Notification device, notification method and notification system

Abstract

A notification device, a notification method, and a notification system are provided. The device is capable of appropriately notifying of potential contact with other mobile bodies (2). The notification device (19) includes: a first buffer time identification unit (104) that, in the event of a predicted contact between the first mobile body (1) and a second mobile body present in the vicinity of the first mobile body, identifies a first buffer time from the point where the first mobile body can see the second mobile body until the first mobile body contacts the second mobile body; and a notification unit (107) that notifies the occupant (P) of the first mobile body that the first mobile body and the second mobile body may contact each other, the notification unit changing the notification method based on the first buffer time.

Description

Technical Field

[0001] This invention relates to a notification device, a notification method, and a notification system. Background Technology

[0002] Previously, there were known technologies for notifying occupants of a moving vehicle of the potential contact with other moving vehicles. For example, Patent Document 1 discloses a driver assistance system that outputs a low-level warning when the driver can see other vehicles and a high-level warning when the driver cannot see other vehicles.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: U.S. Patent Application Publication No. 2024 / 0078906 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, Patent Document 1 does not disclose the specific method for determining whether other vehicles can be viewed. Therefore, it is difficult to say that Patent Document 1 can appropriately change the warning level for situations requiring a change in the warning level, and it may not be able to properly warn the driver.

[0008] The present invention was made in view of the above circumstances, and its object is to be able to properly notify situations in which there is a possibility of contact with other moving bodies.

[0009] Methods for solving problems

[0010] One aspect of the present invention is a notification device comprising: a first buffer time identification unit that, in the event of a predicted contact between a first mobile body and a second mobile body present in the vicinity of the first mobile body, identifies a first buffer time from the point where the first mobile body can see the second mobile body until the first mobile body and the second mobile body come into contact; and a notification unit that notifies the occupants of the first mobile body that the first mobile body and the second mobile body may come into contact, the notification unit changing the notification method based on the first buffer time.

[0011] Invention Effects

[0012] According to the present invention, it is possible to properly notify of the possibility of contact with other moving bodies. Attached Figure Description

[0013] Figure 1 This is a diagram showing the structure of the notification system.

[0014] Figure 2 This is a diagram showing the structure of the notification device.

[0015] Figure 3 This is a diagram used to illustrate the calculation of the first buffer time.

[0016] Figure 4 This is a flowchart illustrating the operation of the notification device.

[0017] Explanation of reference numerals in the attached figures

[0018] 1…First moving body, 2…Second moving body, 2A…Other vehicles, 2B…Bicycles, 2C…Pedestrians, 3…Server equipment, 10A…Driver's seat, 10B…Passenger seat, 10C…Rear right seat, 10D…Rear left seat, 12…Instrument panel, 13…Touch panel, 14…Speaker, 15…Driver monitoring camera, 16…Front camera, 17…V2X communication device, 18…TCU, 19…Notification device, 20…Vehicle speed sensor, 21…GNSS unit, 22…Brake pedal sensor, 23…Orientation sensor 100…processor, 101…first communication control unit, 102…second communication control unit, 103…contact prediction and determination unit, 104…first buffer time identification unit, 105…second buffer time identification unit, 106…cognition determination unit, 107…notification unit, 120…memory, 121…control program, 122…map data, 1000…notification system, BL…building, CP…intersection, HD…head, LS1…line segment, LS2…line segment, NW…network, P…occupant, R1…road, R2…road. Detailed Implementation

[0019] [1. Overview of the Notification System]

[0020] Reference Figure 1 This section provides an overview of the notification system 1000 of this embodiment.

[0021] Figure 1 This is a diagram showing the structure of the notification system 1000.

[0022] The notification system 1000 is a system that notifies the occupant P of the first mobile body 1 of the potential contact between the first mobile body 1 and the second mobile body 2. Figure 1 In the illustration, other vehicles 2A, bicycles 2B, and pedestrians 2C are shown as the second moving body 2.

[0023] The notification system 1000 includes a notification device 19 provided by the first mobile body 1 and a server device 3 connected to a network NW, which is a WAN (Wide Area Network). The server device 3 is a device that processes information by treating the notification device 19 as a client.

[0024] exist Figure 1The structure of the first moving body 1 is shown in the diagram. In this embodiment, the first moving body 1 is a four-wheeled vehicle. The vehicle 1 includes a driver's seat 10A, a passenger seat 10B, a rear right seat 10C, and a rear left seat 10D. Figure 1 In vehicle 1, the driver sits in the driver's seat 10A, and the driver rides in the vehicle as a passenger P.

[0025] The first mobile body 1 includes an instrument panel 12. A touch panel 13 and a speaker 14 are provided on the instrument panel 12. The touch panel 13 is composed of a display panel for displaying text and images and a touch sensor for detecting contact with the display panel, either overlapped or integrated. The speaker 14 outputs sound into the cabin space of the first mobile body 1. Furthermore, the location and number of speakers 14 can be arbitrarily changed.

[0026] The first mobile body 1 is equipped with a driver monitoring camera 15. The driver monitoring camera 15 is a camera installed at a predetermined location within the interior of the first mobile body 1 to capture images of the driver seat 10A. The field of view of the driver monitoring camera 15 includes at least the area of ​​the driver's head HD. The driver monitoring camera 15 captures images at predetermined intervals when the ignition of the first mobile body 1 is turned on, or when the power to the accessories of the first mobile body 1 is turned on. Each time the driver monitoring camera 15 captures an image, it outputs the image data of the captured image (hereinafter referred to as "driver captured image") to the notification device 19.

