and receiving data.

[0053] The program for executing the information processing executed by the information processing device 10 of this embodiment is provided in a manner pre-programmed in the ROM 11B, etc. Furthermore, the program executed by the information processing device 10 of this embodiment may be provided in the form of a file in a format that can be installed in the information processing device 10 or in a format that can be executed by the information processing device 10, recorded on a computer-readable recording medium such as a CD-ROM, a floppy disk (FD), a CD-R, or a DVD (Digital Versatile Disc).

[0054] return Figure 2 Continue with the description.

[0055] The information processing device 10 includes a processing unit 20. The processing unit 20 performs various information processing. For example, the CPU 11A reads a program from the ROM 11B to the RAM 11C and executes the program, thereby realizing various functional units of the processing unit 20 described below on the computer.

[0056] The processing unit 20 includes a vehicle determination unit 20A, a driving condition derivation unit 20B, a first setting unit 20C, a second setting unit 20D, and an output control unit 20E. Part or all of the vehicle determination unit 20A, the driving condition derivation unit 20B, the first setting unit 20C, the second setting unit 20D, and the output control unit 20E may be implemented, for example, by software, such as by having a processing device such as the CPU 11A execute a program, or by hardware such as an integrated circuit (IC), or by a combination of software and hardware. Alternatively, at least one of the vehicle determination unit 20A, the driving condition derivation unit 20B, the first setting unit 20C, the second setting unit 20D, and the output control unit 20E may be installed in an external information processing device that is communicatively connected to the information processing device 10 via a network or the like.

[0057] The vehicle identification unit 20A determines whether another vehicle 2 captured in a photographic image of the surrounding area of ​​the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. The vehicle identification unit 20A analyzes the photographic image captured by the imaging device 13 using a known method, such as pattern matching or artificial intelligence (AI) trained through deep learning, to identify the other vehicle 2 captured in the photographic image and determine whether the identified other vehicle 2 is the two-wheeled vehicle 2A or the four-wheeled vehicle 2B. Furthermore, if the vehicle identification unit 20A detects an object other than the two-wheeled vehicle 2A or the four-wheeled vehicle 2B captured in the photographic image, it does not identify the object. That is, in this embodiment, the vehicle identification unit 20A only identifies at least one of the two-wheeled vehicle 2A and the four-wheeled vehicle 2B captured in the photographic image.

[0058] The driving condition deriving unit 20B derives driving condition information related to the driving condition of at least one of the host vehicle 1 and the other vehicle 2 determined by the vehicle determination unit 20A. The driving condition information includes first driving condition information, second driving condition information, and relative driving condition information.

[0059] For example, assume that the vehicle identification unit 20A identifies the other vehicle 2 captured in the captured image as a two-wheeled vehicle 2A. In this case, the driving condition deriving unit 20B derives first driving condition information. Alternatively, assume that the vehicle identification unit 20A identifies the other vehicle 2 captured in the captured image as a four-wheeled vehicle 2B. In this case, the driving condition deriving unit 20B derives second driving condition information.

[0060] First, the first driving condition information will be described. The first driving condition information is information regarding the driving condition of at least one of the host vehicle 1 and the determined two-wheeled vehicle 2A. In other words, the first driving condition information includes information indicating the driving conditions of each of the host vehicle 1 and the two-wheeled vehicle 2A located behind the host vehicle 1, as well as the relative driving conditions of the host vehicle 1 and the two-wheeled vehicle 2A.

[0061] Specifically, the first driving condition information represents, for example, at least one of the following information: the speed of the vehicle 1, the number of direction changes of the two-wheeled vehicle 2A, the illumination of the driving environment of the vehicle 1 and the two-wheeled vehicle 2A, the driving skills of the driver of the vehicle 1, the estimated size of the two-wheeled vehicle 2A, the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling, the type of the road on which the vehicle 1 and the two-wheeled vehicle 2A are traveling, the estimated collision impact when the two-wheeled vehicle 2A collides with another object, whether the current driving location of the vehicle 1 and the two-wheeled vehicle 2A is within the warning target area, whether the environment of the road surface on which the vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined rollover risk environment, the steering angle of the vehicle 1, the acceleration and deceleration conditions of the vehicle 1, the area including the driving area of ​​the vehicle 1 and the two-wheeled vehicle 2A, the vehicle type of the two-wheeled vehicle 2A, and the behavior of the passenger of the two-wheeled vehicle 2A.

[0062] The speed of the host vehicle 1 refers to the current speed of the host vehicle 1. The driving condition deriving unit 20B determines the speed of the host vehicle 1 by acquiring the speed of the host vehicle 1 detected by the internal sensor 15. Alternatively, the driving condition deriving unit 20B may determine the speed of the host vehicle 1 by acquiring the speed of the host vehicle 1 from the driving control unit 16 via a CAN or the like.

[0063] The number of driving changes indicates the number of times that the state of the two-wheeled vehicle 2A determined by the vehicle determination unit 20A to be visible to passengers of the host vehicle 1 changes to a state in which the two-wheeled vehicle 2A is obscured by another vehicle 2 located between the two-wheeled vehicle 2A and the host vehicle 1. The driving condition deriving unit 20B analyzes the rearward image of the host vehicle 1 captured by the imaging device 13, and counts a sequence of states, including a state in which at least a portion of the two-wheeled vehicle 2A is exposed from the other vehicle 2 and a state in which the entire two-wheeled vehicle 2A is captured in the captured image, as one state, and counts the number of repetitions of this state. The driving condition deriving unit 20B then determines the counted value of this number of repetitions as the number of driving changes of the two-wheeled vehicle 2A.

[0064] Alternatively, the number of driving changes may indicate the number of driving changes per unit time by the two-wheeled vehicle 2A in a direction intersecting the travel direction of the host vehicle 1. In this case, the driving status deriving unit 20B analyzes the rear-view image captured by the imaging device 13 to determine the number of driving changes per unit time, as determined by the vehicle determination unit 20A, by the two-wheeled vehicle 2A in the rear-view image. This number of driving changes indicates the number of driving changes per unit time by the two-wheeled vehicle 2A in a direction intersecting the travel direction of the host vehicle 1, as determined by the vehicle determination unit 20A. In this case, the number of driving changes indicates, for example, the number of reciprocating movements of the two-wheeled vehicle 2A in a direction intersecting the travel direction of the host vehicle 1, where the two-wheeled vehicle 2A moves in one direction and then in the other direction, with the number of reciprocating movements being counted as one. This reciprocating movement of the two-wheeled vehicle 2A relative to the host vehicle 1 is sometimes referred to as zigzagging.

[0065] The illuminance of the driving environment of the host vehicle 1 and the two-wheeled vehicle 2A indicates the illuminance of the environment in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling. For example, the illuminance of the environment is lower at night than during the day, and lower on rainy or cloudy days than on sunny days. The driving condition derivation unit 20B is configured, for example, to include an illuminance sensor in addition to the external sensor 14, and to determine the illuminance of the driving environment by acquiring the illuminance detected by the illuminance sensor. Alternatively, the driving condition derivation unit 20B may utilize AI trained through deep learning or other means to estimate scenes such as daytime, dusk, and nighttime based on photographic images, thereby estimating the illuminance of the driving environment.

[0066] Alternatively, the driving condition deriving unit 20B may obtain the weather of the environment at the location where the host vehicle 1 and two-wheeled vehicle 2A are traveling from an external server device that distributes weather information via the communication unit 12, thereby obtaining the illuminance indicated by the weather. For example, the driving condition deriving unit 20B may pre-register weather information and illuminance information in the storage unit 19 in association with each other, and may obtain the illuminance by reading the illuminance information corresponding to the weather information received from the server device. Alternatively, the driving condition deriving unit 20B may determine the illuminance of the driving environment by determining the current time. For example, the driving condition deriving unit 20B may pre-register time information and illuminance information indicating the illuminance of the driving environment in the storage unit 19 in association with each other. It is sufficient to store illuminance information indicating a lower illuminance than that corresponding to time information indicating a daytime time period in the storage unit 19 in association with time information indicating a nighttime time period. Furthermore, the driving condition deriving unit 20B may determine the illuminance of the driving environment of the host vehicle 1 and two-wheeled vehicle 2A by reading the illuminance information corresponding to the current time information from the storage unit 19.

[0067] The driving skill of the driver of the vehicle 1 is information indicating the driving skill of the driver driving the vehicle 1. Driving skill is indicated by, for example, the driver's driving experience, the driver's age, and the like. For example, driving skill information indicating a numerical value of the driver's driving skill, which is higher with a longer driving experience and lower with an older age, is stored in the storage unit 19 in advance by the driver's operating instructions to the operating unit 17. The driving condition derivation unit 20B determines the driving skill of the driver of the vehicle 1 by reading the driving skill information from the storage unit 19. In addition, the driving condition derivation unit 20B may estimate the driver's driving skill using a known method using a photographic image obtained by a photographic device installed in the vehicle 1 to photograph the driver, and information indicating the driver's acceleration work obtained by the internal sensor 15 and the driving control unit 16.

[0068] The estimated size of the two-wheeled vehicle 2A is information estimating the size of the two-wheeled vehicle 2A in real space. The driving condition derivation unit 20B analyzes the two-wheeled vehicle 2A captured in the photographic image using a known method to estimate the size of the two-wheeled vehicle 2A in real space and determine the estimated size. For example, the driving condition derivation unit 20B estimates the size of the two-wheeled vehicle 2A using the area of ​​the two-wheeled vehicle 2A captured in the photographic image and the distance between the host vehicle 1 and the two-wheeled vehicle 2A. Alternatively, the driving condition derivation unit 20B may determine the model of the two-wheeled vehicle 2A captured in the photographic image and obtain dimension information corresponding to the determined model from the storage unit 19 or an external information processing device to determine the estimated size of the two-wheeled vehicle 2A.

[0069] The color difference between the two-wheeled vehicle 2A and the road surface on which the two-wheeled vehicle 2A is traveling refers to the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling. The traveling condition derivation unit 20B analyzes, for example, a photographic image captured by the imaging device 13 and determines the color difference as the difference between the average pixel value of the image region in which the two-wheeled vehicle 2A is captured and the average pixel value of the road surface region including at least the region in contact with the wheels of the two-wheeled vehicle 2A.

[0070] The type of road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling refers to whether the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an expressway or a regular road. An expressway is a road on which high-speed travel at or above a predetermined speed is permitted. The driving status deriving unit 20B determines the type of road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling by, for example, identifying the type of road at the current location of the host vehicle 1 in map data used by a car navigation system installed in the host vehicle 1. Alternatively, the driving status deriving unit 20B may determine the type of road by analyzing a photographic image.

[0071] The estimated collision impact intensity when the two-wheeled vehicle 2A collides with another object is information indicating an estimated value of the impact intensity when the traveling two-wheeled vehicle 2A collides with another object. The estimated collision impact intensity is represented, for example, by kinetic energy. The driving condition derivation unit 20B determines the type of the two-wheeled vehicle 2A by analyzing a photographic image. The type of the two-wheeled vehicle 2A is represented by the model, manufacturer, and model number of the two-wheeled vehicle 2A. The driving condition derivation unit 20B then obtains the mass of the determined two-wheeled vehicle 2A from the storage unit 19 or an external information processing device and calculates the estimated collision impact intensity of the two-wheeled vehicle 2A by calculating the mass multiplied by the square of the current speed of the two-wheeled vehicle 2A and 1 / 2. The driving condition derivation unit 20B can obtain the speed of the two-wheeled vehicle 2A by analyzing the photographic image using a known method. Alternatively, the driving condition derivation unit 20B can obtain the speed and mass of the two-wheeled vehicle 2A from the two-wheeled vehicle 2A through vehicle-to-vehicle (V2V) communication performed via the communication unit 12.

[0072] The warning target area is an area in real space that is predefined as a target for outputting warning information to passengers of the host vehicle 1. Examples of warning target areas include intersections and confluence points on highways. For example, the warning target area can be pre-registered in the map data based on user instructions on the operating unit 17. The driving status derivation unit 20B can determine whether the current driving locations of the host vehicle 1 and the two-wheeled vehicle 2A are within the warning target area registered in the map data. The driving status derivation unit 20B can use the position of the host vehicle 1 detected by the internal sensor 15 as the current driving location of the host vehicle 1 and the two-wheeled vehicle 2A.

[0073] The information indicating a tipping-hazardous environment indicates that the road surface on which the vehicle 1 and the two-wheeled vehicle 2A are traveling is an environment where the two-wheeled vehicle 2A is likely to tip over. Specifically, the information indicating a tipping-hazardous environment can be represented by information indicating road conditions such as freezing, rainy, or snowy conditions. The information indicating a tipping-hazardous environment can be pre-set and stored in the storage unit 19, for example. The driving condition deriving unit 20B obtains information indicating the road surface conditions at the current location of the vehicle 1 from, for example, a weather server or an information processing device that provides road conditions, and determines whether this information is consistent with a tipping-hazardous environment, thereby determining whether the road surface conditions on which the vehicle 1 and the two-wheeled vehicle 2A are traveling are predetermined tipping-hazardous environments. Alternatively, the driving condition deriving unit 20B can determine the information indicating the road surface conditions by analyzing an image region of the road surface included in a photographic image using a known method. Furthermore, the driving condition deriving unit 20B can determine whether the road surface conditions on which the vehicle 1 and the two-wheeled vehicle 2A are traveling are predetermined tipping-hazardous environments by determining whether this information is consistent with a tipping-hazardous environment.

[0074] The steering angle of the host vehicle 1 refers to the current steering angle of the host vehicle 1 . The driving condition derivation unit 20B specifies the steering angle of the host vehicle 1 by acquiring the steering angle of the steering device detected by the interior sensor 15 .

[0075] The acceleration / deceleration status of the host vehicle 1 is information indicating whether the host vehicle 1 is accelerating or decelerating, and the acceleration in that situation. The driving status derivation unit 20B obtains the acceleration detected by the internal sensor 15. If the obtained acceleration is a negative value, the host vehicle 1 is determined to be decelerating. Furthermore, the driving status derivation unit 20B determines the acceleration at that time as the acceleration during deceleration. Alternatively, the driving status derivation unit 20B may determine the acceleration in the deceleration direction of the host vehicle 1 based on the amount of brake pedal depression detected by the internal sensor 15.

[0076] The region including the driving area in which the host vehicle 1 and the two-wheeled vehicle 2A are currently traveling is the country or region in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling. The driving condition deriving unit 20B identifies the region including the driving area in which the host vehicle 1 and the two-wheeled vehicle 2A are currently traveling by identifying the position of the host vehicle 1 detected by the internal sensor 15 in the map data.

