Vehicle notification control device and notification method

Abstract

To more appropriately recognize and notify about another vehicle on a rear side of a vehicle.SOLUTION: A notification control device 20 for a vehicle includes: other vehicle recognition unit 22 for recognizing another vehicle positioned on a rear side of the vehicle from an image captured by a camera 11 for capturing a rear of the vehicle, and specifying a recognition area where the other vehicle is recognized in the image; a vehicle behavior information acquisition unit 23 for acquiring behavior information showing behavior of the vehicle; a notification control unit 29 for performing control so as to perform notification regarding the other vehicle based on recognition results of the other vehicle recognition unit 22; and a notification mode determination unit 24 that determines a notification mode based on the behavior information acquired by the vehicle behavior information acquisition unit 23 and the recognition area specified by the other vehicle recognition unit 22. The notification control unit 29 performs control so that notification is performed in the notification mode determined by the notification mode determination unit 24.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle notification control device and a notification method. [Background technology]

[0002] A rear side vehicle warning device is known that detects other vehicles approaching the vehicle in a lane adjacent to the vehicle's lane from an image captured of the rear side of the vehicle and issues a warning to the driver of the vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-072881 A Summary of the Invention [Problem to be solved by the invention]

[0004] With the technology described in Patent Document 1, when the vehicle turns right or left, a vehicle traveling directly behind the vehicle may be mistakenly detected as a vehicle traveling to the rear side of the vehicle, which may result in an unnecessary warning being issued.

[0005] The present disclosure has been made in consideration of the above, and has an object to more appropriately recognize and notify other vehicles to the rear and sides of the vehicle. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the vehicle alarm control device of the present disclosure comprises an other vehicle recognition unit that recognizes other vehicles located to the rear side of the vehicle from an image captured by a camera that captures the rear of the vehicle and identifies a recognition area in the image in which the other vehicle is recognized, a vehicle behavior information acquisition unit that acquires behavior information that indicates the behavior of the vehicle, an alarm control unit that controls the other vehicle to be notified based on the recognition result of the other vehicle recognition unit, and an alarm mode determination unit that determines the mode of the alarm based on the behavior information acquired by the vehicle behavior information acquisition unit and the recognition area identified by the other vehicle recognition unit, and the alarm control unit controls the alarm to be issued in the alarm mode determined by the alarm mode determination unit.

[0007] The notification method of the present disclosure includes an other vehicle recognition step of recognizing another vehicle located to the rear side of the vehicle from an image captured by a camera that captures the rear of the vehicle and identifying a recognition area in the image in which the other vehicle is recognized; a vehicle behavior information acquisition step of acquiring behavior information indicative of the behavior of the vehicle; a notification control step of controlling to issue a notification regarding the other vehicle based on the recognition result in the other vehicle recognition step; and a notification determination step of determining a notification mode based on the behavior information acquired by the vehicle behavior information acquisition step and the recognition area identified by the other vehicle recognition step, wherein the notification control step controls to issue a notification in the notification mode determined by the notification determination step. Effect of the Invention

[0008] According to the present disclosure, it is possible to more appropriately recognize and notify other vehicles to the rear and sides of the vehicle. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a vehicle notification device having a vehicle notification control device according to a first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing an example of a recognition range. [Diagram 3] FIG. 3 is a schematic diagram showing an example of the recognition range when the vehicle turns right. [Figure 4] FIG. 4 is a flowchart showing an example of a process flow in the vehicle notification control device according to the first embodiment. [Diagram 5] FIG. 5 is a block diagram showing an example of the configuration of a vehicle notification device having a vehicle notification control device according to the second embodiment. [Figure 6] FIG. 6 is a schematic diagram for explaining an example when another vehicle is erroneously recognized as traveling to the side or rear of the vehicle, and shows a state in which the steering angle of the vehicle is zero. [Figure 7] FIG. 7 is a diagram showing another vehicle in the photographing range corresponding to the state of FIG. [Figure 8] FIG. 8 is a schematic diagram for explaining an example when another vehicle is erroneously recognized as traveling to the side or rear of the vehicle, and shows a state in which the steering angle of the vehicle is small. [Figure 9] FIG. 9 is a diagram showing another vehicle in the photographing range that may be erroneously recognized, corresponding to the state shown in FIG. [Figure 10] FIG. 10 is a schematic diagram for explaining an example when another vehicle is erroneously recognized as traveling to the side or rear of the vehicle, and shows a state in which the steering angle of the vehicle is medium. [Figure 11] FIG. 11 is a diagram showing another vehicle in the photographing range that may be erroneously recognized, corresponding to the state shown in FIG. [Figure 12] FIG. 12 is a schematic diagram for explaining an example when another vehicle is erroneously recognized as traveling to the side or rear of the vehicle, and shows a state in which the steering angle of the vehicle is large. [Figure 13] FIG. 13 is a diagram showing another vehicle in the photographing range that may be erroneously recognized, corresponding to the state shown in FIG. [Figure 14] FIG. 14 is a flowchart showing an example of a process flow in the vehicle notification control device according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle notification control device and a notification method according to the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the following embodiment.