[0027] The first mobile body 1 includes a front camera 16 for capturing images of the front of the first mobile body 1. The front camera 16 is disposed at the front of the first mobile body 1 and captures images of the front of the first mobile body 1. The front camera 16 captures images at predetermined intervals, such as when the first mobile body 1 is ignited or when the power to the accessories of the first mobile body 1 is turned on. Each time the front camera 16 captures an image, it outputs the image data of the captured image (hereinafter referred to as "front-facing captured image") to the notification device 19.

[0028] The first mobile body 1 is equipped with a V2X (Vehicle to Everything) communication device 17. The V2X communication device 17 communicates with other vehicles 2A through vehicle-to-vehicle communication. In addition, the V2X communication device 17 communicates with pedestrians and with terminals held by people (pedestrians 2C, cyclists 2B) in the vicinity of the first mobile body 1.

[0029] The first mobile unit 1 is equipped with a TCU (Telematics Control Unit) 18. The TCU 18 is a communication device that communicates with devices connected to the network NW.

[0030] The first mobile body 1 is equipped with a notification device 19. The notification device 19 is a device that notifies the first mobile body 1 of the possibility of contact with the second mobile body 2.

[0031] [2. Structure of the notification device]

[0032] Figure 2 This is a diagram showing the structure of the notification device 19.

[0033] The notification device 19 is connected to the touch panel 13, speaker 14, driver monitoring camera 15, front camera 16, V2X communication device 17, TCU 18, vehicle speed sensor 20, GNSS (Global Navigation Satellite System) unit 21, brake pedal sensor 22 and orientation sensor 23.

[0034] The touch panel 13 displays various information under the control of the notification device 19.

[0035] The speaker 14 outputs various sounds according to the control of the notification device 19.

[0036] The driver monitoring camera 15 takes pictures under the control of the notification device 19.

[0037] The front camera 16 takes pictures under the control of the notification device 19.

[0038] V2X communication device 17 communicates with terminals held by occupants of other vehicles 2A and bicycles 2B, and terminals held by pedestrians 2C, under the control of notification device 19.

[0039] TCU20 communicates with devices connected to the network NW under the control of notification device 19.

[0040] The vehicle speed sensor 20 detects the moving speed of the first moving body 1. The vehicle speed sensor 20 detects the moving speed of the first moving body 1 at a predetermined period and outputs the detected value representing the moving speed of the first moving body 1 to the notification device 19.

[0041] The GNSS unit 21 locates the current position of the first mobile body 1. The GNSS unit 21 generates position data representing the current position of the first mobile body 1 and outputs the generated position data to the notification device 19.

[0042] Brake pedal sensor 22 detects the amount of brake pedal pressure applied that decelerates the first moving body 1. Brake pedal sensor 22 outputs the detected value to notification device 19.

[0043] The orientation sensor 23 is a sensor that detects the orientation of the first moving body 1. The orientation refers to the orientation corresponding to the direction of movement. The orientation sensor 23 outputs the detected value to the notification device 19.

[0044] The notification device 19 has a processor 100 such as a CPU (Central Processing Unit) and an MPU (Microprocessor Unit), a memory 120, and interface circuits for connecting various devices.

[0045] Memory 120 is a storage device for storing programs and data. Memory 120 stores control program 121, map data 122, and data processed by processor 100. Memory 120 has non-volatile storage areas. Alternatively, memory 120 may also have volatile storage areas, constituting the working area of ​​processor 100. Memory 120 may be composed, for example, ROM (Read Only Memory) or RAM (Random Access Memory).

[0046] Control program 121 is a program that enables processor 100 to function as a functional unit, as described later.

[0047] Map data 122 stores road map information, building information, and other data. The road map information consists of a road network represented by lines, dividing the map into multiple sections with intersections, forks, and other junctions as nodes. This road map information includes information related to the road segments that define the sections between nodes. The building information shows the location of buildings, their names, and their shapes when viewed from above.

[0048] The processor 100 reads and executes the control program 121, and functions as the first communication control unit 101, the second communication control unit 102, the contact prediction determination unit 103, the first buffer time recognition unit 104, the second buffer time recognition unit 105, the cognition determination unit 106, and the notification unit 107.

[0049] [2-1. First Communication Control Unit]

[0050] The first communication control unit 101 receives the current position, the moving speed, and the moving orientation of the second mobile body 2 via the V2X communication device 17.

[0051] The first communication control unit 101 communicates with other vehicles 2A via the V2X communication device 17, and receives information from other vehicles 2A such as their current position, speed, and orientation.

[0052] The first communication control unit 101 communicates with the terminal held by the rider of bicycle 2B via V2X communication device 17. The first communication control unit 101 receives the current position, the speed of the terminal, and the direction of the terminal held by the rider of bicycle 2B as the current position, speed, and direction of the bicycle 2B.

[0053] The first communication control unit 101 communicates with the terminal held by the pedestrian 2C via the V2X communication device 17. The first communication control unit 101 receives the current position, the moving speed, and the moving direction of the terminal held by the pedestrian 2C as the current position, moving speed, and moving direction of the pedestrian 2C.

[0054] Hereinafter, the current position of the second moving body 2, the moving speed of the second moving body 2, and the moving direction of the second moving body 2 will be uniformly expressed as "information related to the second moving body 2".

[0055] [2-2. Second Communication Control Unit]

[0056] The second communication control unit 102 communicates with the server device 3 via the TCU18.

[0057] [2-3. Contact Prediction and Judgment Unit]

[0058] The contact prediction determination unit 103 determines whether contact between the first mobile body 1 and the second mobile body 2 is predicted. The contact prediction determination unit 103 makes a determination for each second mobile body 2 for which information related to the second mobile body 2 has been received.

[0059] The contact prediction determination unit 103 determines, for example, whether contact between the first moving body 1 and the second moving body 2 is predicted in the following manner.