[0077] The vehicle category of the two-wheeled vehicle 2A is a label for each category when the two-wheeled vehicle 2A is classified according to pre-defined rules. In this embodiment, the vehicle category of the two-wheeled vehicle 2A indicates whether it is a warning target vehicle. The warning target vehicle of the two-wheeled vehicle 2A refers to a vehicle of the vehicle category that is the subject of a warning to the host vehicle 1. The warning target vehicle is, for example, a vehicle designated to be allowed priority passage on the road or priority use of the road. Specifically, the warning target vehicle of the two-wheeled vehicle 2A is, for example, a motorcycle equipped with various devices required by the police for traffic control, but is not limited to this. The vehicle category of the warning target vehicle can be pre-registered in the storage unit 19, etc., based on the operation instructions of the operating unit 17 by the passengers of the host vehicle 1, etc. The driving status derivation unit 20B can determine the vehicle category of the two-wheeled vehicle 2A captured in the photographic image by performing image analysis on the photographic image and determine whether it is a warning target vehicle.

[0078] The motion of the passenger of the two-wheeled vehicle 2A refers to the gestures or other behaviors of at least one of the driver of the two-wheeled vehicle 2A and a fellow passenger riding with the driver. The driving status derivation unit 20B identifies the motion of the passenger of the two-wheeled vehicle 2A captured in the captured image by performing image analysis on the captured image using a known method.

[0079] Next, the second driving condition information will be described. As described above, it is assumed that the vehicle determination unit 20A determines that the other vehicle 2 captured in the captured image is the four-wheeled vehicle 2B. In this case, the driving condition derivation unit 20B derives the second driving condition information.

[0080] The second driving condition information is information related to the driving condition of at least one of the host vehicle 1 and the determined four-wheeled vehicle 2B. In other words, the second driving condition information includes information indicating the driving condition of each of the host vehicle 1 and the four-wheeled vehicle 2B located behind the host vehicle 1, as well as the relative driving condition between the host vehicle 1 and the four-wheeled vehicle 2B.

[0081] Specifically, the second driving condition information represents, for example, at least one of the following information: the speed of the vehicle 1, the estimated size of the four-wheeled vehicle 2B, the type of the road on which the vehicle 1 and the four-wheeled vehicle 2B are traveling, the estimated collision impact when the four-wheeled vehicle 2B collides with other objects, whether the current driving location of the vehicle 1 and the four-wheeled vehicle 2B is within the warning target area, the motor vehicle registration number of the four-wheeled vehicle 2B, the area including the driving area where the vehicle 1 and the four-wheeled vehicle 2B are traveling, and the vehicle category of the four-wheeled vehicle 2B.

[0082] As described above, the vehicle speed of the host vehicle 1 is the current vehicle speed of the host vehicle 1 .

[0083] The estimated size of the four-wheeled vehicle 2B refers to information estimating the size of the four-wheeled vehicle 2B in real space. The driving condition derivation unit 20B analyzes the four-wheeled vehicle 2B captured in the photographic image using a known method to estimate the size of the four-wheeled vehicle 2B in real space and determine the estimated size. For example, the driving condition derivation unit 20B estimates the size of the four-wheeled vehicle 2B using the area of ​​the four-wheeled vehicle 2B captured in the photographic image and the distance between the host vehicle 1 and the four-wheeled vehicle 2B. Alternatively, the driving condition derivation unit 20B may determine the estimated size of the four-wheeled vehicle 2B by determining the model of the four-wheeled vehicle 2B captured in the photographic image and obtaining size information corresponding to the determined model from the storage unit 19 or an external information processing device.

[0084] The type of the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling refers to whether the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is an expressway or a regular road. The driving status deriving unit 20B may determine the type of the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling using the same method as that used to determine the type of the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling.

[0085] The estimated collision impact intensity when the four-wheeled vehicle 2B collides with another object is information indicating an estimated value of the impact intensity when the traveling four-wheeled vehicle 2B collides with another object. The estimated collision impact intensity is expressed, for example, as described above, in terms of kinetic energy. The driving condition derivation unit 20B determines the type of the four-wheeled vehicle 2B by analyzing a photographic image. The type of the four-wheeled vehicle 2B is indicated by a vehicle classification, such as a small vehicle, a standard vehicle, or a large vehicle, as well as by the manufacturer, model, and the like. Furthermore, the driving condition derivation unit 20B obtains the mass of the determined four-wheeled vehicle 2B from the storage unit 19 or an external information processing device and calculates the estimated collision impact intensity of the four-wheeled vehicle 2B by calculating the mass multiplied by the square of the current speed of the four-wheeled vehicle 2B and 1 / 2. The driving condition derivation unit 20B can obtain the speed of the four-wheeled vehicle 2B by analyzing the photographic image using a known method. Alternatively, the driving condition derivation unit 20B can obtain the speed and mass of the four-wheeled vehicle 2B from the four-wheeled vehicle 2B through vehicle-to-vehicle (V2V) communication performed via the communication unit 12.

[0086] The warning target area is the same as that described for the two-wheeled vehicle 2A. The driving status deriving unit 20B only needs to determine whether the current driving locations of the host vehicle 1 and the four-wheeled vehicle 2B are within the warning target area registered in the map data. The driving status deriving unit 20B can use the position of the host vehicle 1 detected by the internal sensor 15 as the current driving location of the host vehicle 1 and the four-wheeled vehicle 2B.

[0087] The vehicle registration number is a number used to uniquely identify the four-wheeled vehicle 2B. The vehicle registration number is represented by characters such as a numerical value indicated on the license plate of the four-wheeled vehicle 2B. The driving status derivation unit 20B can identify the vehicle registration number of the four-wheeled vehicle 2B by analyzing the characters shown in the license plate area of ​​the four-wheeled vehicle 2B included in the photographic image using a known character recognition method.

[0088] The region including the driving area in which the host vehicle 1 and the four-wheeled vehicle 2B are currently traveling is the country or region in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling. The driving condition derivation unit 20B determines the region including the driving area in which the host vehicle 1 and the four-wheeled vehicle 2B are currently traveling by determining the position of the host vehicle 1 detected by the internal sensor 15 in the map data.

[0089] The vehicle category of the four-wheeled vehicle 2B is a label for each category when the four-wheeled vehicle 2B is categorized according to pre-defined rules. In this embodiment, the vehicle category of the four-wheeled vehicle 2B indicates whether it is a warning target vehicle. The warning target vehicle of the four-wheeled vehicle 2B is a vehicle of the vehicle category that is the subject of a warning to the host vehicle 1. The warning target vehicle of the four-wheeled vehicle 2B is, for example, a vehicle designated to be allowed priority passage or priority use of the road. Specifically, the warning target vehicles of the four-wheeled vehicle 2B include large vehicles such as police cars, ambulances, fire trucks, buses, taxis, and trucks, as well as special vehicles. The vehicle category of the warning target vehicle 2B can be pre-registered in the storage unit 19, for example, based on an operation instruction given to the operation unit 17 by a passenger of the host vehicle 1. The driving status derivation unit 20B can determine the vehicle category of the four-wheeled vehicle 2B captured in the photographic image by performing image analysis on the photographic image and determine whether it is a warning target vehicle.

[0090] Next, the relative travel condition information will be described.

[0091] The relative driving condition information is information indicating the relative driving condition between the host vehicle 1 and the other vehicle 2 determined by the vehicle determination unit 20A. Specifically, the relative driving condition information includes information indicating the inter-vehicle distance between the host vehicle 1 and the other vehicle 2, the lanes in which the host vehicle 1 and the other vehicle 2 are traveling, other lanes around the host vehicle 1 that allow travel in the same direction as the current driving direction, the relative speed between the host vehicle 1 and the other vehicle 2, and whether the other vehicle 2 is moving away from or approaching the host vehicle 1.

[0092] The inter-vehicle distance refers to the inter-vehicle distance between the host vehicle 1 and the other vehicle 2. The driving condition derivation unit 20B determines the distance between the host vehicle 1 and the other vehicle 2 detected by the external sensor 14 as the inter-vehicle distance from the host vehicle 1 to the other vehicle 2. In addition, for example, the driving condition derivation unit 20B may also estimate the distance based on the foot position, lateral width, etc. of the object by a combination of photographic images and object detection using AI learned through DeepLearning, etc., thereby calculating the distance from the host vehicle 1 to the other vehicle 2 as the inter-vehicle distance. In addition, for example, the driving condition derivation unit 20B may also calculate the difference between the position of the host vehicle 1 detected by the internal sensor 15 and the position of the other vehicle 2 received from the other vehicle 2 through inter-vehicle communication, etc., as the inter-vehicle distance between the host vehicle 1 and the other vehicle 2.

[0093] A lane is a strip of land on a travel path that allows a column of vehicles to pass. The driving status deriving unit 20B analyzes the captured image using a known method to determine the lanes in which the host vehicle 1 and other vehicles 2 are traveling, as well as other lanes around the host vehicle 1 that allow travel in the same direction as the current vehicle.

[0094] The relative speed indicates the speed of the other vehicle 2 relative to the host vehicle 1. The driving condition derivation unit 20B determines the relative speed of the other vehicle 2 relative to the host vehicle 1, for example, based on the change in the position of the other vehicle 2 in the photographic image. For example, in the case where the photographic device 13 is a stereo camera, the driving condition derivation unit 20B calculates the relative speed of the other vehicle 2 by the change over time of the distance represented by the parallax based on the parallax information obtained from the stereo camera. The driving condition derivation unit 20B may also calculate the distance represented by the parallax as the inter-vehicle distance between the host vehicle 1 and the other vehicle 2. In addition, the driving condition derivation unit 20B may also calculate the relative speed using the speed of the host vehicle 1 detected by the internal sensor 15 of the host vehicle 1 and the speed of the other vehicle 2 obtained from the other vehicle 2 through inter-vehicle communication.

[0095] Furthermore, the driving status deriving unit 20B analyzes the time series changes in the calculated inter-vehicle distance between the host vehicle 1 and the other vehicle 2. If the inter-vehicle distance increases over time, the driving status deriving unit 20B determines that the other vehicle 2 is moving away from the host vehicle 1. Alternatively, if the inter-vehicle distance decreases over time, the driving status deriving unit 20B determines that the other vehicle 2 is approaching the host vehicle 1.

[0096] Next, the first setting unit 20C and the second setting unit 20D will be described.

[0097] The first setting unit 20C sets a first inter-vehicle distance obtained by changing the first initial inter-vehicle distance based on the first traveling condition information when it is determined that the other vehicle 2 is the two-wheeled vehicle 2A.

[0098] The second setting unit 20D sets a second inter-vehicle distance obtained by changing the second initial inter-vehicle distance based on the second traveling condition information when it is determined that the other vehicle 2 is the four-wheeled vehicle 2B.

[0099] The first inter-vehicle distance is a threshold value of the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A, which is used to determine whether to output warning information regarding the two-wheeled vehicle 2A to the passengers of the host vehicle 1. When the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A is less than the first inter-vehicle distance, the output control unit 20E, described later, outputs warning information regarding the two-wheeled vehicle 2A (details will be described later).

[0100] The second inter-vehicle distance is a threshold value of the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B, which is used to determine whether to output a warning message regarding the four-wheeled vehicle 2B to the passengers of the host vehicle 1. When the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B is less than the second inter-vehicle distance, the output control unit 20E, described later, outputs a warning message regarding the four-wheeled vehicle 2B (details of which will be described later).

[0101] Specifically, in this embodiment, when the inter-vehicle distance between the host vehicle 1 and another vehicle 2 is less than or equal to a first inter-vehicle distance, if the other vehicle 2 is a two-wheeled vehicle 2A, warning information regarding the two-wheeled vehicle 2A is output. Furthermore, in this embodiment, when the inter-vehicle distance between the host vehicle 1 and another vehicle 2 is less than or equal to a second inter-vehicle distance, if the other vehicle 2 is a four-wheeled vehicle 2B, warning information regarding the four-wheeled vehicle 2B is output. Therefore, in this embodiment, a threshold value for the inter-vehicle distance corresponding to whether the other vehicle 2 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B can be used to output warning information regarding the other vehicle 2 (details will be described later).

[0102] The first initial inter-vehicle distance is the initial value of the threshold value of the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A before the change based on the first driving condition information. The second initial inter-vehicle distance is the initial value of the threshold value of the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B before the change based on the second driving condition information. The first initial inter-vehicle distance is, for example, longer than the second initial inter-vehicle distance.

[0103] The storage unit 19 pre-stores information indicating a first initial inter-vehicle distance and a second initial inter-vehicle distance. The first setting unit 20C and the second setting unit 20D respectively set the first inter-vehicle distance and the second inter-vehicle distance for the two-wheeled vehicle 2A or four-wheeled vehicle 2B identified by the vehicle identification unit 20A, i.e., the other vehicle 2. For example, assume that the vehicle identification unit 20A identifies a two-wheeled vehicle 2A and a four-wheeled vehicle 2B based on a photographic image. In this case, the first setting unit 20C sets the first inter-vehicle distance relative to the two-wheeled vehicle 2A using the first driving condition information related to the two-wheeled vehicle 2A. The second setting unit 20D sets the second inter-vehicle distance relative to the four-wheeled vehicle 2B using the second driving condition information related to the four-wheeled vehicle 2B. Alternatively, assume that the vehicle identification unit 20A identifies multiple two-wheeled vehicles 2A and multiple four-wheeled vehicles 2B based on a photographic image. In this case, the first setting unit 20C sets the first inter-vehicle distance for each of the multiple two-wheeled vehicles 2A using the first driving condition information related to each of the multiple two-wheeled vehicles 2A. Furthermore, the first setting unit 20D sets the second inter-vehicle distance for each of the four-wheeled vehicles 2B using the second travel condition information on each of the four-wheeled vehicles 2B.

[0104] First, the first setting unit 20C will be described in detail.

[0105] The first setting unit 20C determines whether the first driving condition information derived by the driving condition deriving unit 20B meets at least one of the following first conditions. The first setting unit 20C then sets a first inter-vehicle distance obtained by modifying the first initial inter-vehicle distance based on the first condition.

[0106] The first condition represents at least one of the following conditions: the speed of the host vehicle 1 is greater than or equal to a prescribed speed, the number of direction changes of the two-wheeled vehicle 2A is greater than or equal to a prescribed number, the vehicle is traveling in an environment with a prescribed illumination intensity or less, the driving skills of the driver of the host vehicle 1 are less than or equal to a prescribed skill, the driving skills of the driver of the two-wheeled vehicle 2A are less than or equal to a prescribed skill, the estimated size of the two-wheeled vehicle 2A is less than or equal to a prescribed size, the color difference between the two-wheeled vehicle 2A and the road surface is less than or equal to a prescribed color difference, the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a road that allows high-speed driving at a prescribed speed or greater, the estimated collision impact intensity of the two-wheeled vehicle 2A is greater than or equal to a prescribed impact intensity, the driving location of the host vehicle 1 and the two-wheeled vehicle 2A is within a predetermined warning target area, the environment of the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined rollover hazard environment, the steering angle of the host vehicle 1 is greater than or equal to a prescribed angle, the host vehicle 1 is decelerated, the driving area of ​​the host vehicle 1 and the two-wheeled vehicle 2A is within a prescribed area, the vehicle type of the two-wheeled vehicle 2A is a predetermined warning target vehicle, and the passenger of the two-wheeled vehicle 2A performs a prescribed action. In this embodiment, a case where the first condition represents each of all of these conditions is described as an example, but the first condition may represent at least one of these conditions.