[0011] [First embodiment] <Vehicle warning device> FIG. 1 is a block diagram showing a configuration example of a vehicle notification device having a vehicle notification control device according to a first embodiment. The vehicle notification device 1 notifies an occupant of a vehicle in which the vehicle notification device 1 is mounted of the presence of another vehicle traveling on the rear side of the vehicle. The vehicle notification device 1 may be implemented as one of the functions of a drive recorder, for example. The vehicle notification device 1 may be a device that is portable and usable in the vehicle, in addition to being mounted on the vehicle. The vehicle notification device 1 has a camera 11, a notification unit 19, and a vehicle notification control device 20.

[0012] The camera 11 captures the rear of the vehicle, including the rear side. More specifically, the camera 11 is disposed at the rear of the vehicle and captures an image of the surroundings centered on the rear of the vehicle. The camera 11 may be a single camera installed facing the rear of the vehicle, or may be a group of multiple cameras that capture the right rear range of the vehicle and the left rear range of the vehicle, respectively. The camera 11 is a visible light camera, but may be a camera that captures wavelengths other than visible light, such as an infrared camera, or a combination of a visible light camera and a camera that captures wavelengths other than visible light. The camera 11 captures images all the time, for example, from when the engine starts until it stops, that is, while the vehicle is operating. The camera 11 outputs the captured image to the image acquisition unit 21 of the vehicle notification control device 20. At this time, the image may be a moving image or a still image.

[0013] The notification unit 19 notifies the occupants of the vehicle equipped with the vehicle notification device 1 of the presence of another vehicle traveling on the rear side of the vehicle. The notification unit 19 includes at least one of a display unit and an audio output unit. The notification unit 19 controls to notify the occupants of the presence of another vehicle traveling on the rear side of the vehicle based on a control signal from a notification control unit 29 of the vehicle notification control device 20.

[0014] The function of the notification unit 19 as a display unit will be described. As an example, the notification unit 19 is a display unit specific to the vehicle notification device 1, or a display unit shared with other systems such as a navigation system. The notification unit 19 displays an image indicating the presence of another vehicle traveling behind the vehicle on the display unit based on a video signal output from the notification control unit 29 of the vehicle notification control device 20. The display unit of the notification unit 19 may be, for example, a lit or blinking LED (Light Emitting Diode) or lamp, or a warning light provided on the vehicle.

[0015] The function of the notification unit 19 as an audio output unit will be described. The notification unit 19 is, for example, an audio output unit specific to the vehicle notification device 1, or an audio output unit shared with other systems such as a navigation system. When the notification unit 19 is an audio output unit, it outputs a sound indicating the presence of another vehicle traveling to the rear side of the vehicle based on a sound signal output from the notification control unit 29 of the vehicle notification control device 20. The audio output unit of the notification unit 19 may be, for example, a buzzer.

[0016] <Vehicle notification control device> The vehicle notification control device 20 controls to notify the presence of another vehicle traveling behind the vehicle. The vehicle notification control device 20 is an arithmetic processing device (control unit) configured with, for example, a CPU (Central Processing Unit) or the like. The vehicle notification control device 20 includes an image acquisition unit 21, another vehicle recognition unit 22, a vehicle behavior information acquisition unit 23, a notification mode determination unit 24, and a notification control unit 29. The vehicle notification control device 20 executes instructions included in a program stored in a storage unit (not shown). The vehicle notification control device 20 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the vehicle notification control device 20.

[0017] The video acquisition unit 21 acquires the video captured by the camera 11 .