[0060] The contact prediction and determination unit 103 determines the straight path of the first moving body 1 based on the map shown in the map data 122, the current position of the first moving body 1 located by the GNSS unit 21, and the moving orientation of the first moving body 1 detected by the orientation sensor 23.

[0061] In addition, the contact prediction and determination unit 103 determines the straight path of the second mobile body 2 based on the map shown in the map data 122 and the information related to the second mobile body 2 received by the first communication control unit 101.

[0062] Next, the contact prediction determination unit 103 determines whether the straight path of the second moving body 2 intersects with the straight path of the first moving body 1. If it is determined that they do not intersect, it is determined that the contact between the second moving body 2 and the first moving body 1 has not been predicted.

[0063] On the other hand, when the contact prediction determination unit 103 determines that the straight path of the second moving body 2 intersects with the straight path of the first moving body 1, it calculates the time required for the first moving body 1 to reach the point where the straight path of the second moving body 2 intersects with the straight path of the first moving body 1 (hereinafter, denoted by the reference numeral "CP"), which is the intersection point CP. This calculation is performed with reference to the map shown in the map data 122, based on the distance from the current position of the first moving body 1 to the intersection point CP and the moving speed of the first moving body 1 detected by the vehicle speed sensor 20.

[0064] Furthermore, when the contact prediction determination unit 103 determines that the straight path of the second moving body 2 intersects with the straight path of the first moving body 1, it calculates the time required for the second moving body 2 to reach the intersection point CP. This calculation is performed with reference to the map shown in the map data 122, based on the distance from the current position of the second moving body 2 to the intersection point CP and the moving speed of the second moving body 2.

[0065] Furthermore, if the difference between the required time for the first moving body 1 and the required time for the second moving body 2 is within a predetermined time, the contact prediction determination unit 103 determines that the contact between the second moving body 2 and the first moving body 1 has been predicted; if the difference exceeds the predetermined time, it determines that the contact between the second moving body 2 and the first moving body 1 has not been predicted.

[0066] [2-4. First Buffer Time Recognition Unit]

[0067] The first buffer time identification unit 104 identifies a first buffer time for each second mobile body 2 that is determined to be predicted to come into contact with the first mobile body 1. The first buffer time is the buffer time from the time when the first mobile body 1 can see the second mobile body 2 until the first mobile body 1 comes into contact with the second mobile body 2.

[0068] The first buffer time recognition unit 104 in this embodiment recognizes the first buffer time by calculating the first buffer time.

[0069] Here, refer to Figure 3 This will explain the calculation of the first buffer time.

[0070] Figure 3 This is a diagram used to illustrate the calculation of the first buffer time.

[0071] exist Figure 3 The diagram illustrates the movement of the first moving body 1 to the left along road R1, which extends in the left-right direction. Additionally, in... Figure 3 The diagram illustrates the movement of the second moving body 2 upwards along road R2, which extends vertically in the diagram. Furthermore, in... Figure 3In the diagram, the black circle represents the intersection point (CP).

[0072] The first buffer time recognition unit 104 calculates the first buffer time using the following formulas (1) to (2).

[0073] T=((Dv+w+a1) / r+Db+a2) / V1…(1)

[0074] r=V2 / V1…(2)

[0075] In equation (1), “T” represents the first buffer time.

[0076] In addition, in equation (1), “Dv” represents the distance from the first moving body 1 to the sidewalk located on the left side of the first moving body 1.

[0077] In addition, in equation (1), “w” represents the width of the sidewalk that exists on the left side of the first moving body 1.

[0078] In addition, in equation (1), “a1” represents the distance from building BL to road R1 for the first moving body 1 to move.

[0079] In addition, in equation (1), “Db” represents the distance from the second moving body 2 to the right end of the road R2 that allows the second moving body 2 to move.

[0080] In addition, in equation (1), “a2” represents the distance from building BL to road R2 for the movement of the second moving body 2.

[0081] In addition, in equations (1) and (2), “V1” represents the moving speed of the first moving body 1.

[0082] In addition, in equation (2), “V2” represents the moving speed of the second moving body 2.

[0083] Furthermore, Equation (1) is derived from Equations (3) to (7).

[0084] L1=T×V1-(a2+Db)…(3)

[0085] L2=a1+w+Dv…(4)

[0086] L3=a2+Db…(5)

[0087] L4=T×V1×r-(a1+w+Dv)…(6)

[0088] L1:L2=L3:L4…(7)

[0089] The first buffer time identification unit 104 refers to the map data 122 to determine the building BL that is located within the specified range of the intersection point CP, to the left of the first moving body 1, to the right of the second moving body 2, and closest to the intersection point CP.

[0090] If the first buffer time identification unit 104 is unable to identify the building BL, it calculates "T" in equation (1) as infinite. That is, in this case, the first buffer time identification unit 104 identifies the first buffer time as infinite.

[0091] On the other hand, when the first buffer time identification unit 104 successfully identifies the building BL, it refers to the shape of the building BL contained in the map data 122 and determines the position of the identified building BL with the smallest interval distance between it and the road R1 for the first moving body 1 to move (hereinafter, the reference numeral "I1" is called the first position I1). Figure 3 In the case of a first buffer time recognition unit 104, the position on line segment LS1 is determined as the first position I1. Next, the first buffer time recognition unit 104 calculates the first distance. The first distance is the distance in a direction orthogonal to the direction in which road R1 extends, and is the distance between the determined first position I1 and road R1. Then, the first buffer time recognition unit 104 substitutes the calculated first distance into "a1" in formula (1).

[0092] Furthermore, when the first buffer time identification unit 104 successfully identifies the building BL, it refers to the shape of the building BL contained in the map data 122 and determines the position of the building BL with the smallest interval distance between it and the road R2 on which the second moving body 2 moves (hereinafter, the reference numeral "I2" is called the second position I2). Figure 3 In this case, the first buffer time recognition unit 104 determines the position on line segment LS2 as the second position I2. Next, the first buffer time recognition unit 104 calculates the second distance. The second distance is the distance in a direction orthogonal to the direction in which road R2 extends, and is the distance between the determined second position I2 and road R2. Then, the first buffer time recognition unit 104 substitutes the calculated second distance into "a2".