[0107] The first setting unit 20C determines whether the speed of the host vehicle 1 included in the first driving condition information is greater than or equal to a predetermined speed. The predetermined speed may be set in advance by a user operating the operating unit 17, for example, and stored in the storage unit 19. For example, the predetermined speed may be a predetermined threshold speed for changing the first initial inter-vehicle distance to a further first inter-vehicle distance. Alternatively, the predetermined speed may be changeable by a user operating the operating unit 17, for example.

[0108] The first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance to a longer distance when the speed of the host vehicle 1, as included in the first driving condition information, is above a prescribed speed. Alternatively, the first setting unit 20C may set a first inter-vehicle distance that changes the first initial inter-vehicle distance to a longer distance when the speed of the host vehicle 1 is above a prescribed speed, as the speed increases. Through these settings, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A as the speed of the host vehicle 1 increases. Furthermore, when the speed of the host vehicle 1, as included in the first driving condition information derived by the driving condition derivation unit 20B, is less than a prescribed speed, the first setting unit 20C uses the first initial inter-vehicle distance as the first inter-vehicle distance. The two-wheeled vehicle 2A may sometimes pass by the low-speed vehicle 1 due to congestion, waiting at a traffic light, or the like. Therefore, through this processing, the first setting unit 20C can set the first inter-vehicle distance so as to output warning information about the two-wheeled vehicle 2A when the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A is less than the first initial inter-vehicle distance regardless of the vehicle speed.

[0109] Furthermore, the first setting unit 20C determines whether the number of driving direction changes of the two-wheeled vehicle 2A included in the first driving condition information is greater than or equal to a predetermined number. The predetermined number of driving direction changes may be set in advance by a user operating the operating unit 17, for example, and stored in advance in the storage unit 19. For example, the predetermined number may be set in advance as a threshold value for changing the first initial inter-vehicle distance to a further first inter-vehicle distance. Alternatively, the predetermined number may be changeable by a user operating the operating unit 17, for example.

[0110] The first setting unit 20C reads the number of driving direction changes of the two-wheeled vehicle 2A included in the first driving condition information. The first setting unit 20C sets a first inter-vehicle distance that is greater than the first initial inter-vehicle distance when the number of driving direction changes included in the first driving condition information is a predetermined number of times or more. Alternatively, the first setting unit 20C may set a first inter-vehicle distance that is greater than the predetermined number of driving direction changes as the number of driving direction changes increases. These setting processes can improve the output sensitivity of warning information regarding the two-wheeled vehicle 2A that has changed its driving direction a predetermined number of times or more.

[0111] Furthermore, the first setting unit 20C determines whether the vehicle 1 and the two-wheeled vehicle 2A are traveling in an environment with a predetermined illuminance or less by determining whether the illuminance of the driving environment, as included in the first driving condition information, is below a predetermined illuminance. The predetermined illuminance may be set in advance by a user operating the operating unit 17, for example, and stored in the storage unit 19. For example, the predetermined illuminance may be set in advance as a threshold for changing the first initial inter-vehicle distance to a further first inter-vehicle distance. Alternatively, the predetermined illuminance may be adjustable by a user operating the operating unit 17, for example.

[0112] The first setting unit 20C sets the first vehicle distance after the first initial vehicle distance is changed to a further distance when the illumination of the driving environment is below the prescribed illumination. Specifically, it is assumed that the first initial vehicle distance is 20m. Moreover, the first setting unit 20C sets the first vehicle distance after the first initial vehicle distance is set to a further distance of 30m when the illumination of the driving environment is below the prescribed illumination, which is a darker environment. In addition, the first setting unit 20C may also set the first vehicle distance after the first initial vehicle distance is changed to a further distance when the illumination of the driving environment is below the prescribed illumination, and the lower (darker) the illumination is, the further the first initial vehicle distance is. Through these setting processes, the first setting unit 20C can improve the output sensitivity of the warning information related to the two-wheeled vehicle 2A when the driving environment of the host vehicle 1 and the two-wheeled vehicle 2A is a darker driving environment such as below the prescribed illumination.

[0113] In addition, the first setting unit 20C reads the driving skills of the driver of the vehicle 1 included in the first driving condition information. Furthermore, the first setting unit 20C determines whether the driving skills of the driver of the vehicle 1 are below the prescribed skills. The prescribed skills can be set in advance by the user's operating instructions to the operating unit 17 and stored in the storage unit 19 in advance. For the prescribed skills, for example, a driving skill that serves as a threshold for changing the first initial vehicle distance to a longer first vehicle distance can be pre-set. It can also be set to be able to change the prescribed skills by the user's operating instructions to the operating unit 17.

[0114] The first setting unit 20C is set to change the first initial inter-vehicle distance to a first inter-vehicle distance with a longer distance when the driving skill of the driver of the present vehicle 1 is below the prescribed skill. Specifically, the first setting unit 20C is set to change the first initial inter-vehicle distance to a first inter-vehicle distance with a longer distance when the driving skill of the driver of the present vehicle 1 is below the prescribed skill. In addition, the first setting unit 20C can also be set to change the first initial inter-vehicle distance to a first inter-vehicle distance with a longer distance when the driving skill of the driver of the present vehicle 1 is below the prescribed skill, and the lower the driving skill is, the higher the first initial inter-vehicle distance is. Through these setting processes, the first setting unit 20C can improve the output sensitivity of the warning information related to the two-wheeled vehicle 2A in the case of low skills such as the driving skill of the driver of the present vehicle 1 being below the prescribed skill.

[0115] Furthermore, the first setting unit 20C sets a first inter-vehicle distance that is longer when the driver's driving skill of the two-wheeled vehicle 2A is below a specified skill level. Specifically, the first setting unit 20C sets a first inter-vehicle distance that is longer when the driver's driving skill of the two-wheeled vehicle 2A is below a specified skill level. Alternatively, the first setting unit 20C may set a first inter-vehicle distance that is longer when the driver's driving skill of the two-wheeled vehicle 2A is below a specified skill level, and the lower the driving skill level, the longer the first inter-vehicle distance will be. For example, if a two-wheeled vehicle 2A suddenly approaches the host vehicle 1, the driver of the host vehicle 1 may suddenly change the speed or driving position of the host vehicle 1 to avoid the two-wheeled vehicle 2A. In the case of a low skill level of the driver of the two-wheeled vehicle 2A, such as below a specified skill level, it is expected that the driver of the two-wheeled vehicle 2A will have difficulty responding to the sudden changes in speed and driving position of the host vehicle 1. To avoid such situations, through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A.

[0116] The first setting unit 20C receives the driver's driving skills determined by the two-wheeled vehicle 2A from the two-wheeled vehicle 2A via V2V (vehicle-to-vehicle communication) or other means to obtain the driver's driving skills for use in the above-mentioned setting process. The two-wheeled vehicle 2A may determine the driver's driving skills by calculating the driver's driving skills based on the driver's driving operations using a known method. Alternatively, the driver's identification information and driving skills may be stored in a portable terminal such as a smartphone carried by the driver of the two-wheeled vehicle 2A. When the portable terminal is used as a key to unlock the two-wheeled vehicle 2A, the identification information and driving skills are transmitted from the portable terminal to the two-wheeled vehicle 2A. The two-wheeled vehicle 2A then determines the driver's driving skills by receiving the identification information and driving skills from the portable terminal. Alternatively, the first setting unit 20C may analyze the two-wheeled vehicle 2A included in the captured image using a known method to estimate the braking operation of the two-wheeled vehicle 2A and the like, thereby acquiring the driving skill of the driver of the two-wheeled vehicle 2A.

[0117] Furthermore, the first setting unit 20C reads the estimated size of the two-wheeled vehicle 2A included in the first driving condition information. Furthermore, the first setting unit 20C determines whether the estimated size of the two-wheeled vehicle 2A is less than or equal to a predetermined size. The predetermined size of the two-wheeled vehicle 2A may be pre-set by, for example, a user operating the operating unit 17 and stored in the storage unit 19. For example, the predetermined size of the two-wheeled vehicle 2A may be pre-set to serve as a threshold for changing the first initial inter-vehicle distance to a further first inter-vehicle distance. Alternatively, the predetermined size of the two-wheeled vehicle 2A may be adjusted as appropriate by, for example, a user operating the operating unit 17.

[0118] The first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance to a greater distance when the estimated size of the two-wheeled vehicle 2A is less than a predetermined size. Alternatively, the first setting unit 20C may set a first inter-vehicle distance that changes the first initial inter-vehicle distance to a greater distance as the estimated size of the two-wheeled vehicle 2A is less than the predetermined size. Through these settings, the first setting unit 20C can increase the output sensitivity of warning information related to two-wheeled vehicles 2A whose estimated size is less than the predetermined size, that is, small vehicles that are difficult for the driver to notice.

[0119] In addition, the first setting unit 20C reads the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling, which is included in the first driving condition information. Furthermore, the first setting unit 20C determines whether the color difference is less than or equal to a specified color difference. The specified color difference can be set in advance by, for example, a user's operating instructions to the operating unit 17 and stored in advance in the storage unit 19. For the specified color difference, a color difference that serves as a threshold for changing the first initial inter-vehicle distance to a further first inter-vehicle distance can be pre-set. Alternatively, the specified color difference can be changed by, for example, a user's operating instructions to the operating unit 17.

[0120] The first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance to a longer distance when the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling is less than a predetermined color difference. Alternatively, the first setting unit 20C may set a first inter-vehicle distance that changes the first initial inter-vehicle distance to a longer distance when the color difference is less than the predetermined color difference, and the smaller the color difference is, the longer the first initial inter-vehicle distance is. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A in situations where the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling is less than a predetermined color difference, a color difference that makes the two-wheeled vehicle 2A more easily assimilated to the road surface, that is, when the driver is less likely to notice the two-wheeled vehicle 2A.

[0121] Furthermore, the first setting unit 20C reads the type of the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling, as included in the first driving condition information. Furthermore, the first setting unit 20C determines whether the type of the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a road that allows high-speed driving at a predetermined speed or higher. As described above, the driving condition derivation unit 20B determines the type of road indicating whether the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a highway or a regular road. Therefore, the first setting unit 20C determines whether the type of the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a highway by reading this determination result.

[0122] The first setting unit 20C sets a first inter-vehicle distance that is longer when the first initial inter-vehicle distance is determined to be a highway. Alternatively, the first setting unit 20C may set a first inter-vehicle distance that is longer as the upper speed limit set for the highway on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling increases. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information regarding the two-wheeled vehicle 2A when the type of the highway on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a highway.

[0123] Furthermore, if the road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a highway and the estimated impact intensity of a collision between the two-wheeled vehicle 2A and another object is less than a predetermined impact intensity, the first setting unit 20C sets the first initial inter-vehicle distance to the first inter-vehicle distance. The first setting unit 20C reads the estimated impact intensity of a collision between the two-wheeled vehicle 2A and another object, contained in the first driving condition information, and uses it in this setting process. Through this setting process, the first setting unit 20C can set the first initial inter-vehicle distance to the first inter-vehicle distance for the two-wheeled vehicle 2A, which has a low estimated impact intensity when traveling at high speed, without increasing output sensitivity.

[0124] When the estimated collision intensity of the two-wheeled vehicle 2A is less than a predetermined intensity, the first setting unit 20C may set the first initial inter-vehicle distance to the first inter-vehicle distance, regardless of the type of road on which the two-wheeled vehicle 2A is traveling. Furthermore, the first setting unit 20C may set the first initial inter-vehicle distance to a longer first inter-vehicle distance when the estimated collision intensity of the two-wheeled vehicle 2A is greater than the predetermined intensity, regardless of the type of road on which the two-wheeled vehicle 2A is traveling. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information regarding the two-wheeled vehicle 2A when the estimated collision intensity of the two-wheeled vehicle 2A is greater than the predetermined intensity.

[0125] Furthermore, the first setting unit 20C reads the determination result, included in the first driving condition information, as to whether the current driving locations of the host vehicle 1 and the two-wheeled vehicle 2A are within the warning target area. Furthermore, the first setting unit 20C sets a first inter-vehicle distance that is longer than the first initial inter-vehicle distance if the determination result indicates that the current driving locations of the host vehicle 1 and the two-wheeled vehicle 2A are within the warning target area.

[0126] As described above, the warning target area is, for example, an intersection, a confluence point on a highway, etc. Therefore, through these setting processes, the first setting unit 20C can increase the output sensitivity of the warning information related to the two-wheeled vehicle 2A when the host vehicle 1 is traveling in the warning target area such as an intersection or a confluence point on a highway.

[0127] Furthermore, the driving status derivation unit 20B may use the position of the host vehicle 1 detected by the GPS included in the internal sensor 15 to determine whether the current driving location of the host vehicle 1 and the two-wheeled vehicle 2A is within the warning target area. In this case, if the position of the host vehicle 1 cannot be obtained by GPS, the output control unit 20E, described later, is preferably forcibly turned off to output warning information. This process can prevent the output control unit 20E from erroneously outputting warning information.

[0128] Furthermore, the first setting unit 20C reads the result of a determination, included in the first driving condition information, as to whether the environment of the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined rollover hazard environment. Furthermore, the first setting unit 20C determines whether the result of the determination indicates that the environment of the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined rollover hazard environment.

[0129] The first setting unit 20C sets a first inter-vehicle distance that is a longer distance after changing the first initial inter-vehicle distance to a longer distance when it is determined that the environment of the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined tipping-hazardous environment. As described above, the tipping-hazardous environment is information indicating that the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an environment in which the two-wheeled vehicle 2A is likely to tip over. Specifically, a tipping-hazardous environment is indicated by information indicating road conditions such as freezing, rainy days, and snow. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the two-wheeled vehicle 2A is traveling in a tipping-hazardous environment in which the two-wheeled vehicle 2A is likely to tip over and has a long braking distance.

[0130] In addition, the first setting unit 20C reads the steering angle of the vehicle 1 included in the first driving condition information. Furthermore, the first setting unit 20C determines whether the steering angle of the vehicle 1 is greater than a predetermined angle. The predetermined angle can be set in advance by the user's operating instructions to the operating unit 17 and stored in the storage unit 19 in advance. For the predetermined angle, for example, a steering angle that serves as a threshold for changing the first initial inter-vehicle distance to a first, longer inter-vehicle distance can be pre-set. Alternatively, the predetermined angle can be changed by the user's operating instructions to the operating unit 17.

[0131] The first setting unit 20C sets the first inter-vehicle distance after the first initial inter-vehicle distance is changed to a longer distance when the steering angle of the vehicle 1 is greater than a specified angle. In addition, the first setting unit 20C can also be set to change the first initial inter-vehicle distance to a longer distance when the steering angle of the vehicle 1 is greater than a specified angle, and the greater the steering angle, the higher the first inter-vehicle distance. When the vehicle 1 turns left or right, or when the vehicle 1 travels on a curved road with a high curvature, the risk of the two-wheeled vehicle 2A being involved in an accident increases. Therefore, through these setting processes, the first setting unit 20C can increase the output sensitivity of the warning information related to the two-wheeled vehicle 2A when the steering angle of the vehicle 1 is greater than a specified angle, thereby reducing the risk.