[0018] The other vehicle recognition unit 22 recognizes other vehicles located on the rear side of the vehicle from the image captured by the camera 11, and specifies a recognition area in the image in which the other vehicle is recognized. The other vehicle recognition unit 22 constantly performs processing while the vehicular alarm device 1 is activated.

[0019] The recognition of other vehicles by the other vehicle recognition unit 22 will be described. The other vehicle recognition unit 22 recognizes other vehicles from a recognition range within the shooting range of the image captured by the camera 11. More specifically, the other vehicle recognition unit 22 performs a recognition process to recognize other vehicles by, for example, performing pattern matching using a recognition dictionary stored in a recognition dictionary storage unit (not shown) on the recognition range within the shooting range of the image acquired by the image acquisition unit 21. In the recognition process, a known method can be used and is not limited. The other vehicle recognition unit 22 does not recognize other vehicles outside the recognition range within the shooting range of the image captured by the camera 11.

[0020] The recognition range is the range on the left and right rear sides of the vehicle, and is the range behind and close to the vehicle, within which other vehicles traveling in adjacent lanes can be recognized. The recognition range preferably includes the range corresponding to the driver's blind spot, which is a blind spot caused by vehicle pillars, etc. The range directly behind the vehicle in the same lane is not included in the recognition range because it can be seen through the rearview mirror.

[0021] The recognition range will be described with reference to FIG. 2. FIG. 2 is a schematic diagram showing an example of the recognition range. The recognition range A1 is a range within a predetermined distance on the left rear side of the vehicle V. The recognition range A2 is a range within a predetermined distance on the right rear side of the vehicle. The range directly behind the vehicle V is not included in the recognition range. The recognition range A1 and the recognition range A2 are ranges of a predetermined angle with the pillars on the left and right rear sides of the vehicle as vertices. The recognition range A1 is, for example, a triangular shape with the left rear end of the vehicle as the vertex and the width in the left and right directions increasing as the distance from the vehicle increases. The recognition range A2 is, for example, a triangular shape with the right rear end of the vehicle as the vertex and the width in the left and right directions increasing as the distance from the vehicle increases. In FIG. 2, another vehicle VA traveling in an adjacent lane in the same traveling direction is located in the recognition range A1.

[0022] The recognition range when a vehicle turns right or left will be described with reference to FIG. 3. FIG. 3 is a schematic diagram showing an example of the recognition range when a vehicle turns right. FIG. 3 shows the change in the recognition range when a vehicle V turns right at a corner. In FIG. 3, the vehicle V is illustrated in three positions: immediately before turning right, during turning right, and immediately after turning right. The relative positional relationship between the recognition range A1 and the recognition range A2 and the vehicle V does not change. The orientation of the recognition range A1 and the recognition range A2 with respect to the road changes together with the vehicle V. The same is true when the vehicle turns left.

[0023] The identification of the recognition area by the other vehicle recognition unit 22 will be described. The other vehicle recognition unit 22 identifies a recognition area in which the other vehicle is recognized within the shooting range of the video based on the recognition result of the other vehicle. The other vehicle recognition unit 22 identifies whether the recognition area in which the other vehicle is recognized is a recognition area on the right rear side as viewed from the vehicle, or a recognition area on the left rear side as viewed from the vehicle. The other vehicle recognition unit 22 may identify that the recognition area of ​​the other vehicle is directly behind as viewed from the vehicle. The other vehicle recognition unit 22 may identify the recognition area of ​​the other vehicle in more detail, for example, by further dividing each of the recognition range on the right rear side and the recognition range on the left rear side into three parts, such as an outer part, a middle part, and an inner part.

[0024] The vehicle behavior information acquisition unit 23 acquires behavior information indicating the behavior of the vehicle from the vehicle via, for example, a CAN (Controller Area Network).

[0025] The behavior information is information that can determine whether the vehicle is turning right or left. The behavior information includes, for example, at least one of acceleration sensor data and steering operation amount. The behavior information may also include information that can determine deceleration of the vehicle speed, such as the brake operation amount.

[0026] The vehicle behavior information acquisition unit 23 acquires behavior information indicating a right or left turn based on acceleration sensor data or a steering operation amount. When the traveling direction of the vehicle is changing, the vehicle behavior information acquisition unit 23 acquires behavior information indicating a right or left turn. When the steering operation amount is equal to or greater than a steering threshold, for example, the vehicle behavior information acquisition unit 23 acquires behavior information indicating a right or left turn. When the steering operation amount is less than a steering threshold, for example, the vehicle behavior information acquisition unit 23 acquires behavior information indicating a lane change, a driving on a curved road, or a slight adjustment of the traveling direction.