[0093] Furthermore, upon successfully identifying the building BL, the first buffer time identification unit 104 calculates a third distance by referring to map data 122. The third distance is the distance in a direction orthogonal to the direction in which road R1 extends, and is the distance from the left end of road R1, based on the direction of movement of the first moving body 1, to the current position of the first moving body 1. Then, the first buffer time identification unit 104 substitutes the calculated third distance into "Dv+w" in equation (1). Alternatively, the first buffer time identification unit 104 can also calculate "Dv" and "w" separately and substitute them into equation (1).

[0094] Furthermore, if the first buffer time identification unit 104 successfully identifies the building BL, it calculates a fourth distance by referring to map data 122. The fourth distance is the distance in a direction orthogonal to the direction in which the road R2 extends, and is the distance from the right end of the road R2, which is based on the movement direction of the second moving body 2, to the current position of the second moving body 2. Then, the first buffer time identification unit 104 substitutes the calculated fourth distance into "Db" in equation (1).

[0095] Furthermore, when the first buffer time recognition unit 104 successfully identifies the building BL, it substitutes the moving speed of the first moving body 1 detected by the vehicle speed sensor 20 into "V1" in equations (1) and (2). In addition, when calculating the first buffer time, the first buffer time recognition unit 104 substitutes the moving speed of the most recently detected first moving body 1 into equations (1) and (2).

[0096] Furthermore, when the first buffer time identification unit 104 successfully identifies the building BL, it substitutes the received movement speed of the second moving body 2 into "V2" in equation (2). In addition, when calculating the first buffer time, the first buffer time identification unit 104 substitutes the latest received movement speed of the second moving body 2 into equation (2).

[0097] Then, the first buffer time identification unit 104 calculates T using equations (1) and (2) and identifies the calculated T as the first buffer time. Thus, the first buffer time identification unit 104 is able to calculate the first buffer time from the moment when the first moving body 1 can see the second moving body 2 until the first moving body 1 comes into contact with the second moving body 2.

[0098] [2-6. Second Buffer Time Recognition Unit]

[0099] The second buffer time identification unit 105 identifies a second buffer time for each second mobile body 2 that is determined to be predicted to make contact with the first mobile body 1. The second buffer time represents the buffer time from the current moment until the first mobile body 1 makes contact with the second mobile body 2.

[0100] The second buffer time identification unit 105 in this embodiment identifies the second buffer time by calculating the second buffer time.

[0101] For example, the second buffer time recognition unit 105, referring to the map shown in map data 122, determines the intersection point CP based on the current position of the first moving body 1, the direction of movement of the first moving body 1, the current position of the second moving body 2, and the direction of movement of the second moving body 2. Next, the second buffer time recognition unit 105, referring to the map shown in map data 122, calculates the distance from the current position of the first moving body 1 to the intersection point CP. Then, the second buffer time recognition unit 105 calculates the second buffer time by dividing the calculated distance to the intersection point CP by the latest detected speed of the first moving body 1 by the vehicle speed sensor 20.

[0102] Furthermore, the method for calculating the second buffer time is not limited to the examples described above. For instance, the second buffer time can also be calculated using existing techniques based on the current position of the first moving body 1, the moving speed of the first moving body 1, the current position of the second moving body 2, and the moving speed of the second moving body 2.

[0103] [2-7. Cognitive Judgment Section]

[0104] When the recognition determination unit 106 determines that contact with the first mobile body 1 is predicted, it determines whether the occupant P of the first mobile body 1 recognizes the second mobile body 2.

[0105] The following examples illustrate the determination methods of multiple cognitive determination units 106.

[0106] [2-7-1. First Judgment Method]

[0107] In the first determination method, the cognitive determination unit 106 makes a determination based on whether or not the occupant P performs a deceleration operation on the first moving body 1.

[0108] For example, the recognition determination unit 106 determines whether the brake pedal has been operated based on the detection value of the brake pedal sensor 22. If the recognition determination unit 106 determines that the brake pedal has been operated, it considers that there is a deceleration operation of the first moving body 1 performed by the occupant P, and determines that the occupant P has recognized the second moving body 2. On the other hand, if the recognition determination unit 106 determines that the brake pedal has not been operated, it considers that there is no deceleration operation of the first moving body 1 performed by the occupant P, and determines that the occupant P has not recognized the second moving body 2.

[0109] Furthermore, for example, the recognition determination unit 106 determines whether the moving speed of the first moving body 1 is below a predetermined value based on the detection value output by the vehicle speed sensor 20. If the recognition determination unit 106 determines that the moving speed of the first moving body 1 is below the predetermined value, it considers that there is a deceleration operation of the first moving body 1 performed by the occupant P, and determines that the occupant P has recognized the second moving body 2. On the other hand, if the recognition determination unit 106 determines that the moving speed of the first moving body 1 is not below the predetermined value, it considers that there is no deceleration operation of the first moving body 1 performed by the occupant P, and determines that the occupant P has not recognized the second moving body 2.

[0110] Additionally, for example, the cognitive determination unit 106 determines that a deceleration operation exists if the absolute value of the acceleration in the deceleration direction is above a predetermined value based on the detection value of the acceleration sensor (not shown), otherwise it determines that no deceleration operation exists.