[0132] In addition, the first setting unit 20C reads information indicating the acceleration and deceleration conditions of the vehicle 1 from the first driving condition information. Furthermore, the first setting unit 20C sets the first initial inter-vehicle distance to a first inter-vehicle distance that is longer when the information indicating the acceleration and deceleration conditions of the vehicle 1 indicates deceleration of the vehicle 1. The two-wheeled vehicle 2A has a longer braking distance than the four-wheeled vehicle 2B. Therefore, through these setting processes, the first setting unit 20C can increase the output sensitivity of the warning information related to the two-wheeled vehicle 2A when deceleration of the vehicle 1 is detected. In addition, when deceleration of the vehicle 1 is detected, the output control unit 20E, which will be described later, can also output the warning information in an output manner that is more attractive to the user.

[0133] The first setting unit 20C also reads the region including the driving area of ​​the host vehicle 1 and the two-wheeled vehicle 2A included in the first driving condition information. As described above, the region is information indicating the country or region in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling.

[0134] The first setting unit 20C then determines whether the area where the host vehicle 1 and the two-wheeled vehicle 2A are traveling is within a predetermined area. Predetermined areas include, for example, areas with a high density of two-wheeled vehicles 2A traveling, and areas with a low density of two-wheeled vehicles 2A traveling. The predetermined areas may be set by a user operating the operating unit 17, for example, and stored in advance in the storage unit 19.

[0135] The first setting unit 20C sets the first initial inter-vehicle distance to a closer first inter-vehicle distance when the vehicle 1 and the two-wheeled vehicle 2A are traveling in an area with a high density of two-wheeled vehicles 2A. Alternatively, the first setting unit 20C may set the first initial inter-vehicle distance to a longer first inter-vehicle distance when the vehicle 1 and the two-wheeled vehicle 2A are traveling in an area with a low density of two-wheeled vehicles 2A. Through these setting processes, the first setting unit 20C can reduce the output sensitivity of warning information related to the two-wheeled vehicle 2A when the vehicle 1 and the two-wheeled vehicle 2A are traveling in an area with a high density of two-wheeled vehicles 2A, thereby preventing the frequent output of warning information. Furthermore, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the vehicle 1 and the two-wheeled vehicle 2A are traveling in an area with a low density of two-wheeled vehicles 2A.

[0136] Furthermore, the first setting unit 20C reads the determination result of the vehicle type of the two-wheeled vehicle 2A contained in the first driving condition information. Furthermore, the first setting unit 20C determines whether the vehicle type of the two-wheeled vehicle 2A thus determined is a vehicle subject to a warning. As described above, a vehicle subject to a warning is a vehicle of a vehicle type subject to a warning issued to the host vehicle 1, such as a motorcycle equipped with various devices required by police for traffic control. Furthermore, as described above, in this embodiment, the driving condition derivation unit 20B determines whether the vehicle type of the two-wheeled vehicle 2A is a vehicle subject to a warning. Therefore, the first setting unit 20C determines whether the vehicle type of the two-wheeled vehicle 2A is a vehicle subject to a warning by reading the determination result contained in the first driving condition information.

[0137] The first setting unit 20C sets a first inter-vehicle distance that is greater than the first initial inter-vehicle distance when the vehicle type of the two-wheeled vehicle 2A is a warning target vehicle. This setting process enables the first setting unit 20C to increase the output sensitivity of warning information related to the two-wheeled vehicle 2A, which is a warning target vehicle.

[0138] Furthermore, the first setting unit 20C reads the motion of the passenger of the two-wheeled vehicle 2A included in the first driving condition information. Furthermore, the first setting unit 20C determines whether the motion of the passenger of the two-wheeled vehicle 2A is a prescribed motion. A prescribed motion is, for example, a motion performed by the passenger of the two-wheeled vehicle 2A that draws attention to at least one of the two-wheeled vehicle 2A and the passenger of the two-wheeled vehicle 2A. Specifically, an example of a prescribed motion is a motion of the passenger of the two-wheeled vehicle 2A waving their arms. The prescribed motion may be pre-set by a user operating the operating unit 17, for example, and stored in the storage unit 19. Alternatively, the prescribed motion may be changeable by a user operating the operating unit 17, for example.

[0139] The first setting unit 20C sets a first inter-vehicle distance that is a longer distance after the first initial inter-vehicle distance is changed when it is determined that the passenger's action on the two-wheeled vehicle 2A is a prescribed action. When the passenger on the two-wheeled vehicle 2A performs the prescribed action, it is estimated that the passenger is in a state where they wish to transmit some information to the host vehicle 1 through the action. Therefore, through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the passenger on the two-wheeled vehicle 2A performs the prescribed operation.

[0140] Furthermore, the first driving condition information may coincide with two or more of the multiple first conditions. In this case, the first setting unit 20C may simply set the first inter-vehicle distance by modifying the first initial inter-vehicle distance based on the multiple first conditions that coincide. For example, assume that the first driving condition information coincides with multiple first conditions that change the first initial inter-vehicle distance to a longer distance. In this case, the first setting unit 20C may simply set the first inter-vehicle distance by modifying the first initial inter-vehicle distance so that the greater the number of such first conditions that coincide, the longer the distance. Furthermore, the multiple first conditions that coincide with the first driving condition information may sometimes include a first condition that changes the first initial inter-vehicle distance to a shorter distance. In this case, the first setting unit 20C may simply set the first inter-vehicle distance as the sum of the total distance and the first initial inter-vehicle distance, where the total distance is obtained by adding the distances that increase based on each of the multiple first conditions that coincide with the first driving condition information as positive distances and the distances that decrease based on each of the multiple first conditions that coincide with the first driving condition information as negative distances.

[0141] Next, the second setting unit 20D will be described in detail.

[0142] The second setting unit 20D determines whether the second driving condition information derived by the driving condition deriving unit 20B meets at least one of the following second conditions. The second setting unit 20D then sets a second inter-vehicle distance obtained by modifying the second initial inter-vehicle distance based on the second condition.

[0143] The second condition represents at least one of the following conditions: the speed of the host vehicle 1 is greater than or equal to a predetermined speed; the estimated size of the four-wheeled vehicle 2B is greater than or equal to a predetermined size; the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is a road that allows high-speed driving at or above a predetermined speed and the estimated collision impact intensity of the four-wheeled vehicle 2B when traveling on this road is greater than or equal to a predetermined impact intensity; the estimated collision impact intensity of the four-wheeled vehicle 2B is greater than or equal to the predetermined impact intensity; the location where the host vehicle 1 and the four-wheeled vehicle 2B are traveling is within a predetermined warning target area; the vehicle registration number of the four-wheeled vehicle 2B is a predetermined number; the area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is within a predetermined area; and the vehicle type of the four-wheeled vehicle 2B is a predetermined warning target vehicle. In this embodiment, the second condition represents each of these conditions as an example, but may also represent at least one of these conditions.

[0144] The second setting unit 20D determines whether the vehicle speed of the vehicle 1 included in the second driving condition information is above a prescribed speed. The prescribed speed may be set in advance by the user's operating instructions to the operating unit 17 and stored in advance in the storage unit 19. For the prescribed speed, for example, a speed that is a threshold value for changing the second initial vehicle distance to a longer second vehicle distance may be pre-set. The prescribed speed may also be changed by the user's operating instructions to the operating unit 17. In addition, the prescribed speed used by the second setting unit 20D when judging the vehicle speed included in the second driving condition information may be the same speed as the prescribed speed used by the first setting unit 20C when judging the vehicle speed included in the first driving condition information, or may be a different speed.

[0145] The second setting unit 20D sets a second inter-vehicle distance that is longer when the speed of the host vehicle 1, as included in the second driving condition information, is greater than the predetermined speed. Alternatively, the second setting unit 20D may set a second inter-vehicle distance that is longer when the speed of the host vehicle 1 is greater than the predetermined speed, as the speed increases. Through these settings, the second setting unit 20D can increase the output sensitivity of the warning information regarding the four-wheeled vehicle 2B as the speed of the host vehicle 1 increases.

[0146] As described above, the first setting unit 20C sets a first inter-vehicle distance that is a longer distance after changing the first initial inter-vehicle distance to a longer distance when the speed of the host vehicle 1 included in the first driving condition information is at or above a predetermined speed. Therefore, in the information processing device 10 of this embodiment, when the speed of the host vehicle 1 is at or above the predetermined speed, the output sensitivity of the warning information regarding each of the two-wheeled vehicle 2A and the four-wheeled vehicle 2B can be increased in both cases, when the other vehicle 2 captured in the photographic image is a two-wheeled vehicle 2A, and when the other vehicle 2 is a four-wheeled vehicle 2B.

[0147] Furthermore, the second setting unit 20D reads the estimated size of the four-wheeled vehicle 2B included in the second driving condition information. Furthermore, the second setting unit 20D determines whether the estimated size of the four-wheeled vehicle 2B is greater than or equal to a predetermined size. The predetermined size of the four-wheeled vehicle 2B may be set in advance by a user operating the operating unit 17, for example, and stored in the storage unit 19. The predetermined size of the four-wheeled vehicle 2B may be set in advance as a threshold value for determining whether the damage to the host vehicle 1 would be greater if the four-wheeled vehicle 2B were to collide with the host vehicle 1. The predetermined size of the four-wheeled vehicle 2B may also be adjusted as appropriate by a user operating the operating unit 17, for example.

[0148] The second setting unit 20D sets a second inter-vehicle distance that changes the second initial inter-vehicle distance to a greater distance when the estimated size of the four-wheeled vehicle 2B is greater than the specified size. Alternatively, the second setting unit 20D may set a second inter-vehicle distance that changes the second initial inter-vehicle distance to a greater distance as the estimated size of the four-wheeled vehicle 2B increases. Through these settings, the second setting unit 20D can increase the output sensitivity of warning information related to large four-wheeled vehicles 2B, such as those with estimated sizes greater than the specified size, which could cause significant damage to the host vehicle 1 in the event of a collision.

[0149] As described above, the first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance to a greater distance when the estimated size of the two-wheeled vehicle 2A is less than a predetermined size. This setting is because the two-wheeled vehicle 2A is smaller than the four-wheeled vehicle 2B and therefore less recognizable to passengers of the host vehicle 1. Therefore, the smaller the size, the easier it is to output warning information regarding the two-wheeled vehicle 2A. Meanwhile, the second setting unit 20D sets a second inter-vehicle distance that changes the second initial inter-vehicle distance to a greater distance when the estimated size of the four-wheeled vehicle 2B is greater than a predetermined size. This is because the four-wheeled vehicle 2B is larger than the two-wheeled vehicle 2A and therefore easier to identify to passengers of the host vehicle 1. Therefore, for four-wheeled vehicles other than the large four-wheeled vehicle 2B, which could cause significant damage to the host vehicle 1 in the event of a collision, warning information for the four-wheeled vehicle 2B is not output until the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B is shortened.

[0150] The second setting unit 20D also reads the type of road on which the host vehicle 1 and four-wheeled vehicle 2B are traveling, and the estimated collision impact intensity in the event of a collision between the four-wheeled vehicle 2B and another object, contained in the second driving condition information. Furthermore, the second setting unit 20D determines whether the road on which the host vehicle 1 and four-wheeled vehicle 2B are traveling is a road that allows high-speed driving at or above a predetermined speed, and whether the estimated collision impact intensity of the four-wheeled vehicle 2B when traveling on such a road is above the predetermined impact intensity. As described above, the driving condition derivation unit 20B determines the type of road, indicating whether the road on which the host vehicle 1 and four-wheeled vehicle 2B are traveling is a highway or a regular road. Therefore, the second setting unit 20D determines whether the type of road on which the host vehicle 1 and four-wheeled vehicle 2B are traveling is a highway by reading this determination result from the driving condition derivation unit 20B.

[0151] If the second setting unit 20D determines that the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is a highway, it reads the estimated collision impact intensity of the four-wheeled vehicle 2B traveling on the highway from the second driving condition information. The second setting unit 20D then determines whether the read estimated collision impact intensity is greater than a predetermined impact intensity. The predetermined impact intensity may be pre-set by a user operating the operating unit 17, for example, and stored in the storage unit 19. The predetermined impact intensity may be pre-set as a threshold value for determining whether a collision between the four-wheeled vehicle 2B and the host vehicle 1 on the highway would result in greater damage. The predetermined impact intensity may also be adjusted appropriately by a user operating the operating unit 17, for example.

[0152] Furthermore, the first setting unit 20C sets a second inter-vehicle distance that changes the second initial inter-vehicle distance to a longer distance if the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is one that allows high-speed travel at or above a predetermined speed, and if the estimated collision impact intensity of the four-wheeled vehicle 2B while traveling on that road is greater than the predetermined impact intensity. Alternatively, the second setting unit 20D may set a second inter-vehicle distance that changes the second initial inter-vehicle distance to a longer distance if the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is one that allows high-speed travel at or above a predetermined speed, and if the estimated collision impact intensity of the four-wheeled vehicle 2B while traveling on that road is greater than the predetermined impact intensity, and if the estimated collision impact intensity increases. Through these setting processes, the second setting unit 20D can increase the output sensitivity of warning information related to the four-wheeled vehicle 2B that would cause significant damage to the host vehicle 1 in the event of a collision.

[0153] As described above, the first setting unit 20C sets the first initial inter-vehicle distance to a first inter-vehicle distance that is a longer distance when it is determined that the type of road being traveled by the two-wheeled vehicle 2A captured in the photographic image is a highway. On the other hand, when the type of road being traveled by the four-wheeled vehicle 2B captured in the photographic image is only a highway, the second setting unit 20D does not change the second inter-vehicle distance. This is because it is predicted that the automatic driving of the two-wheeled vehicle 2A is technically difficult to achieve even on specific roads such as highways, and therefore a warning message is output in advance or with priority for the two-wheeled vehicle 2A. For the four-wheeled vehicle 2B, automatic driving is technically not difficult to achieve, especially on specific roads such as highways, and therefore, the priority warning message is not output when the type of road being traveled is only a highway.

[0154] As described above, when the type of road being traveled by two-wheeled vehicle 2A in the photographic image is a highway and the estimated collision impact intensity of two-wheeled vehicle 2A is less than a predetermined impact intensity, first setting unit 20C sets the first initial inter-vehicle distance to the first inter-vehicle distance. This is to prevent the output of warning information from being prioritized for two-wheeled vehicle 2A, which has a low estimated collision impact intensity when traveling on a highway. On the other hand, when the type of road being traveled by four-wheeled vehicle 2B in the photographic image is a highway and the estimated collision impact intensity of four-wheeled vehicle 2B is greater than a predetermined impact intensity, the second initial inter-vehicle distance is changed to a second inter-vehicle distance that is a longer distance. This is to prioritize the output of warning information for four-wheeled vehicle 2B, which has a greater mass than two-wheeled vehicle 2A and a greater collision impact when traveling on a highway.