[0027] The vehicle behavior information acquisition unit 23 acquires behavior information indicating a right or left turn based on the brake operation amount in addition to the acceleration sensor data or the steering operation amount. The vehicle behavior information acquisition unit 23 may acquire behavior information indicating a right or left turn when the traveling direction of the vehicle changes and the vehicle is decelerating. The vehicle behavior information acquisition unit 23 may acquire behavior information indicating a right or left turn when, for example, the steering operation amount is equal to or greater than a steering threshold and the brake operation amount is equal to or greater than a brake threshold. For example, even if the steering operation amount is equal to or greater than the steering threshold, the vehicle behavior information acquisition unit 23 does not regard the behavior information as indicating a right or left turn when the brake operation amount is less than the brake threshold.

[0028] The notification mode determination unit 24 determines the mode of notification based on the behavior information acquired by the vehicle behavior information acquisition unit 23 and the recognition area specified by the other vehicle recognition unit 22. When the other vehicle recognition unit 22 is unlikely to have erroneously recognized the other vehicle, the notification mode determination unit 24 determines the normal mode of notification to notify the presence of the other vehicle. When the other vehicle recognition unit 22 is likely to have erroneously recognized the other vehicle, the notification mode determination unit 24 determines the mode of notification to be more suppressed than normal.

[0029] The suppressed notification mode is any one of a mode in which no notification is given, a mode in which display of the notification is suppressed, and a mode in which audio output of the notification is suppressed. For example, the mode in which audio output of the notification is suppressed is a mode in which audio output of the notification is not given, a mode in which the volume of the notification is suppressed, or a mode in which the number of notifications is suppressed.

[0030] Using FIG. 3, the erroneous recognition of another vehicle when turning right or left will be described. In FIG. 3, the description will be given assuming that the vehicle is turning right, but the same applies when turning left. The other vehicle VA traveling in the same lane as the vehicle V is not within the recognition range A2 of the vehicle V immediately before the vehicle V turns right. When the vehicle V turns right at a corner, the recognition range A2 of the vehicle V changes its orientation with respect to the road together with the vehicle V. Therefore, the other vehicle VA is within the recognition range A2 of the vehicle V while turning right, and within the recognition range A2 of the vehicle V immediately after turning right. During the vehicle V's right turn, the vehicle V and the other vehicle VA are traveling in the same lane, so it is erroneous to recognize the other vehicle VA in the recognition range A2. Immediately after the vehicle V's right turn, the vehicle V and the other vehicle VA are traveling on different roads, so it is erroneous to recognize the other vehicle VA in the recognition range A2. More specifically, in this case, the other vehicle VA traveling behind the vehicle V in the same lane as the vehicle V is mistakenly recognized as another vehicle traveling to the rear of the vehicle V at the side thereof.

[0031] In this embodiment, the notification mode determination unit 24 determines the suppressed notification mode when the behavior information indicates a right turn of the vehicle and the recognition area in which the other vehicle is recognized is the rear right side of the vehicle, or when the behavior information indicates a left turn of the vehicle and the recognition area in which the other vehicle is recognized is the rear left side of the vehicle, as there is a high possibility that the other vehicle has been mistakenly recognized as traveling to the side or rear of the vehicle.

[0032] The notification control unit 29 controls to notify the other vehicle based on the recognition result of the other vehicle recognition unit 22. The notification control unit 29 controls to notify the other vehicle recognized by the other vehicle recognition unit 22 in the notification mode determined by the notification mode determination unit 24.

[0033] A case will be described where the notification unit 19 is a display unit. The notification control unit 29 outputs a video signal that causes the display unit, which is the notification unit 19, to display a video indicating the presence of another vehicle traveling to the rear side of the vehicle.

[0034] A case will be described where the notification unit 19 is an audio output unit. The notification control unit 29 outputs an audio signal to the audio output unit, which is the notification unit 19, to output a sound indicating the presence of another vehicle traveling to the rear side of the vehicle.