[0111] [2-7-2. Second Judgment Method]

[0112] In the second determination method, the recognition determination unit 106 makes a determination based on the gaze direction of the occupant P. The recognition determination unit 106 detects the driver's gaze direction. The recognition determination unit 106 detects the driver's gaze direction based on image data from images captured by the driver. The recognition determination unit 106 detects the driver P's eyes from the images captured by the driver using pattern matching, color analysis, etc., and determines the direction in which the detected eyes are looking as the gaze direction. Furthermore, the data required for eye detection (data on eye shape and color) is stored in the memory 120. Then, if the detected gaze direction is the direction of the second moving body 2 relative to the first moving body 1, the recognition determination unit 106 determines that the occupant P recognizes the second moving body 2. On the other hand, if the detected gaze direction is not the direction of the second moving body 2 relative to the first moving body 1, the recognition determination unit 106 determines that the occupant P does not recognize the second moving body 2. Furthermore, the recognition determination unit 106 determines the relative position and relative direction of the second moving body 2 relative to the first moving body 1 based on map data 122, the current position of the first moving body 1, and the received current position of the second moving body 2.

[0113] As described above, the determination method of the cognitive determination unit 106 is illustrated. The cognitive determination unit 106 can perform the determination using either the first determination method or the second determination method, or it can perform the determination using both the first determination method and the second determination method.

[0114] [2-8. Notification Department]

[0115] The notification unit 107 notifies the first mobile body 1 of the possibility of contact between the second mobile body 2. In this embodiment, the notification unit 107 makes the notification via the speaker 14. For example, the notification unit 107 notifies the first mobile body 1 of the possibility of contact between the second mobile body 2 by outputting a warning tone through the speaker 14. Alternatively, for example, the notification unit 107 notifies the first mobile body 1 of the possibility of contact between the second mobile body 2 by outputting a voice message such as "possible contact" through the speaker 14.

[0116] Furthermore, the notification unit 107 can also notify the first mobile body 1 and the second mobile body 2 of a possible contact by displaying information on the touch panel 13. In this case, the notification unit 107 may, for example, display text such as "Please be aware of the area ahead, contact is possible" or "Contact is possible, be aware of the area ahead!!" on the touch panel 13.

[0117] [3. Operation of the notification device]

[0118] Next, the operation of the notification device 19 in this embodiment will be explained.

[0119] Figure 4 This is a flowchart illustrating the operation of the notification device 19.

[0120] The contact prediction determination unit 103 determines whether contact between the first moving body 1 and the second moving body 2 is predicted (step S1).

[0121] Next, the first buffer time recognition unit 104 determines whether a contact has been predicted in step S1 (step S2).

[0122] If no contact is predicted (step S2: No), the processor 100 terminates the process.

[0123] On the other hand, if it is determined that contact is predicted (step S2: yes), the first buffer time recognition unit 104 recognizes the first buffer time (step S3).

[0124] Next, the second buffer time recognition unit 105 recognizes the second buffer time (step S4).

[0125] Next, the notification unit 107 determines whether the second buffer time identified in step S4 is greater than a predetermined time (step S5). For example, 7 seconds is taken as the predetermined time, but the predetermined time for comparison with the second buffer time is not limited to 7 seconds, and can be shorter or longer than 7 seconds.

[0126] If the notification unit 107 determines that the second buffer time is greater than the specified time (step S5: Yes), it determines whether the second buffer time identified in step S4 is greater than the first buffer time identified in step S3 (step S6).

[0127] If the notification unit 107 determines that the second buffer time is longer than the first buffer time (step S6: Yes), it will not notify that the first moving body 1 and the second moving body 2 may come into contact (step S7).

[0128] Furthermore, in step S7, the second buffer time is longer than the specified time, and the second moving body 2 cannot be seen from the first moving body 1.

[0129] On the other hand, if the notification unit 107 determines that the second buffer time is less than the first buffer time (step S6: no), it notifies the first mobile body 1 and the second mobile body 2 that they may come into contact through the first notification intensity (step S8).

[0130] Furthermore, in step S8, the second buffer time is longer than the predetermined time and the second moving body 2 can be seen from the first moving body 1.

[0131] Notification intensity refers to the strength with which the severity of the notification content is conveyed to the recipient. A first notification intensity is lower than a second notification intensity. For example, when notification unit 107 delivers a notification via speaker 14, the volume of a notification with first notification intensity is lower than that of a notification with second notification intensity. Additionally, for example, when notification unit 107 delivers a notification via touch panel 13, the displayed text size in a notification with first notification intensity is smaller than that in a notification with second notification intensity.

[0132] Returning to the explanation of step S5, if the notification unit 107 determines that the second buffer time identified in step S4 is less than the specified time (step S5: no), it determines whether the second buffer time identified in step S4 is greater than the first buffer time identified in step S3 (step S9).

[0133] If the notification unit 107 determines that the second buffer time is longer than the first buffer time (step S9: Yes), the cognition determination unit 106 determines whether the occupant P has recognized the second moving body 2 (step S10).

[0134] Furthermore, the situation in which a positive determination is made in step S9 is when the second buffer time is less than a predetermined time and the second moving body 2 cannot be seen from the first moving body 1.

[0135] Next, the notification unit 107 determines whether the information has been recognized in step S10 (step S11).

[0136] If the notification unit 107 determines that it has been recognized in step S10 (step S11: yes), it will not notify that the first mobile body 1 and the second mobile body 2 may come into contact (step S12).

[0137] On the other hand, if the notification unit 107 determines that it has not been recognized in step S10 (step S11: no), it notifies the first mobile body 1 and the second mobile body 2 that they may come into contact through the first notification intensity (step S13).

[0138] Returning to the explanation of step S9, if the notification unit 107 determines that the second buffer time is less than or equal to the first buffer time (step S9: No), the recognition determination unit 106 determines whether the occupant P recognizes the second moving body 2 (step S14).