[0155] Furthermore, the second setting unit 20D sets the second initial inter-vehicle distance to the second inter-vehicle distance, regardless of the type of road on which the four-wheeled vehicle 2B is traveling, when the estimated collision impact intensity of the four-wheeled vehicle 2B is less than a predetermined impact intensity. Furthermore, the second setting unit 20D sets the second inter-vehicle distance to a longer second initial inter-vehicle distance, regardless of the type of road on which the four-wheeled vehicle 2B is traveling, when the estimated collision impact intensity of the four-wheeled vehicle 2B is greater than the predetermined impact intensity. Through these setting processes, the second setting unit 20D can increase the output sensitivity of warning information regarding the four-wheeled vehicle 2B when the estimated collision impact intensity of the four-wheeled vehicle 2B is greater than the predetermined impact intensity.

[0156] Furthermore, the second setting unit 20D reads the determination result, contained in the second driving condition information, indicating whether the current driving locations of the host vehicle 1 and the four-wheeled vehicle 2B are within the warning target area. Furthermore, the second setting unit 20D sets the second initial inter-vehicle distance to a second inter-vehicle distance that is greater if the determination result indicates that the current driving locations of the host vehicle 1 and the four-wheeled vehicle 2B are within the warning target area. In the case of the four-wheeled vehicle 2B, the warning target area may be a predefined danger zone. Furthermore, since the four-wheeled vehicle 2B is more easily recognized by the passengers of the host vehicle 1 than the two-wheeled vehicle 2A, the warning target area may also be configured to exclude intersections and converging points on highways.

[0157] Through these setting processes, the second setting unit 20D can increase the output sensitivity of the warning information regarding the four-wheeled vehicle 2B when the host vehicle 1 is traveling in the warning target area.

[0158] Furthermore, the driving condition deriving unit 20B may derive driving condition information using the location of the host vehicle 1 detected by the GPS included in the internal sensor 15. In this case, if the location of the host vehicle 1 cannot be obtained via GPS, the output control unit 20E, described later, preferably forcibly disables the output of warning information. This process can prevent erroneous output of warning information.

[0159] Furthermore, the second setting unit 20D reads the vehicle registration number of the four-wheeled vehicle 2B included in the second driving condition information. Furthermore, the second setting unit 20D determines whether the vehicle registration number of the four-wheeled vehicle 2B is a pre-set number. The set number may be set in advance by a user operating the operating unit 17, for example, and stored in the storage unit 19. Alternatively, the set number may be changeable by a user operating the operating unit 17, for example.

[0160] The second setting unit 20D sets a second inter-vehicle distance that is longer than the second initial inter-vehicle distance when the vehicle registration number of the four-wheeled vehicle 2B is a preset number. By performing these settings, the second setting unit 20D can increase the output sensitivity of warning information related to the four-wheeled vehicle 2B with the vehicle registration number of the specific set number.

[0161] On the other hand, the first setting unit 20C does not determine the vehicle registration number of the two-wheeled vehicle 2A captured in the photographic image. This is because the vehicle registration number is not marked on the front of the vehicle body of the two-wheeled vehicle 2A, and there is a high probability that the vehicle registration number will not be captured in the photographic image.

[0162] The second setting unit 20D also reads a region included in the second driving condition information, which includes the driving area of ​​the host vehicle 1 and the four-wheeled vehicle 2B. As described above, the region is information indicating the country or region in which the host vehicle 1 and the four-wheeled vehicle 2B are driving.

[0163] The second setting unit 20D then determines whether the area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is within a predetermined area. Predetermined areas include, for example, areas with a high density of two-wheeled vehicles 2A traveling and areas with a low density of two-wheeled vehicles 2A traveling. The predetermined areas may be set in advance by a user operating the operating unit 17, for example, and stored in the storage unit 19.

[0164] The second setting unit 20D sets the second initial inter-vehicle distance to a closer second inter-vehicle distance when the vehicle 1 and four-wheeled vehicle 2B are traveling in an area with a low density of two-wheeled vehicles 2A. Alternatively, the second setting unit 20D may set the second initial inter-vehicle distance to the second inter-vehicle distance when the vehicle 1 and four-wheeled vehicle 2B are traveling in an area with a high density of two-wheeled vehicles 2A. Through these settings, the second setting unit 20D can reduce the output sensitivity of warning information related to the four-wheeled vehicle 2B when the vehicle 1 and four-wheeled vehicle 2B are traveling in an area with a low density of two-wheeled vehicles 2A, or in other words, when the vehicle 1 and four-wheeled vehicle 2B are traveling in an area with a high density of four-wheeled vehicles 2B, thereby preventing the frequent output of warning information.

[0165] As described above, the first setting unit 20C sets the first initial inter-vehicle distance to a closer first inter-vehicle distance when the two-wheeled vehicle 2A is traveling in an area with a high density of two-wheeled vehicles 2A. This is to prevent frequent output of warning information due to frequent detection of two-wheeled vehicles 2A in the vehicle 1 traveling in an area with a high density of two-wheeled vehicles 2A. On the other hand, the second setting unit 20D sets the second initial inter-vehicle distance to a closer second inter-vehicle distance when the four-wheeled vehicle 2B is traveling in an area with a low density of two-wheeled vehicles 2A. This is because the density of four-wheeled vehicles 2B is relatively high in areas with a low density of two-wheeled vehicles 2A, thereby reducing the sensitivity of outputting warning information related to four-wheeled vehicles 2B.

[0166] Furthermore, the second setting unit 20D reads the determination result of the vehicle category of the four-wheeled vehicle 2B contained in the second driving condition information. Furthermore, the second setting unit 20D determines whether the vehicle category of the four-wheeled vehicle 2B thus read is a vehicle subject to a warning. As described above, a vehicle subject to a warning for the four-wheeled vehicle 2B is a vehicle of a category that is the subject of a warning for the host vehicle 1, such as a police car, ambulance, fire truck, bus, taxi, truck, or other large vehicle, special vehicle, or the like. Furthermore, as described above, in this embodiment, the driving condition derivation unit 20B determines whether the vehicle category of the four-wheeled vehicle 2B is a vehicle subject to a warning. Therefore, the second setting unit 20D determines whether the vehicle category of the four-wheeled vehicle 2B is a vehicle subject to a warning by reading the determination result contained in the second driving condition information.

[0167] The second setting unit 20D sets a second inter-vehicle distance that is greater than the second initial inter-vehicle distance when the vehicle type of the four-wheeled vehicle 2B is a warning target vehicle. This setting process enables the second setting unit 20D to increase the output sensitivity of the warning information related to the four-wheeled vehicle 2B that is a warning target vehicle.

[0168] As described above, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance when the two-wheeled vehicle 2A is classified as a warning target vehicle. Furthermore, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance when the four-wheeled vehicle 2B is classified as a warning target vehicle. This is because, regardless of whether the warning target vehicle is the two-wheeled vehicle 2A or the four-wheeled vehicle 2B, the output sensitivity of the warning information regarding these other vehicles 2 is improved.

[0169] As described above, the first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance to a greater distance when the two-wheeled vehicle 2A has changed its driving direction a predetermined number of times or more. Meanwhile, the second setting unit 20D does not use the number of driving direction changes of the four-wheeled vehicle 2B when setting the second inter-vehicle distance. This is because the four-wheeled vehicle 2B is less likely to change its driving direction more frequently than the two-wheeled vehicle 2A.

[0170] As described above, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a greater distance when the illumination of the driving environment of the two-wheeled vehicle 2A is below a predetermined illumination. Meanwhile, the second setting unit 20D does not use the illumination of the driving environment of the four-wheeled vehicle 2B when setting the second inter-vehicle distance. This is because the two-wheeled vehicle 2A is smaller than the four-wheeled vehicle 2B, making it difficult for passengers of the host vehicle 1 to recognize it. The four-wheeled vehicle 2B is larger than the two-wheeled vehicle 2A and is therefore easier for passengers of the host vehicle 1 to recognize regardless of illumination.

[0171] Furthermore, as described above, the first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance from the two-wheeled vehicle 2A to a further distance when the driver's driving skill of the host vehicle 1 is below a predetermined skill level. On the other hand, the second setting unit 20D does not use the driver's driving skill of the host vehicle 1 when setting the second inter-vehicle distance. This is because the two-wheeled vehicle 2A is smaller than the four-wheeled vehicle 2B, making it difficult for passengers of the host vehicle 1 to identify. Therefore, it is preferable to increase the output sensitivity of the warning information for the two-wheeled vehicle 2A when the driver's driving skill is low. Furthermore, because the four-wheeled vehicle 2B is larger than the two-wheeled vehicle 2A, it is easier for passengers of the host vehicle 1 to identify it regardless of the driver's driving skill.

[0172] Furthermore, as described above, the first setting unit 20C sets the first inter-vehicle distance to be a longer distance after the first initial inter-vehicle distance is changed to a longer distance when the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling is less than a predetermined color difference. On the other hand, the second setting unit 20D does not use the color difference between the color of the four-wheeled vehicle 2B and the color of the road surface on which the four-wheeled vehicle 2B is traveling in setting the second inter-vehicle distance. This is because, in most cases, the color difference between the two-wheeled vehicle 2A and the road surface is smaller than that of the four-wheeled vehicle 2B, making it difficult for the passengers of the vehicle 1 to recognize the two-wheeled vehicle 2A. In addition, because the body color of the four-wheeled vehicle 2B varies more than that of the two-wheeled vehicle 2A in most cases, the color difference between the four-wheeled vehicle 2B and the road surface is greater than that of the two-wheeled vehicle 2A, making it easier for the passengers of the vehicle 1 to recognize the four-wheeled vehicle 2B.

[0173] Furthermore, as described above, the first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance to a longer distance when it is determined that the environment of the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined tipping-hazardous environment. On the other hand, the second setting unit 20D does not use whether the environment of the road surface on which the four-wheeled vehicle 2B is traveling is a tipping-hazardous environment when setting the second inter-vehicle distance. This is because the two-wheeled vehicle 2A is more likely to tip over than the four-wheeled vehicle 2B, and therefore, it is preferable to increase the output sensitivity of the warning information related to the two-wheeled vehicle 2A based on whether the environment is a tipping-hazardous environment. Furthermore, since the four-wheeled vehicle 2B is less affected by the environment of the road surface than the two-wheeled vehicle 2A, there is less need to use the environment of the road surface when adjusting the output sensitivity of the warning information related to the four-wheeled vehicle 2B.

[0174] In addition, as described above, the first setting unit 20C sets the first inter-vehicle distance after changing the first initial inter-vehicle distance to a longer distance when the steering angle of the host vehicle 1 is greater than a specified angle. On the other hand, the second setting unit 20D does not use the steering angle of the host vehicle 1 in setting the second inter-vehicle distance of the four-wheeled vehicle 2B. When the host vehicle 1 is turning left or right or traveling on a curved road, the two-wheeled vehicle 2A is more likely to be involved in an accident than the four-wheeled vehicle 2B. Therefore, for the two-wheeled vehicle 2A, it is necessary to increase the output sensitivity of the warning information related to the two-wheeled vehicle 2A according to the steering angle of the host vehicle 1. In addition, when the host vehicle 1 is turning left or right or traveling on a curved road, the four-wheeled vehicle 2B is less likely to be involved in an accident than the two-wheeled vehicle 2A. Therefore, for the four-wheeled vehicle 2B, there is little need to change the output sensitivity of the warning information related to the four-wheeled vehicle 2B according to the steering angle of the host vehicle 1.

[0175] Furthermore, as described above, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance when the information indicating the acceleration and deceleration conditions of the host vehicle 1 indicates deceleration of the host vehicle 1. On the other hand, the first setting unit 20C does not use the deceleration of the host vehicle 1 in setting the second inter-vehicle distance. This is because the two-wheeled vehicle 2A has a longer braking distance than the four-wheeled vehicle 2B, and therefore, when the host vehicle 1 decelerates, it is necessary to increase the output sensitivity of the warning information related to the two-wheeled vehicle 2A. Furthermore, because the four-wheeled vehicle 2B has a shorter braking distance than the two-wheeled vehicle 2A, even when the host vehicle 1 decelerates, there is less need to increase the output sensitivity of the warning information related to the four-wheeled vehicle 2B.

[0176] As described above, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance when the passenger's action on the two-wheeled vehicle 2A is determined to be a predetermined action. Meanwhile, the second setting unit 20D does not use the passenger's action on the four-wheeled vehicle 2B in setting the second inter-vehicle distance. This is because the passenger's action on the two-wheeled vehicle 2A is likely intended to convey information to other external vehicles, such as the host vehicle 1. On the other hand, the passenger's action on the four-wheeled vehicle 2B is likely not intended to convey information to other external vehicles.

[0177] Next, the output control unit 20E will be described.

[0178] The output control unit 20E outputs warning information based on an output condition corresponding to the determination result of the vehicle identification unit 20A as to whether the other vehicle 2 captured in the photographic image is the two-wheeled vehicle 2A or the four-wheeled vehicle 2B. Specifically, the output control unit 20E outputs warning information regarding the other vehicle 2 to passengers of the host vehicle 1 based on an output condition corresponding to whether the other vehicle 2 captured in the photographic image surrounding the host vehicle 1 is the two-wheeled vehicle 2A or the four-wheeled vehicle 2B. The warning information may be any information that can alert passengers to the presence of the other vehicle 2.

[0179] Figure 4 1 is a schematic diagram showing an example of the positional relationship between the host vehicle 1 and the other vehicle 2 when the output control unit 20E outputs warning information.

[0180] When the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1, as determined by the vehicle determination unit 20A, is less than or equal to the first inter-vehicle distance L1, the output control unit 20E outputs warning information. Specifically, when the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1, as determined by the vehicle determination unit 20A, is less than or equal to the first inter-vehicle distance L1, the output control unit 20E outputs warning information regarding the two-wheeled vehicle 2A to the passengers of the host vehicle 1.

[0181] Furthermore, when the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1 determined by the vehicle identification unit 20A becomes less than the second inter-vehicle distance L2, the output control unit 20E outputs a warning message. Specifically, when the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1 determined by the vehicle identification unit 20A becomes less than the second inter-vehicle distance L2, the output control unit 20E outputs a warning message regarding the four-wheeled vehicle 2B to the passengers of the host vehicle 1.

[0182] As described above, the first inter-vehicle distance L1 is the distance obtained by modifying the first initial inter-vehicle distance LB1 based on the first driving condition information, and the second inter-vehicle distance L2 is the distance obtained by modifying the second initial inter-vehicle distance LB2 based on the second driving condition information. Furthermore, the first initial inter-vehicle distance LB1 is longer than the second initial inter-vehicle distance LB2 (first initial inter-vehicle distance LB1 > second initial inter-vehicle distance LB2). The first inter-vehicle distance L1 and the second inter-vehicle distance L2, the distances obtained by modifying the first initial inter-vehicle distance LB1 and the second initial inter-vehicle distance LB2, respectively, may sometimes ultimately result in a relationship where the first inter-vehicle distance L1 ≤ the second inter-vehicle distance L2, depending on the first and second driving condition information of each other vehicle 2.