[0035] <Processing by the vehicle notification control device> Next, the flow of processing by the vehicle notification control device 20 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing an example of the flow of processing in the vehicle notification control device according to the first embodiment. The processing of the flowchart shown in Fig. 4 may be performed, for example, for each frame or for every few frames. The vehicle notification control device 20 starts capturing images with the camera 11 when the vehicle starts operating, and acquires the images captured by the camera 11 by the image acquisition unit 21.

[0036] The vehicle notification control device 20 determines whether or not another vehicle behind has been recognized (step S101). More specifically, the vehicle notification control device 20 recognizes another vehicle from a recognition range within the shooting range of the image captured by the camera 11 by the other vehicle recognition unit 22. When the vehicle notification control device 20 determines that another vehicle behind has been recognized (Yes in step S101), the process proceeds to step S102. When the vehicle notification control device 20 does not determine that another vehicle behind has been recognized (No in step S101), the process of step S101 is executed again.

[0037] The vehicle notification control device 20 specifies the recognition area (step S102). More specifically, the vehicle notification control device 20 specifies the recognition area, which is an area where the other vehicle is recognized in the shooting range of the video, based on the recognition result of the other vehicle by the other vehicle recognition unit 22. The vehicle notification control device 20 proceeds to step S103.

[0038] The vehicle notification control device 20 acquires vehicle behavior information (step S103). More specifically, the vehicle notification control device 20 acquires behavior information indicating that the vehicle is turning right or left based on acceleration sensor data or steering operation amount by the vehicle behavior information acquisition unit 23. The vehicle notification control device 20 proceeds to step S104.

[0039] The vehicle notification control device 20 determines the notification mode (step S104). More specifically, the vehicle notification control device 20 determines the notification mode by the notification mode determination unit 24 based on the behavior information acquired by the vehicle behavior information acquisition unit 23 and the recognition area specified by the other vehicle recognition unit 22. The vehicle notification control device 20 determines the suppressed notification mode by the notification mode determination unit 24 when the behavior information indicates a right turn of the vehicle and the recognition area in which the other vehicle is recognized is the right rear of the vehicle, or when the behavior information indicates a left turn of the vehicle and the recognition area in which the other vehicle is recognized is the left rear of the vehicle. The vehicle notification control device 20 proceeds to step S105.

[0040] The vehicle notification control device 20 issues a notification (step S105). More specifically, the vehicle notification control device 20 controls the notification control unit 29 to issue a notification regarding another vehicle based on the recognition result of the other vehicle recognition unit 22. The vehicle notification control device 20 controls the notification control unit 29 to issue a notification in the notification mode determined by the notification mode determination unit 24. The vehicle notification control device 20 proceeds to step S106.

[0041] The vehicle notification control device 20 determines whether or not to end the process (step S106). More specifically, the vehicle notification control device 20 determines to end the process when, for example, the vehicle is parked or an operation to end the process is received. When the vehicle notification control device 20 determines to end the process (Yes in step S106), it ends this process. When the vehicle notification control device 20 does not determine to end the process (No in step S106), it executes the process of step S101 again.

[0042] The vehicular notification control device 20 repeats such processing while the vehicular notification device 1 is activated.

[0043] <Effects> As described above, in this embodiment, a vehicle located to the rear side of the vehicle is recognized from the image, and a recognition area in which the vehicle is recognized in the image is specified. In this embodiment, a notification mode is determined based on the behavior information and the recognition area of ​​the vehicle. In this way, this embodiment can more appropriately recognize and notify the vehicle located to the rear side of the vehicle.

[0044] In this embodiment, when the behavior information indicates a right turn of the vehicle and the recognition area in which the other vehicle is recognized is the right rear of the vehicle, or when the behavior information indicates a left turn of the vehicle and the recognition area in which the other vehicle is recognized is the left rear of the vehicle, the suppressed notification mode is determined. In this embodiment, when there is a high possibility that the other vehicle is erroneously recognized, the notification can be made in a more suppressed notification mode than usual.

[0045] [Second embodiment] With reference to Figs. 5 to 14, a vehicle notification device 1A including a vehicle notification control device 20A according to this embodiment will be described. Fig. 5 is a block diagram showing a configuration example of a vehicle notification device having a vehicle notification control device according to a second embodiment. The basic configuration of the vehicle notification device 1A is similar to that of the vehicle notification device 1 of the first embodiment. In the following description, components similar to those of the vehicle notification device 1 are given the same or corresponding reference symbols, and detailed description thereof will be omitted. This embodiment differs from the first embodiment in that it includes a weighting unit 25A and in the processing in the notification mode determination unit 24A.