[0139] Furthermore, the situation in which a negative determination is made in step S9 is when the second buffer time is less than a predetermined time and the second moving body 2 can be seen from the first moving body 1.

[0140] Next, the notification unit 107 determines whether the information has been recognized in step S14 (step S15).

[0141] If the notification unit 107 determines that it has been recognized in step S14 (step S15: Yes), it notifies the first mobile body 1 that there is a possibility of contact between the second mobile body 2 by using the first notification strength (step S16).

[0142] On the other hand, if the notification unit 107 determines that it has not been recognized in step S14 (step S15: no), it notifies the first mobile body 1 and the second mobile body 2 that they may come into contact through the second notification intensity (step S17).

[0143] [4. Other Implementation Methods]

[0144] The above-described implementation is merely one approach, which can be arbitrarily modified and applied.

[0145] In other embodiments, the first buffer time can also be identified based on the height of the building BL and the height of the second moving body 2. For example, in this other embodiment, if the second moving body 2 is taller than the building BL, the first buffer time is identified as infinite. Alternatively, for example, in this other embodiment, if the height of the building BL is less than or equal to the height of the second moving body 2, the first buffer time is identified as described in the embodiments above.

[0146] Furthermore, if the map data 122 includes the height of building BL as information, the first buffer time is identified based on the height of building BL included in the map data 122. Alternatively, the first buffer time is identified based on the height of building BL estimated from the foreground image.

[0147] In another embodiment, the height of the second mobile body 2 is received from the V2X communication device 17. For example, if the V2X communication device 17 receives information related to the second mobile body 2 via communication with a pedestrian, the second mobile body 2 is considered to be either a pedestrian 2C or a bicycle 2B, and the first buffer time can be calculated based on a pre-defined height of the second mobile body 2. Alternatively, for example, if the V2X communication device 17 receives information related to the second mobile body 2 via vehicle-to-vehicle communication, the second mobile body 2 is considered to be another vehicle 2A, and the first buffer time can be calculated based on a pre-defined height of the second mobile body 2 for each type of other vehicle 2A. Furthermore, the type of other vehicle 2A is received by the first mobile body 1 along with the information related to the second mobile body 2 via vehicle-to-vehicle communication.

[0148] The above-described embodiment describes a structure where the first buffer time identification unit 104 identifies the first buffer time through calculation. In other embodiments, the first buffer time identification unit 104 may also identify the first buffer time by obtaining it from the server device 3. In this other embodiment, the second communication control unit 102 sends the current position of the first mobile body 1, the moving speed of the first mobile body 1, the moving orientation of the first mobile body 1, the current position of the second mobile body 2, the moving speed of the second mobile body 2, and the moving orientation of the second mobile body 2 to the server device 3. Furthermore, in this other embodiment, the server device 3 calculates the first buffer time based on the information received from the first mobile body 1 and sends the calculated first buffer time to the first mobile body 1.

[0149] The above-described embodiment describes a structure where the second buffer time identification unit 105 identifies the second buffer time through calculation. In other embodiments, the second buffer time identification unit 105 may also identify the second buffer time by obtaining it from the server device 3. In this other embodiment, the second communication control unit 102 sends the current position of the first moving body 1, the moving speed of the first moving body 1, the moving orientation of the first moving body 1, the current position of the second moving body 2, the moving speed of the second moving body 2, and the moving orientation of the second moving body 2 to the server device 3. Furthermore, in this other embodiment, the server device 3 calculates the second buffer time based on the information received from the first moving body 1 and sends the calculated second buffer time to the first moving body 1.

[0150] In the above-described embodiments, the notification unit 107 is configured to provide notification via sound output or display. In other embodiments, the notification unit 107 may also provide notification via other methods. For example, the notification unit 107 may also provide notification by vibrating the driver's seatbelt. Furthermore, in other embodiments, the notification unit 107 may combine multiple methods to provide notification. For example, the notification unit 107 may provide notification via sound output and seatbelt vibration.

[0151] In the above embodiments, the notification unit 107 changes the notification method structure by changing the notification intensity. In other embodiments, the notification unit 107 may also change the notification method by turning the notification on or off, or by changing the notification method (e.g., changing from sound output to display).

[0152] In other embodiments, at least one of the contact prediction determination unit 103, the first buffer time recognition unit 104, the second buffer time recognition unit 105, and the cognition determination unit 106 can also be executed as a function of the processor of the server device 3 connected to the network NW. When at least one of the contact prediction determination unit 103, the first buffer time recognition unit 104, and the second buffer time recognition unit 105 functions on the processor of the server device 3, the first moving body 1 sends its current position, its moving speed, its moving orientation, the current position of the second moving body 2, its moving speed, and its moving orientation to the server device 3. Furthermore, when the cognition determination unit 106 functions on the processor of the server device 3, the first moving body 1 sends the detection values ​​of the vehicle speed sensor 20, the detection values ​​of the brake pedal sensor 22, and image data of the driver's image to the server device 3.

[0153] In other embodiments, a portable terminal brought into vehicle 1 may replace the V2X communication device 17 in performing the V2X communication device 17's processing. In this case, the portable terminal brought into vehicle 1 receives the current position of the second mobile body 2, the moving speed of the second mobile body 2, and the moving orientation of the second mobile body 2 from a server or the like.

[0154] Alternatively, in other embodiments, a portable terminal brought into vehicle 1 may perform the processing of TCU18 instead of TCU18. In this case, the portable terminal brought into vehicle 1 obtains the current position, speed, and orientation of the first moving body 1, the current position, speed, and orientation of the second moving body 2 from the notification device 19, and sends them to the server device 3.