[0183] Specifically, the output control unit 20E uses the first and second inter-vehicle distances, which are set based on whether the other vehicle 2 captured in the photographic image is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B, to adjust the timing of outputting warning information regarding each of the two-wheeled vehicle 2A and the four-wheeled vehicle 2B. Through these processes, the output control unit 20E outputs warning information based on output conditions corresponding to the determination result of whether the other vehicle 2 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B.

[0184] The output control unit 20E reads the relative driving condition information derived by the driving condition deriving unit 20B to determine the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A and the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B, and uses the information to determine the output of the warning information.

[0185] Furthermore, when the vehicle identification unit 20A determines that the other vehicle 2 is a two-wheeled vehicle 2A and that the two-wheeled vehicle 2A is moving away from the host vehicle 1, the output control unit 20E preferably excludes the two-wheeled vehicle 2A from being output targets for warning information. The output control unit 20E can simply determine whether the two-wheeled vehicle 2A is moving away from the host vehicle 1 by reading information indicating whether the other vehicle 2 is moving away from or toward the host vehicle 1, included in the relative driving condition information derived by the vehicle identification unit 20A. In this case, the output control unit 20E can avoid outputting warning information regarding the two-wheeled vehicle 2A when the two-wheeled vehicle 2A is moving away from the host vehicle 1 even though the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1 is less than the first inter-vehicle distance. In addition, it is possible to avoid outputting warning information related to the two-wheeled vehicle 2A even if the inter-vehicle distance between the two-wheeled vehicle 2A and the present vehicle 1 is less than the first inter-vehicle distance but the distance between the present vehicle 1 and the two-wheeled vehicle 2A becomes greater due to the speed of the present vehicle 1. In addition, it is possible to avoid outputting warning information related to the two-wheeled vehicle 2A even if the inter-vehicle distance between the present vehicle 1 and the two-wheeled vehicle 2A is less than the first inter-vehicle distance but either the present vehicle 1 or the two-wheeled vehicle 2A is in a parked state and the other vehicle 2 is moving away from the present vehicle 1 due to the travel of the other.

[0186] Furthermore, when the vehicle determination unit 20A determines that the other vehicle 2 is a four-wheeled vehicle 2B and the speed of the host vehicle 1 included in the second driving condition information derived by the driving condition derivation unit 20B is less than a predetermined speed, the output control unit 20E preferably disables the output of warning information regarding the four-wheeled vehicle 2B. The predetermined speed may be set in advance by a user operating the operating unit 17, for example, and stored in the storage unit 19. Alternatively, the predetermined speed may be changeable by a user operating the operating unit 17, for example.

[0187] Unlike the two-wheeled vehicle 2A, the four-wheeled vehicle 2B is less likely to pass through the periphery of the vehicle 1. Therefore, it is preferable that the output of the warning information is set to invalid when the speed of the vehicle 1 is lower than the prescribed speed, such as in congestion or waiting for a traffic light. Through this process, it is possible to prevent the warning information from being frequently output or being output for more than a prescribed period, thereby preventing the passengers of the vehicle 1 from being inconvenienced. On the other hand, the two-wheeled vehicle 2A is more likely to pass through the periphery of the vehicle 1. Therefore, it is preferable that the output of the warning information is not invalidated, but is set to a valid state even when the speed of the vehicle 1 is lower than the prescribed speed. Through this process, even when the speed of the vehicle 1 is low, it is possible to output a warning message to the two-wheeled vehicle 2A passing through the periphery of the vehicle 1 when the vehicle-to-vehicle distance becomes less than the first vehicle-to-vehicle distance.

[0188] Furthermore, when the vehicle determination unit 20A determines that the other vehicle 2 is a four-wheeled vehicle 2B and that the four-wheeled vehicle 2B is moving away from the host vehicle 1, the output control unit 20E preferably excludes the four-wheeled vehicle 2B from being the target of the warning information output. The output control unit 20E can simply determine whether the four-wheeled vehicle 2B is moving away from the host vehicle 1 by reading information indicating whether the other vehicle 2 is moving away from or approaching the host vehicle 1, included in the relative driving condition information derived by the vehicle determination unit 20A. In this case, the output control unit 20E can also avoid outputting warning information regarding the four-wheeled vehicle 2B when the four-wheeled vehicle 2B is moving away from the host vehicle 1 even though the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1 is less than the second inter-vehicle distance.

[0189] Furthermore, it is preferable that when the vehicle determination unit 20A determines that the other vehicle 2 is a four-wheeled vehicle 2B and the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B is greater than or equal to a predetermined relative speed, the output control unit 20E outputs warning information regarding the four-wheeled vehicle 2B. Furthermore, it is preferable that when the vehicle determination unit 20A determines that the other vehicle 2 is a four-wheeled vehicle 2B and the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B is less than the predetermined relative speed, the output control unit 20E excludes the four-wheeled vehicle 2B from being output with the warning information, even if the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B is less than or equal to the first inter-vehicle distance.

[0190] The prescribed relative speed can be set in advance by a user operating the operating unit 17, for example, and stored in the storage unit 19. For example, the prescribed relative speed can be a predetermined relative speed threshold for determining whether the risk level has increased. The prescribed relative speed can be, for example, 40 km / h, but is not limited to this value. Furthermore, the prescribed relative speed can be changed by a user operating the operating unit 17, for example.

[0191] When the inter-vehicle distance between the present vehicle 1 and the four-wheeled vehicle 2B is less than the second inter-vehicle distance but the relative speed between the present vehicle 1 and the four-wheeled vehicle 2B is less than the prescribed relative speed, the output control unit 20E does not output warning information related to the four-wheeled vehicle 2B, thereby suppressing the output of warning information related to the four-wheeled vehicle 2B in a situation where the danger level of the present vehicle 1 relative to the four-wheeled vehicle 2B is low.

[0192] As described above, when the vehicle identification unit 20A determines that the other vehicle 2 is a four-wheeled vehicle 2B and the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B is greater than or equal to a predetermined relative speed, the output control unit 20E outputs warning information regarding the four-wheeled vehicle 2B. On the other hand, when the vehicle identification unit 20A determines that the other vehicle 2 is a two-wheeled vehicle 2A, the output control unit 20E outputs warning information regarding the two-wheeled vehicle 2A, regardless of the relative speed between the host vehicle 1 and the two-wheeled vehicle 2A, as long as the inter-vehicle distance between the two-wheeled vehicle 2A is determined to be less than the first inter-vehicle distance and not too far apart. This is because the two-wheeled vehicle 2A is smaller than the four-wheeled vehicle 2B, making it difficult for passengers of the host vehicle 1 to identify it. Therefore, it is preferable to output warning information regarding the two-wheeled vehicle 2A regardless of the relative speed. On the other hand, because the four-wheeled vehicle 2B is larger than the two-wheeled vehicle 2A, making it easier for passengers of the host vehicle 1 to identify it, it is preferable to output warning information regarding the four-wheeled vehicle 2B when the relative speed is greater than or equal to the predetermined relative speed.

[0193] In addition, preferably, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and the first lane in which the own vehicle 1 is traveling is consistent with the second lane in which the four-wheeled vehicle 2B is traveling, the output control unit 20E outputs a warning message when the inter-vehicle distance between the own vehicle 1 and the four-wheeled vehicle 2B is less than the second inter-vehicle distance.

[0194] The first lane is the lane in which the host vehicle 1 is traveling. The second lane is the lane in which the four-wheeled vehicle 2B is traveling. The output control unit 20E determines the first lane in which the host vehicle 1 is traveling and the second lane in which the four-wheeled vehicle 2B is traveling by reading the lanes in which the host vehicle 1 and the other vehicle 2 are traveling, as included in the relative driving status information derived by the driving status derivation unit 20B. Furthermore, if the first lane in which the host vehicle 1 is traveling and the second lane in which the other vehicle 2 is traveling are the same lane, the output control unit 20E may output a warning message when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance.

[0195] If the four-wheeled vehicle 2B is traveling in a different lane from the host vehicle 1, the danger posed by the four-wheeled vehicle 2B to the host vehicle 1 is low. Therefore, if the vehicle determination unit 20A determines that the other vehicle 2 is the four-wheeled vehicle 2B and the first lane in which the host vehicle 1 is traveling coincides with the second lane in which the four-wheeled vehicle 2B is traveling, the output control unit 20E outputs warning information when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance. This allows the output of warning information corresponding to the relative traveling conditions of the host vehicle 1 and the four-wheeled vehicle 2B.

[0196] Furthermore, if the vehicle identification unit 20A determines that the other vehicle 2 is a four-wheeled vehicle 2B, the first lane in which the host vehicle 1 is traveling does not coincide with the second lane in which the four-wheeled vehicle 2B is traveling, and the lane in the planned driving change direction of the host vehicle 1 coincides with the second lane, the output control unit 20E preferably outputs a warning message when the inter-vehicle distance to the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance. The output control unit 20E reads the lanes in which the host vehicle 1 and the other vehicle 2 are traveling, as well as other lanes around the host vehicle 1 that allow travel in the same direction as the current driving direction, as included in the relative driving status information. Furthermore, the output control unit 20E determines the planned driving change direction of the host vehicle 1, as indicated by the direction indicator included in the operating unit 17. Furthermore, if the other lane in the determined planned driving change direction coincides with the second lane, the output control unit 20E outputs a warning message when the inter-vehicle distance to the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance.

[0197] Through these processes, when the inter-vehicle distance between the vehicle 1 and the four-wheeled vehicle 2B located in the lane in the predetermined direction of travel change of the vehicle 1 indicated by the passenger's operation of the direction indicator becomes less than the second inter-vehicle distance, the output control unit 20E can output warning information related to the four-wheeled vehicle 2B to the passengers of the vehicle 1.

[0198] As described above, when the vehicle determination unit 20A determines that the other vehicle 2 is a four-wheeled vehicle 2B and the first lane in which the host vehicle 1 is traveling coincides with the second lane in which the host vehicle 1 is traveling, the output control unit 20E outputs warning information when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance. On the other hand, when the other vehicle 2 is a two-wheeled vehicle 2A, the output control unit 20E outputs warning information regarding the two-wheeled vehicle 2A if the inter-vehicle distance is less than the first inter-vehicle distance and the host vehicle 2A is not moving away, regardless of the lane in which the two-wheeled vehicle 2A is traveling. This is because even if the two-wheeled vehicle 2A is traveling in a different lane from the host vehicle 1, it is possible that the two-wheeled vehicle 2A is passing through the host vehicle 1. Therefore, it is preferable to output warning information regarding the two-wheeled vehicle 2A regardless of whether the lanes coincide. On the other hand, since the possibility of the four-wheeled vehicle 2B passing through the host vehicle 1 is low, it is preferable to output warning information regarding the four-wheeled vehicle 2B when the four-wheeled vehicle 2B is traveling in the same lane as the host vehicle 1.

[0199] Furthermore, if the other vehicle 2 is a four-wheeled vehicle 2B, the first lane in which the host vehicle 1 is traveling does not coincide with the second lane in which the host vehicle 1 is traveling, and the lane in the intended travel change direction of the host vehicle 1 coincides with the second lane, the output control unit 20E outputs warning information when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance. On the other hand, if the other vehicle 2 is a two-wheeled vehicle 2A, regardless of whether the lane in the intended travel change direction of the host vehicle 1 coincides with the lane in which the two-wheeled vehicle 2A is traveling, the output control unit 20E outputs warning information regarding the two-wheeled vehicle 2A if the inter-vehicle distance is less than the first inter-vehicle distance and the two-wheeled vehicle 2A is traveling. This is because the two-wheeled vehicle 2A may pass through the host vehicle 1 regardless of whether it is traveling in the lane in the intended travel change direction of the host vehicle 1. Therefore, it is preferable to output warning information regarding the two-wheeled vehicle 2A regardless of the lane. On the other hand, since the possibility of the four-wheeled vehicle 2B passing through the host vehicle 1 is low, it is preferable to output warning information regarding the four-wheeled vehicle 2B when it is likely to be traveling in the lane in which the host vehicle 1 is traveling. In addition, by targeting the four-wheeled vehicle 2B traveling in a lane consistent with the lane in the planned direction of travel change of the vehicle 1 as the output object of the warning information, it is possible to suppress the output of warning information related to other four-wheeled vehicles 2B traveling in lanes different from the planned direction of travel change of the vehicle 1.

[0200] In the present embodiment, the output control unit 20E outputs warning information about the other vehicle 2 to passengers of the host vehicle 1. For example, the output control unit 20E outputs the warning information to at least one of the display unit 18A and the side mirror 18B.

[0201] In this embodiment, the output control unit 20E outputs a warning message to the display unit 18A, which is an electronic mirror provided on the vehicle 1, as an example. Outputting the warning message to the display unit 18A by the output control unit 20E means that the output control unit 20E controls the display unit 18A so that the warning message is displayed. Furthermore, the output control unit 20E can also output the warning message to a speaker included in the instrument computer 18. Outputting the warning message to the speaker by the output control unit 20E means that the output control unit 20E controls the speaker so that a sound indicating the warning message is output. Furthermore, the output control unit 20E can also cause the indicator on the side mirror 18B to output the warning message.

[0202] For example, the output control unit 20E outputs warning information by superimposing an image such as a frame image on a region where the other vehicle 2 is captured in the captured image acquired from the imaging device 13 to emphasize the region.

[0203] Figure 5A and Figure 5BThis is a schematic diagram showing an example of the warning information 30 regarding the two-wheeled vehicle 2A displayed on the display unit 18A.

[0204] Figure 5A 18A is a schematic diagram showing an example of warning information 30A for the two-wheeled vehicle 2A1 displayed on the display unit 18A. The two-wheeled vehicle 2A1 is an example of the two-wheeled vehicle 2A. The warning information 30A is an example of the warning information 30.

[0205] For example, it is assumed that the vehicle determination unit 20A determines the situation of the two-wheeled vehicle 2A1 captured in the photographic image V. The two-wheeled vehicle 2A1 is an example of the two-wheeled vehicle 2A. Furthermore, it is assumed that the first setting unit 20C sets a scenario of the first inter-vehicle distance L1a based on the first driving condition information related to the two-wheeled vehicle 2A1. The first inter-vehicle distance L1a is an example of the first inter-vehicle distance L1. In this case, when the inter-vehicle distance between the vehicle 1 and the two-wheeled vehicle 2A becomes less than the first inter-vehicle distance L1a, the output control unit 20E outputs a warning message 30A to the display unit 18A. Figure 5A In FIG. 1 , as an example, a form in which the warning information 30A is a frame image surrounding the two-wheeled vehicle 2A1 captured in the photographic image V is shown.