[0046] In this embodiment, the behavior information includes information indicating a steering angle of the vehicle, which corresponds to an actual steering angle of the vehicle or a steering wheel steering angle, calculated based on acceleration sensor data or a steering operation amount.

[0047] The weighting unit 25A performs weighting for each recognition range in which another vehicle is recognized in the shooting range of the video in accordance with the degree of possibility of erroneously recognizing another vehicle traveling in the same lane as the vehicle as traveling to the side or rear of the vehicle, based on the behavior information and the specified recognition area of ​​the other vehicle. More specifically, the weighting unit 25A performs weighting for differentiating the notification level for each recognition range in the shooting range, based on the behavior information and the recognition area of ​​the other vehicle in the recognition range.

[0048] In this embodiment, the more likely a recognition range is to be erroneously recognized, the heavier the weighting is assigned to it. In other words, the greater the weighting assigned to an area, the more likely it is that the area will be erroneously recognized.

[0049] In this embodiment, the weighting unit 25A further weights each area to indicate the "likelihood of erroneous recognition" according to the steering angle of the vehicle. The weighting unit 25A performs weighting to make the notification level different for each recognition range according to the steering angle of the vehicle, for example.

[0050] Weighting according to the steering angle will be described with reference to Figs. 6 to 13. The center line C indicates the center of the vehicle in the vehicle width direction. For the sake of simplicity, Figs. 7, 9, 11, and 13 show a recognition range 101R in the image capturing range 100 captured by the camera 11, which corresponds to the recognition range A2 on the right rear side of the vehicle. Although not shown, a recognition range 101L in the image capturing range 100, which corresponds to the recognition range A1 on the left rear side of the vehicle, is provided symmetrically with the recognition range 101R with respect to the center line C. In Figs. 7, 9, 11, and 13, the recognition range 101R in the image capturing range 100 is divided into three by the division lines L1 and L2. The recognition range 101R is divided into three, namely, a recognition range 101R1, a recognition range 101R2, and a recognition range 101R3, in the order of proximity to the center line C.

[0051] Fig. 6 is a schematic diagram for explaining an example of a case where another vehicle is erroneously recognized as traveling to the side and rear of the vehicle, and is a diagram showing a state where the steering angle of the vehicle is zero. Fig. 7 is a diagram showing another vehicle in the shooting range corresponding to the state of Fig. 6. In Fig. 6, the other vehicle VA is located directly behind the vehicle V. In Fig. 6, the other vehicle VA is not within the recognition range A1 and the recognition range A2, so in Fig. 7, the other vehicle VA is not recognized within the recognition range 101R.

[0052] Fig. 8 is a schematic diagram for explaining an example of a case where another vehicle is erroneously recognized as traveling to the side or rear of the vehicle, and is a diagram showing a state where the steering angle of the vehicle is small. Fig. 9 is a diagram showing another vehicle that may be erroneously recognized in the shooting range corresponding to the state of Fig. 8. In Fig. 8, the other vehicle VA is inside the recognition range A2 in the lateral direction, so in Fig. 9, the other vehicle VA is recognized within the recognition range 101R1.

[0053] As shown in Figs. 8 and 9, when the steering angle is small, if another vehicle is located within the recognition range 101R1 of the image, the other vehicle is likely to be a following vehicle traveling in the same lane, so the recognition that the other vehicle is traveling on the side or rear of the vehicle is likely to be a false recognition. When another vehicle is located within the recognition range 101R2 or 101R3 of the image, the other vehicle is likely to be traveling in an adjacent lane, so the recognition that the other vehicle is traveling on the side or rear of the vehicle is unlikely to be a false recognition. As a result, when the steering angle is small, the weights are increased in the order of the recognition range 101R3, the recognition range 101R2, and the recognition range 101R1. For example, the weight of the recognition range 101R2 is set to a first level, the weight of the recognition range 101R1 is set to a second level higher than the first level, and the weight of the recognition range 101R3 is set to a level lower than the first level.

[0054] Fig. 10 is a schematic diagram for explaining an example of erroneously recognizing another vehicle as traveling to the side or rear of the vehicle, and shows a state in which the steering angle of the vehicle is medium. The steering angle in Fig. 10 is larger than that in Fig. 8. Fig. 11 is a diagram showing another vehicle that may be erroneously recognized in the shooting range, corresponding to the state in Fig. 10. In Fig. 10, the other vehicle VA is in the middle part of the recognition range A2 in the left-right direction, so in Fig. 11, the other vehicle VA is recognized within the recognition range 101R2.