[0155] Alternatively, in other embodiments, a portable terminal brought into the vehicle 1 may replace the notification device 19 in performing the processing of the notification device 19. In this other embodiment, the portable terminal performs the function of the recognition determination unit 106 by obtaining information from the vehicle 1 (vehicle 1 speed, occupant P's line of sight, etc.). Furthermore, in this other embodiment, the portable terminal obtains information from the vehicle 1 by communicating with the vehicle 1 via wired or wireless means.

[0156] The processor 100 can be composed of multiple processors or a single processor. The processor 100 can also be hardware programmed to implement the aforementioned functionalities. In this case, the processor 100 may be, for example, composed of an ASIC (Application Specific Integrated Circuit) or a FPGA (Field Programmable Gate Array).

[0157] in addition, Figure 2 The internal structure of the first mobile body 1 shown is an example, and the specific installation method is not particularly limited. That is, it is not necessarily necessary to install hardware corresponding to each part separately; of course, it is also possible to configure it so that the functions of each part are implemented by a processor executing a program. In addition, some of the functions implemented by software in the above embodiments can be made into hardware, or some of the functions implemented by hardware can be implemented by software.

[0158] in addition, Figure 4 The steps shown are divided according to the main processing content, and this invention is not limited by the method of dividing the processing units or their names. It is also possible to divide the process into more step units based on the processing content. Alternatively, it is possible to divide the process into units containing more processes within a single step unit. Furthermore, the order of these steps can be appropriately changed without affecting the spirit of this invention.

[0159] Furthermore, when the notification method of the notification device 19 described above is implemented using the processor 100, the program executed by the processor 100 can also be configured as a recording medium or a transmission medium for transmitting the program. That is, the control program 121 can also be implemented by recording the state of the control program 121 in a removable information recording medium. Examples of information recording media include magnetic recording media such as hard disks, optical recording media such as CDs, USB (Universal Serial Bus) memory, SSD (Solid State Drive) and other semiconductor storage devices, or other recording media can be used.

[0160] [5. Structures supported by the above embodiments]

[0161] The above implementation supports the following structures.

[0162] (Structure 1)

[0163] A notification device includes: a first buffer time recognition unit that, when predicting that a first mobile body will come into contact with a second mobile body located around the first mobile body, recognizes a first buffer time from the point where the first mobile body can see the second mobile body until the first mobile body comes into contact with the second mobile body; and a notification unit that notifies the occupants of the first mobile body that the first mobile body and the second mobile body may come into contact, the notification unit changing the notification method based on the first buffer time.

[0164] According to the notification device of Structure 1, the notification method can be changed considering the time from when the second mobile body can be seen until contact with the second mobile body. Therefore, it is possible to prevent the change of notification method from being too early or too late relative to the time when the second mobile body can be seen, and to appropriately change the notification method when it is necessary to change the notification method. Therefore, it is possible to appropriately notify of the possibility of contact with other mobile bodies.

[0165] (Structure 2)

[0166] According to the notification device of Structure 1, the first buffer time is based on a map of the periphery of the first mobile body containing the shape of the building, the position of the first mobile body, and the position of the second mobile body.

[0167] According to the notification device of structure 2, by using a map based on the shape of the building, the position of the first moving body, and the position of the second moving body, a first buffer time can be used to accurately determine the moment when the second moving body can be seen. Therefore, it is possible to more appropriately notify of the possibility of contact with other moving bodies.

[0168] (Structure 3)

[0169] According to the notification device of structure 1 or 2, the notification device has a second buffer time identification unit, which identifies a second buffer time from the present until the first mobile body and the second mobile body make contact when the first mobile body and the second mobile body are predicted to make contact. The notification unit changes the notification method based on the relationship between the first buffer time and the second buffer time.

[0170] According to the notification device of structure 3, by basing the relationship between the first buffer time and the second buffer time, the notification method can be changed depending on whether the second mobile body can be seen in the event of imminent contact with it. Therefore, it is possible to more appropriately notify of the possibility of contact with other mobile bodies.

[0171] (Structure 4)

[0172] According to the notification device of structure 3, when the second buffer time is less than the first buffer time, the notification unit notifies the first moving body and the second moving body that they may come into contact with each other with a first notification intensity; when the second buffer time is greater than or equal to the first buffer time, the notification unit notifies the first moving body and the second moving body that they may come into contact with each other with a second notification intensity stronger than the first notification intensity.

[0173] According to the notification device of structure 4, by issuing a notification with a stronger intensity starting from the moment when the second moving body is no longer visible, the occupants can receive the notification before the moment when the moving body becomes visible. Therefore, it is possible to prevent the occupants of the first moving body from feeling startled or annoyed if the notification is issued after the moment when the second moving body is visible.

[0174] (Structure 5)

[0175] According to any one of structures 1 to 4, the notification device has a recognition determination unit that determines whether the occupant is aware of the second moving body, and the notification unit changes the notification method based on the determination result of the recognition determination unit.

[0176] According to the notification device of structure 5, it is possible to suppress situations where the occupants of the first mobile vehicle are aware that the second mobile vehicle is also issuing a notification in the same manner. Therefore, it is possible to suppress the occupants of the first mobile vehicle from feeling annoyed by the notification.

[0177] (Structure 6)

[0178] According to the notification device of structure 5, when the recognition determination unit determines that the occupant recognizes the second moving body, the notification unit notifies the first moving body and the second moving body that they may come into contact with each other with a first notification intensity; when the recognition determination unit determines that the occupant does not recognize the second moving body, the notification unit notifies the first moving body and the second moving body that they may come into contact with each other with a second notification intensity that is stronger than the first notification intensity.

[0179] According to the notification device of structure 6, when it is determined that the occupant of the first mobile vehicle is aware of the second mobile vehicle, the notification intensity is reduced to notify of the possibility of contact with other mobile vehicles, compared to the case where it is determined that the occupant of the first mobile vehicle is not aware of the second mobile vehicle. Therefore, it is possible to suppress situations where a stronger notification is given even though the occupant of the first mobile vehicle is aware of the second mobile vehicle. Therefore, it is possible to further suppress the occupant of the first mobile vehicle from feeling annoyed by the notification.