[0206] Figure 5B 18A is a schematic diagram showing an example of warning information 30B for the two-wheeled vehicle 2A2. The two-wheeled vehicle 2A2 is an example of the two-wheeled vehicle 2A. The warning information 30B is an example of the warning information 30.

[0207] For example, it is assumed that the vehicle determination unit 20A determines the situation of the two-wheeled vehicle 2A2 captured in the photographic image V. Furthermore, it is assumed that the first setting unit 20C sets a scenario of the first inter-vehicle distance L1b based on the first driving condition information related to the two-wheeled vehicle 2A2. In addition, it is assumed that the first inter-vehicle distance L1b is a scenario where the first inter-vehicle distance L1b is a distance shorter than the above-mentioned first inter-vehicle distance L1a. In this case, when the inter-vehicle distance between the vehicle 1 and the two-wheeled vehicle 2A becomes less than the first inter-vehicle distance L1b, the output control unit 20E outputs a warning message 30B to the display unit 18A. Figure 5B In FIG. 1 , as an example, a form in which the warning information 30B is a frame image surrounding the two-wheeled vehicle 2A2 captured in the photographic image V is shown.

[0208] Alternatively, the output control unit 20E may output the warning information 30 in a manner that is more likely to attract the attention of the passenger as the first inter-vehicle distance L1 is set to a shorter distance. Figure 5ACompared to the warning information 30A for the two-wheeled vehicle 2A1 at an inter-vehicle distance less than the first inter-vehicle distance L1a, the output control unit 20E outputs the warning information 30B for the two-wheeled vehicle 2A2 at an inter-vehicle distance less than the first inter-vehicle distance L1b shorter than the first inter-vehicle distance L1a in a more eye-catching output manner. Figure 5A and Figure 5B In FIG. 1 , as an example, a mode in which the warning information 30A is a dotted-line frame image and the warning information 30B is a solid-line frame image is shown.

[0209] In addition, when the two-wheeled vehicle 2A determined by the vehicle determination unit 20A enters the range of the inter-vehicle distance less than the first inter-vehicle distance L1, the output control unit 20E outputs the warning message 30 in an output manner that can attract the attention of the passengers of the vehicle 1 the shorter the inter-vehicle distance with the two-wheeled vehicle 2A.

[0210] Figures 6A to 6C This is a schematic diagram showing an example of warning information 30 regarding the four-wheeled vehicle 2B displayed on the display unit 18A.

[0211] Figure 6A 18A is a schematic diagram showing an example of warning information 30C for the four-wheeled vehicle 2B1. The four-wheeled vehicle 2B1 is an example of the four-wheeled vehicle 2B. The warning information 30C is an example of the warning information 30.

[0212] For example, it is assumed that the vehicle determination unit 20A determines the situation of the four-wheeled vehicle 2B1 captured in the photographic image V. The four-wheeled vehicle 2B1 is an example of the four-wheeled vehicle 2B. Furthermore, it is assumed that the second setting unit 20D sets the scenario of the second vehicle distance L2a based on the second driving condition information related to the four-wheeled vehicle 2B1. The second vehicle distance L2a is an example of the second vehicle distance L2. In this case, when the vehicle distance between the vehicle 1 and the four-wheeled vehicle 2B1 becomes less than the second vehicle distance L2a, the output control unit 20E outputs a warning message 30C to the display unit 18A. Figure 6A In FIG. 1 , as an example, a form in which the warning information 30C is a frame image surrounding the four-wheeled vehicle 2B1 captured in the photographic image V is shown.

[0213] Figure 6B 18A is a schematic diagram showing an example of warning information 30D for the four-wheeled vehicle 2B2. The four-wheeled vehicle 2B2 is an example of the four-wheeled vehicle 2B. The warning information 30D is an example of the warning information 30.

[0214] For example, it is assumed that the vehicle determination unit 20A determines the situation of the four-wheeled vehicle 2B2 captured in the photographic image V. Furthermore, it is assumed that the second setting unit 20D sets a scenario of the second vehicle distance L2b based on the second driving condition information related to the four-wheeled vehicle 2B2. In addition, it is assumed that the second vehicle distance L2b is a scenario where the distance is shorter than the second vehicle distance L2a. In this case, when the vehicle distance between the vehicle 1 and the four-wheeled vehicle 2B becomes less than the second vehicle distance L2b, the output control unit 20E outputs a warning message 30D to the display unit 18A. Figure 6B As an example, the warning information 30D is shown as a frame image surrounding the four-wheeled vehicle 2B2 captured in the photographic image V. Alternatively, the output control unit 20E may output the warning information 30 in an output format that is more likely to attract the attention of the passenger as the second inter-vehicle distance L2 is set to a shorter distance. For example, Figure 6A Compared to the warning information 30C for the four-wheeled vehicle 2B1 present at an inter-vehicle distance less than the second inter-vehicle distance L2a, the output control unit 20E outputs the warning information 30D for the four-wheeled vehicle 2B2 present at an inter-vehicle distance less than the second inter-vehicle distance L2b shorter than the second inter-vehicle distance L2a in a more eye-catching output manner. Figure 6A and Figure 6B In FIG. 1 , as an example, a mode in which the warning information 30C is a dotted-line frame image and the warning information 30D is a solid-line frame image is shown.

[0215] In addition, when the four-wheeled vehicle 2B determined by the vehicle determination unit 20A enters the range of the inter-vehicle distance below the second inter-vehicle distance L2, the shorter the inter-vehicle distance with the four-wheeled vehicle 2B, the output control unit 20E outputs the warning message 30 in an output manner that can attract the attention of the passengers of the vehicle 1.

[0216] Figure 6C 18A is a schematic diagram showing an example of warning information 30E for the four-wheeled vehicle 2B3. The four-wheeled vehicle 2B3 is an example of the four-wheeled vehicle 2B. The warning information 30E is an example of the warning information 30.

[0217] For example, it is assumed that the vehicle determination unit 20A determines the situation of the four-wheeled vehicle 2B3 captured in the photographic image V. Furthermore, it is assumed that the second setting unit 20D sets a scenario of the second inter-vehicle distance L2c based on the second driving condition information related to the four-wheeled vehicle 2B3. Furthermore, it is assumed that the first lane in which the vehicle 1 is traveling and the second lane in which the four-wheeled vehicle 2B3 is traveling are different lanes. In this case, when the driver operates the direction indicator of the vehicle 1 so that the lane existing in the predetermined direction of travel change of the vehicle 1 coincides with the second lane of the four-wheeled vehicle 2B3, when the inter-vehicle distance between the vehicle 1 and the four-wheeled vehicle 2B3 becomes less than the second inter-vehicle distance L2c, the output control unit 20E outputs a warning message 30E. Figure 6C , as an example, a mode in which a frame image surrounding the four-wheeled vehicle 2B3 captured in the photographic image V is output as the warning information 30E is shown.

[0218] The passenger of the host vehicle 1 can know that another vehicle 2 exists around the host vehicle 1 by confirming the output warning information 30 .

[0219] Furthermore, the vehicle identification unit 20A may identify multiple two-wheeled vehicles 2A at the same time within the captured image. For example, if multiple two-wheeled vehicles 2A are traveling in a row behind the host vehicle 1, the multiple two-wheeled vehicles 2A are captured in the captured image, and the vehicle identification unit 20A identifies multiple two-wheeled vehicles 2A. In this case, multiple two-wheeled vehicles 2A are located behind the host vehicle 1 at different inter-vehicle distances. Since the multiple two-wheeled vehicles 2A are located at a relative position less than the first inter-vehicle distance set for each of the two-wheeled vehicles 2A, the output control unit 20E outputs warning information 30 regarding each of these multiple two-wheeled vehicles 2A during consecutive or partially overlapping periods.

[0220] Therefore, when the vehicle identification unit 20A determines that the number of two-wheeled vehicles 2A captured in the photographic image is greater than or equal to a predetermined number, the output control unit 20E preferably outputs warning information 30 related to each two-wheeled vehicle 2A at predetermined intervals. The predetermined number and predetermined interval can be pre-set by a user operating the operating unit 17, for example, and stored in the storage unit 19. Furthermore, the predetermined number and predetermined interval can be appropriately changed by a user operating the operating unit 17, for example. On the other hand, the output control unit 20E does not need to use the number of four-wheeled vehicles 2B captured in the photographic image when adjusting the output interval of the warning information 30. This is because the likelihood of multiple four-wheeled vehicles 2B continuously passing around the host vehicle 1 is low.

[0221] Alternatively, the output control unit 20E may set a maximum value for the number of warning messages 30 associated with each of the plurality of other vehicles 2 output at the same time. In this case, the output control unit 20E may simply output the warning messages 30 associated with each of the two-wheeled vehicles 2A and four-wheeled vehicles 2B determined by the vehicle determination unit 20A to be the closest to the vehicle 1 by performing the aforementioned processing for the maximum number of other vehicles 2. Alternatively, the output control unit 20E may set a first maximum value for the number of warning messages 30 associated with each of the plurality of two-wheeled vehicles 2A output at the same time, and a second maximum value for the number of warning messages 30 associated with each of the plurality of four-wheeled vehicles 2B output at the same time. In this case, it is preferable to set the first maximum value to a value greater than the second maximum value.

[0222] Next, an example of the flow of information processing executed by the information processing device 10 of this embodiment will be described.

[0223] Figure 7 This is a flowchart showing an example of the flow of information processing executed by the information processing device 10 of this embodiment.

[0224] The vehicle identification unit 20A analyzes the photographic image of the surrounding area of ​​the host vehicle captured by the imaging device 13 (step S100). The vehicle identification unit 20A then determines whether the other vehicle 2 captured in the photographic image is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B (step S102). If the other vehicle 2 captured in the photographic image is neither a two-wheeled vehicle 2A nor a four-wheeled vehicle 2B (step S102: No), this routine ends. If the other vehicle 2 captured in the photographic image is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B, the processing unit 20 performs steps S104 to S140 on the two-wheeled vehicle 2A and the four-wheeled vehicle 2B captured in the photographic image, respectively.

[0225] If the other vehicle 2 captured in the photographic image is the two-wheeled vehicle 2A (step S104: Yes), the process proceeds to step S106. In step S106, the driving condition deriving unit 20B derives driving condition information including first driving condition information and relative driving condition information regarding the driving condition of at least one of the host vehicle 1 and the determined two-wheeled vehicle 2A (step S106).

[0226] The first setting unit 20C sets a first inter-vehicle distance obtained by changing the first initial inter-vehicle distance based on the first traveling condition information included in the traveling condition information derived in step S106 (step S108 ).

[0227] The output control unit 20E then determines whether the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1, determined in step S102, is less than or equal to the first inter-vehicle distance set in step S108 (step S110). If a negative determination is made in step S110 (step S110: No), the routine ends. If an affirmative determination is made in step S110 (step S110: Yes), the routine proceeds to step S112.

[0228] In step S112, the output control unit 20E determines whether the two-wheeled vehicle 2A determined in step S102 is moving away from the host vehicle 1 (step S112). The output control unit 20E determines whether the two-wheeled vehicle 2A is moving away from or toward the host vehicle 1 by reading information included in the relative driving status information derived in step S106, indicating whether the two-wheeled vehicle 2A is moving away from or toward the host vehicle 1. If it is determined in step S112 that the two-wheeled vehicle 2A is moving away (step S112: "Yes"), this routine ends. If it is determined in step S112 that the two-wheeled vehicle 2A is not moving away (step S112: "No"), the routine proceeds to step S114.

[0229] In step S114, the output control unit 20E starts outputting the warning information 30 related to the two-wheeled vehicle 2A determined in step S102 (step S114). For example, the output control unit 20E displays the warning information 30 related to the two-wheeled vehicle 2A on the display unit 18A.

[0230] Next, the output control unit 20E repeatedly makes negative judgments (step S116: No) until it determines that the stop condition for stopping the output of the warning message 30 is met (step S116: Yes). If the output control unit 20E makes an affirmative judgment in step S116 (step S116: Yes), the process proceeds to step S118. The output control unit 20E sets the inter-vehicle distance to the two-wheeled vehicle 2A exceeding the first inter-vehicle distance and the two-wheeled vehicle 2A moving away from the host vehicle 1 as the stop condition. If at least one of these stop conditions is met, the output control unit 20E makes an affirmative judgment in step S116. In step S118, the output control unit 20E stops outputting the warning message 30 related to the two-wheeled vehicle 2A identified in step S102 (step S118), and this routine ends.

[0231] On the other hand, if the other vehicle 2 captured in the photographic image is the four-wheeled vehicle 2B (step S104: No), the process proceeds to step S120. In step S120, the driving condition deriving unit 20B derives driving condition information including second driving condition information and relative driving condition information regarding the driving condition of at least one of the host vehicle 1 and the determined four-wheeled vehicle 2B (step S120).

[0232] The second setting unit 20D sets a second inter-vehicle distance obtained by changing the second initial inter-vehicle distance based on the second traveling condition information included in the traveling condition information derived in step S120 (step S122 ).

[0233] The output control unit 20E then determines whether the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1, determined in step S102, is less than or equal to the second inter-vehicle distance set in step S122 (step S124). If a negative determination is made in step S124 (step S124: No), the routine ends. If an affirmative determination is made in step S124 (step S124: Yes), the routine proceeds to step S126.

[0234] In step S126, the output control unit 20E determines whether the speed of the host vehicle 1 included in the second driving condition information derived in step S120 is greater than or equal to a predetermined speed (step S126). If the output control unit 20E determines that the speed of the host vehicle 1 is less than the predetermined speed (step S126: No), the routine ends. If the output control unit 20E determines that the speed of the host vehicle 1 is greater than or equal to the predetermined speed (step S126: Yes), the routine proceeds to step S128.

[0235] In step S128, the output control unit 20E determines whether the second lane in which the four-wheeled vehicle 2B is traveling, determined in step S102, coincides with the first lane in which the host vehicle 1 is traveling (step S128). If the determination in step S128 is affirmative (step S128: "Yes"), the process proceeds to step S132, described later. If the determination in step S128 is negative (step S128: "No"), the process proceeds to step S130.

[0236] In step S130, the output control unit 20E determines whether the lane in the planned travel change direction of the host vehicle 1 coincides with the second lane in which the four-wheeled vehicle 2B is traveling (step S130). If the determination in step S130 is negative (step S130: No), the routine ends. If the determination in step S130 is positive (step S130: Yes), the routine proceeds to step S132.

[0237] In step S132, the output control unit 20E determines whether the four-wheeled vehicle 2B determined in step S102 is moving away from the host vehicle 1 (step S132). The output control unit 20E determines whether the four-wheeled vehicle 2B is moving away from or toward the host vehicle 1 by reading information included in the relative driving status information derived in step S120, indicating whether the four-wheeled vehicle 2B is moving away from or toward the host vehicle 1. If it is determined in step S132 that the four-wheeled vehicle 2B is moving away (step S132: Yes), this routine ends. If it is determined in step S132 that the four-wheeled vehicle 2B is not moving away (step S132: No), the routine proceeds to step S134.