[0180] (Structure 7)

[0181] According to the notification device of structure 5 or 6, the cognitive determination unit makes a determination based on whether or not the occupant performs a deceleration operation on the first moving body.

[0182] If the occupants of the first moving vehicle are aware of the second moving vehicle, there is a high probability that the first moving vehicle will decelerate. Therefore, according to the notification device of structure 7, it is possible to accurately determine whether the occupants of the first moving vehicle are aware of the second moving vehicle.

[0183] (Structure 8)

[0184] According to the notification device of structure 5 or 6, the cognitive determination unit makes a determination based on the occupant's line of sight.

[0185] If the occupant of the first mobile vehicle is aware of the second mobile vehicle, it is highly likely that the occupant's gaze is directed towards the second mobile vehicle. Therefore, according to the notification device of structure 8, by determining the direction of the occupant's gaze based on the first mobile vehicle, it is possible to accurately determine whether the occupant of the first mobile vehicle is aware of the second mobile vehicle.

[0186] (Structure 9)

[0187] According to the notification device of any of structures 1 to 8, the first buffer time is a time based on the relationship between the height of the building and the height of the second moving body.

[0188] According to the notification device of structure 9, if the second moving body can be seen regardless of the building's height, the first buffer time can be identified as if the second moving body can be seen regardless of the building's height. Therefore, it is possible to suppress unnecessary changes in the notification method.

[0189] (Structure 10)

[0190] A notification method, which is a notification method of a notification device, includes the following steps: when it is predicted that a first mobile body will come into contact with a second mobile body present in the vicinity of the first mobile body, identifying a first buffer time from the time when the second mobile body can see the first mobile body until the first mobile body comes into contact with the second mobile body; and notifying the occupants of the first mobile body that the first mobile body and the second mobile body may come into contact, wherein in the step of performing the notification, the notification method is changed based on the first buffer time.

[0191] The notification method of structure 12 will have the same effect as the notification device of structure 1.

[0192] (Structure 11)

[0193] A notification system includes: a first buffer time identification unit that, when predicting contact between a first mobile body and a second mobile body present in the vicinity of the first mobile body, identifies a first buffer time from the point where the first mobile body can see the second mobile body until the first mobile body and the second mobile body come into contact; and a notification unit that notifies the occupants of the first mobile body that the first mobile body and the second mobile body may come into contact, the notification unit changing the notification method based on the first buffer time.

[0194] The notification system according to structure 13 will have the same effect as the notification device of structure 1.

Claims

1. A notification device comprising: A first buffer time recognition unit, upon predicting contact between a first moving body and a second moving body existing around the first moving body, recognizes a first buffer time from the point where the second moving body becomes visible from the first moving body until the first moving body contacts the second moving body; and The notification department informs the occupants of the first mobile vehicle that the first mobile vehicle and the second mobile vehicle may come into contact. The notification department changes the notification method based on the first buffer time.

2. The notification device according to claim 1, wherein, The first buffer time is based on a map of the area surrounding the first mobile body, including the shape of the building, the position of the first mobile body, and the position of the second mobile body.

3. The notification device according to claim 1 or 2, wherein, The notification device has a second buffer time recognition unit, which, when predicting contact between the first moving body and the second moving body, recognizes a second buffer time from the current moment until the first moving body and the second moving body make contact. The notification department changes the notification method based on the relationship between the first buffer time and the second buffer time.

4. The notification device according to claim 3, wherein, If the second buffer time is shorter than the first buffer time, the notification unit notifies the first moving body and the second moving body of a possible contact with a first notification strength. If the second buffer time is longer than the first buffer time, the notification unit notifies the first mobile body that it may come into contact with the second mobile body with a second notification strength stronger than the first notification strength.

5. The notification device according to claim 1 or 2, wherein, The notification device includes a recognition determination unit that determines whether the occupant is aware of the second moving body. The notification department changes the notification method based on the determination result of the cognitive determination department.

6. The notification device according to claim 5, wherein, If the recognition determination unit determines that the occupant has recognized the second moving body, the notification unit notifies the first moving body of a possible contact with the second moving body with a first notification strength. If the recognition determination unit determines that the occupant has not recognized the second moving body, the notification unit notifies the first moving body that there is a possibility of contact between the first moving body and the second moving body with a second notification intensity that is stronger than the first notification intensity.

7. The notification device according to claim 5, wherein, The recognition determination unit determines whether the occupant recognizes the second moving body based on whether the occupant performs a deceleration operation on the first moving body.

8. The notification device according to claim 5, wherein, The perception determination unit determines whether the occupant is aware of the second moving object based on the occupant's line of sight.

9. The notification device according to claim 2, wherein, The first buffer time is based on the relationship between the height of the building and the height of the second moving body.

10. A notification method, which is a notification method of a notification device, the notification method comprising the following steps: In the event that contact between a first moving body and a second moving body existing around the first moving body is predicted, a first buffer time is identified from the point where the second moving body becomes visible from the first moving body until the first moving body contacts the second moving body; and The occupants of the first mobile vehicle are notified that the first mobile vehicle and the second mobile vehicle may come into contact. In the step of making the notification, the notification method is changed based on the first buffer time.

11. A notification system, comprising: A first buffer time recognition unit, upon predicting contact between a first moving body and a second moving body existing around the first moving body, recognizes a first buffer time from the point where the second moving body becomes visible from the first moving body until the first moving body contacts the second moving body; and The notification department informs the occupants of the first mobile vehicle that the first mobile vehicle and the second mobile vehicle may come into contact. The notification department changes the notification method based on the first buffer time.

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