[0238] In step S134, the output control unit 20E determines whether the relative speed between the four-wheeled vehicle 2B and the host vehicle 1, determined in step S102, is greater than or equal to a predetermined relative speed (step S134). The output control unit 20E makes this determination in step S134 by reading the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B contained in the relative driving status information derived in step S120. If a negative determination is made in step S134 (step S134: No), the routine ends. If an affirmative determination is made in step S134 (step S134: Yes), the routine proceeds to step S136.

[0239] In step S136, the output control unit 20E starts outputting the warning information 30 related to the four-wheeled vehicle 2B determined in step S102 (step S136). For example, the output control unit 20E displays the warning information 30 related to the four-wheeled vehicle 2B on the display unit 18A.

[0240] Next, the output control unit 20E repeats negative judgments (step S138: No) until it determines that the stop condition for stopping the output of the warning message 30 is met (step S138: Yes). If the output control unit 20E makes an affirmative judgment in step S138 (step S138: Yes), it proceeds to step S140. The output control unit 20E sets as stop conditions the following conditions: the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B exceeds the second inter-vehicle distance; the host vehicle 1's vehicle speed is less than a prescribed speed; the host vehicle 1 and the four-wheeled vehicle 2B are traveling in different lanes and the lane in the planned direction of the vehicle's travel change is not the same as the lane in which the four-wheeled vehicle 2B is traveling; the four-wheeled vehicle 2B is moving away from the host vehicle 1; and the relative speed between the four-wheeled vehicle 2B and the host vehicle 1 is less than a prescribed speed. If at least one of these stop conditions is met, an affirmative judgment is made in step S138. In step S140, the output control unit 20E stops the output of the warning information 30 related to the four-wheeled vehicle 2B determined in step S102 (step S140), and ends this routine.

[0241] As described above, the information processing device 10 of this embodiment includes a vehicle identification unit 20A and an output control unit 20E. The vehicle identification unit 20A determines whether another vehicle 2 captured in a photographic image of the surrounding area of ​​the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. The output control unit 20E outputs warning information based on output conditions corresponding to the result of this determination.

[0242] In the related art, warning information may be output even in a situation where a warning is not necessary, and thus appropriate warning information may not be output in accordance with other vehicles 2 around the host vehicle 1 .

[0243] On the other hand, in the information processing device 10 of the present embodiment, warning information is output based on an output condition corresponding to the result of determination as to whether the other vehicle 2 in the vicinity of the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. Therefore, in the present embodiment, warning information can be output based on an output condition corresponding to whether the other vehicle 2 in the vicinity of the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B.

[0244] Therefore, the information processing device 10 of the present embodiment can output appropriate warning information according to the other vehicles 2 around the host vehicle 1 .

[0245] In addition, in the present embodiment, the information processing device 10 is mounted on the vehicle 1 as an example for explanation. However, the information processing device 10 may also be a structure mounted on the outside of the vehicle 1. The information processing device 10 is connected to various electronic devices such as the photographic device 13, the external sensor 14, the internal sensor 15, the driving control unit 16, the instrument computer 18, and the storage unit 19 provided on the vehicle 1 in a communicable manner. Therefore, the information processing device 10 may also be a form of an information processing device mounted on the outside of the vehicle 1. In this case, the information processing device equipped with the information processing device 10 and the above-mentioned various electronic devices are configured to be able to communicate via a network or the like. In addition, in this case, the vehicle to which the information processing device 10 is connected in a communicable manner is equivalent to the vehicle 1.

[0246] Furthermore, the present technology can also take the following structures. (1)

[0248] An information processing device comprising:

[0249] a vehicle determination unit that determines whether another vehicle captured in a photographic image of the surroundings of the own vehicle is a two-wheeled vehicle or a four-wheeled vehicle; and

[0250] The output control unit outputs warning information based on an output condition corresponding to the result of the determination. (2)

[0252] In the information processing device described in (1),

[0253] The information processing device includes a first setting unit that, when it is determined that the other vehicle is the two-wheeled vehicle, sets a first inter-vehicle distance that is a change of the first initial inter-vehicle distance based on first running condition information, the first running condition information being running condition information related to the running condition of at least one of the host vehicle and the two-wheeled vehicle.

[0254] The output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the two-wheeled vehicle becomes equal to or smaller than the first inter-vehicle distance. (3)

[0256] In the information processing device described in (2),

[0257] The first setting unit sets the first inter-vehicle distance after the first initial inter-vehicle distance is changed according to the consistent first condition when the first driving condition information is consistent with at least one of the following first conditions, the first conditions including: the speed of the host vehicle is greater than a prescribed speed, the number of driving direction changes of the two-wheeled vehicle is greater than a prescribed number, the vehicle is driven in a driving environment with an illumination level below a prescribed level, the driving skill of the driver of the host vehicle is less than a prescribed skill, the driving skill of the driver of the two-wheeled vehicle is less than a prescribed skill, the estimated size of the two-wheeled vehicle is less than a prescribed size, and the color of the two-wheeled vehicle and the road surface are consistent. The color difference is less than a specified color difference, the road on which the vehicle and the two-wheeled vehicle are traveling is a road that allows high-speed driving above a specified speed, the estimated collision impact degree of the two-wheeled vehicle is above a specified impact degree, the driving location of the vehicle and the two-wheeled vehicle is within a predetermined warning target area, the environment of the road surface on which the vehicle and the two-wheeled vehicle are traveling is a predetermined rollover hazard environment, the steering angle of the vehicle is above a specified angle, the vehicle decelerates, the driving area of ​​the vehicle and the two-wheeled vehicle is within a specified area, the vehicle category of the two-wheeled vehicle is a predetermined warning target vehicle, and the passenger of the two-wheeled vehicle performs a specified action. (4)

[0259] In the information processing device described in any one of (1) to (3),

[0260] When it is determined that the other vehicle is the two-wheeled vehicle and that the two-wheeled vehicle is away from the host vehicle, the output control unit excludes the two-wheeled vehicle from being output of the warning information. (5)

[0262] In the information processing device described in any one of (1) to (3),

[0263] The information processing device includes a second setting unit that, when it is determined that the other vehicle is the four-wheeled vehicle, sets a second inter-vehicle distance after the second initial inter-vehicle distance is changed based on second driving condition information, the second driving condition information being driving condition information related to the driving condition of at least one of the host vehicle and the four-wheeled vehicle.

[0264] The output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or smaller than the second inter-vehicle distance. (6)

[0266] In the information processing device described in (5),

[0267] The second setting unit sets the second vehicle distance after changing the second initial vehicle distance according to the consistent second condition when the second driving condition information is consistent with at least one of the following second conditions, the second conditions including: the vehicle speed of the host vehicle is above the prescribed speed, the estimated size of the four-wheeled vehicle is above the prescribed size, the driving road of the host vehicle and the four-wheeled vehicle is a road that allows high-speed driving above the prescribed speed and the estimated collision impact degree of the four-wheeled vehicle when driving on the road is above the prescribed impact degree, the estimated collision impact degree of the four-wheeled vehicle is above the prescribed impact degree, the driving location of the host vehicle and the four-wheeled vehicle is a predetermined warning target area, the motor vehicle registration number of the four-wheeled vehicle is a predetermined setting number, the driving area of ​​the host vehicle and the four-wheeled vehicle is within the prescribed area, and the vehicle category of the four-wheeled vehicle is a predetermined warning target vehicle. (7)

[0269] In the information processing device described in any one of (1) to (6),

[0270] When it is determined that the other vehicle is the four-wheeled vehicle and that the four-wheeled vehicle is away from the host vehicle, the output control unit excludes the four-wheeled vehicle from being an output target of the warning information. (8)

[0272] In the information processing device described in any one of (5) to (7),

[0273] When it is determined that the other vehicle is the four-wheeled vehicle and the relative speed between the host vehicle and the four-wheeled vehicle is equal to or greater than a predetermined relative speed, the output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance. (9)

[0275] In the information processing device described in any one of (5) to (8),

[0276] When it is determined that the other vehicle is the four-wheeled vehicle and the first lane in which the host vehicle is traveling coincides with the second lane in which the four-wheeled vehicle is traveling, the output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes less than the second inter-vehicle distance. (10)

[0278] In the information processing device described in any one of (5) to (9),

[0279] When it is determined that the other vehicle is the four-wheeled vehicle, the first lane in which the host vehicle is traveling is inconsistent with the second lane in which the four-wheeled vehicle is traveling, and the lane existing in the predetermined direction of travel change of the host vehicle is consistent with the second lane, the output control unit outputs the warning information when the vehicle-to-vehicle distance between the host vehicle and the four-wheeled vehicle becomes less than the second vehicle-to-vehicle distance. (11)

[0281] An information processing method is an information processing method executed by an information processing device, and the information processing method includes the following steps:

[0282] Determining whether another vehicle captured in a photographic image of the surroundings of the own vehicle is a two-wheeled vehicle or a four-wheeled vehicle; and

[0283] Warning information is output based on an output condition corresponding to the result of the determination. (12)

[0285] An information processing program for causing a computer to execute the following steps:

[0286] Determining whether another vehicle captured in a photographic image of the surroundings of the own vehicle is a two-wheeled vehicle or a four-wheeled vehicle; and

[0287] Warning information is output based on an output condition corresponding to the result of the determination.

[0288] Furthermore, while the embodiments have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. The new embodiments described above can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The embodiments described above are intended to be within the scope and spirit of the invention and are encompassed by the invention set forth in the claims and their equivalents.

Claims

1. An information processing device comprising: a vehicle determination unit that determines whether another vehicle captured in a photographic image of the surroundings of the own vehicle is a two-wheeled vehicle or a four-wheeled vehicle; and The output control unit outputs warning information based on an output condition corresponding to the result of the determination.

2. The information processing device according to claim 1, wherein The information processing device includes a first setting unit that, when it is determined that the other vehicle is the two-wheeled vehicle, sets a first inter-vehicle distance that is a change of the first initial inter-vehicle distance based on first running condition information, the first running condition information being running condition information related to the running condition of at least one of the host vehicle and the two-wheeled vehicle. The output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the two-wheeled vehicle becomes equal to or smaller than the first inter-vehicle distance.

3. The information processing device according to claim 2, wherein: The first setting unit sets the first inter-vehicle distance after the first initial inter-vehicle distance is changed according to the consistent first condition when the first driving condition information is consistent with at least one of the following first conditions, the first conditions including: the speed of the host vehicle is greater than a prescribed speed, the number of driving direction changes of the two-wheeled vehicle is greater than a prescribed number, the vehicle is driven in a driving environment with an illumination level below a prescribed level, the driving skill of the driver of the host vehicle is less than a prescribed skill, the driving skill of the driver of the two-wheeled vehicle is less than a prescribed skill, the estimated size of the two-wheeled vehicle is less than a prescribed size, and the color of the two-wheeled vehicle and the road surface are consistent. The color difference is less than a specified color difference, the road on which the vehicle and the two-wheeled vehicle are traveling is a road that allows high-speed driving above a specified speed, the estimated collision impact degree of the two-wheeled vehicle is above a specified impact degree, the driving location of the vehicle and the two-wheeled vehicle is within a predetermined warning target area, the environment of the road surface on which the vehicle and the two-wheeled vehicle are traveling is a predetermined rollover hazard environment, the steering angle of the vehicle is above a specified angle, the vehicle decelerates, the driving area of ​​the vehicle and the two-wheeled vehicle is within a specified area, the vehicle category of the two-wheeled vehicle is a predetermined warning target vehicle, and the passenger of the two-wheeled vehicle performs a specified action.

4. The information processing device according to claim 1, wherein: When it is determined that the other vehicle is the two-wheeled vehicle and that the two-wheeled vehicle is away from the host vehicle, the output control unit excludes the two-wheeled vehicle from being output of the warning information. The information processing apparatus according to claim 1 , wherein: The information processing device includes a second setting unit that, when it is determined that the other vehicle is the four-wheeled vehicle, sets a second inter-vehicle distance after the second initial inter-vehicle distance is changed based on second driving condition information, the second driving condition information being driving condition information related to the driving condition of at least one of the host vehicle and the four-wheeled vehicle. The output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or smaller than the second inter-vehicle distance. The information processing apparatus according to claim 5 , wherein: The second setting unit sets the second vehicle distance after changing the second initial vehicle distance according to the consistent second condition when the second driving condition information is consistent with at least one of the following second conditions, the second conditions including: the vehicle speed of the host vehicle is above the prescribed speed, the estimated size of the four-wheeled vehicle is above the prescribed size, the driving road of the host vehicle and the four-wheeled vehicle is a road that allows high-speed driving above the prescribed speed and the estimated collision impact degree of the four-wheeled vehicle when driving on the road is above the prescribed impact degree, the estimated collision impact degree of the four-wheeled vehicle is above the prescribed impact degree, the driving location of the host vehicle and the four-wheeled vehicle is a predetermined warning target area, the motor vehicle registration number of the four-wheeled vehicle is a predetermined setting number, the driving area of ​​the host vehicle and the four-wheeled vehicle is within the prescribed area, and the vehicle category of the four-wheeled vehicle is a predetermined warning target vehicle.

7. The information processing apparatus according to claim 1, wherein: When it is determined that the other vehicle is the four-wheeled vehicle and that the four-wheeled vehicle is away from the host vehicle, the output control unit excludes the four-wheeled vehicle from being an output target of the warning information.

8. The information processing apparatus according to claim 5, wherein: When it is determined that the other vehicle is the four-wheeled vehicle and the relative speed between the host vehicle and the four-wheeled vehicle is equal to or greater than a predetermined relative speed, the output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance.

9. The information processing apparatus according to claim 5, wherein: When it is determined that the other vehicle is the four-wheeled vehicle and the first lane in which the host vehicle is traveling coincides with the second lane in which the four-wheeled vehicle is traveling, the output control unit outputs the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes less than the second inter-vehicle distance.

10. The information processing apparatus according to claim 5, wherein: When it is determined that the other vehicle is the four-wheeled vehicle, the first lane in which the host vehicle is traveling is inconsistent with the second lane in which the four-wheeled vehicle is traveling, and the lane existing in the predetermined direction of travel change of the host vehicle is consistent with the second lane, the output control unit outputs the warning information when the vehicle-to-vehicle distance between the host vehicle and the four-wheeled vehicle becomes less than the second vehicle-to-vehicle distance.

11. An information processing method is an information processing method executed by an information processing device, the information processing method comprising the following steps: Determining whether another vehicle captured in a photographic image of the surrounding area of ​​the own vehicle is a two-wheeled vehicle or a four-wheeled vehicle; as well as Warning information is output based on an output condition corresponding to the result of the determination.

12. A recording medium storing an information processing program, wherein the information processing program causes a computer to execute the following steps: Determining whether another vehicle captured in a photographic image of the surroundings of the own vehicle is a two-wheeled vehicle or a four-wheeled vehicle; and Warning information is output based on an output condition corresponding to the result of the determination.

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