[0055] 10 and 11, when the steering angle is medium, if another vehicle is located within the recognition range 101R2, the other vehicle is likely to be a following vehicle traveling in the same lane, and the recognition that the other vehicle is traveling to the side or rear of the vehicle is likely to be an erroneous recognition. Therefore, when the steering angle is medium, the weight of the recognition range 101R2 is made large and the weights of the recognition ranges 101R1 and 101R3 are made small. For example, the weight of the recognition range 101R2 is set to the second level, and the weights of the recognition ranges 101R1 and 101R3 are set to the first level.

[0056] Fig. 12 is a schematic diagram for explaining an example of erroneously recognizing another vehicle as traveling to the side or rear of the vehicle, and shows a state in which the steering angle of the vehicle is large. The steering angle in Fig. 12 is larger than that in Fig. 10. Fig. 13 is a diagram showing another vehicle that may be erroneously recognized in the shooting range, corresponding to the state in Fig. 12. In Fig. 12, the other vehicle VA is outside the recognition range A2 in the left-right direction, so in Fig. 13, the other vehicle VA is recognized within the recognition range 101R3.

[0057] 12 and 13, when the steering angle is large and another vehicle is located within the recognition range 101R2 or 101R3 of the image, the other vehicle is likely to be a following vehicle traveling in the same lane, and therefore the recognition that the other vehicle is traveling to the side or rear of the vehicle is likely to be an erroneous recognition. For this reason, when the steering angle is large, the weight of the recognition range 101R3 is made larger than that of the recognition range 101R1 and the recognition range 101R2. For example, the weight of the recognition range 101R2 and the recognition range 101R is set to a first level, and the weight of the recognition range 101R3 is set to a second level higher than the first level.

[0058] The notification mode determination unit 24A, for example, determines a mode in which the volume of the notification is suppressed to be lower or the number of notifications is suppressed to be lower when another vehicle is recognized within a recognition range where the degree of weighting is less than a first level, determines a mode in which the volume of the notification is suppressed to be slightly lower or the number of notifications is suppressed to be slightly lower when another vehicle is recognized within a recognition range where the degree of weighting is first level or higher, and determines a mode in which no notification is made when another vehicle is recognized within a recognition range where the degree of weighting is second level or higher. The notification mode determination unit 24A may determine the volume of the notification or the number of notifications for each degree of weighting for the recognition range in which the other vehicle is recognized, and set these as the notification mode.

[0059] Next, a process flow by the vehicle notification control device 20A will be described with reference to Fig. 14. Fig. 14 is a flowchart showing an example of a process flow in the vehicle notification control device according to the second embodiment. The processes in steps S111 to S113, S116, and S117 are similar to those in steps S101 to S103, S105, and S106 in the flowchart shown in Fig. 9.

[0060] The vehicle notification control device 20A performs weighting (step S114). More specifically, the vehicle notification control device 20A performs weighting for each recognition range based on the behavior information, according to the likelihood of erroneously recognizing another vehicle, by the weighting unit 25A. The vehicle notification control device 20A proceeds to step S115.

[0061] The vehicular alarm control device 20A determines the alarm mode (step S115). More specifically, the vehicular alarm control device 20A determines, by the alarm mode determination unit 24A, a mode of suppressing the volume of the alarm or a mode of suppressing the number of times of the alarm when the degree of weighting is equal to or higher than the first level, and determines a mode of not issuing an alarm when the degree of weighting for the recognition area in which another vehicle is recognized is equal to or higher than the second level. The vehicular alarm control device 20A proceeds to step S116.

[0062] <Effects> As described above, in this embodiment, when the degree of weighting is equal to or higher than the first level, a mode of suppressing the volume of the notification or a mode of suppressing the number of notifications is determined, and when the degree of weighting for the recognition range in which another vehicle is recognized is equal to or higher than the second level, which is higher than the first level, a mode of not issuing a notification is determined. According to this embodiment, when there is a high possibility of erroneous recognition, the notification can be suppressed. In this way, this embodiment can more appropriately recognize and notify other vehicles on the rear side of the vehicle.

[0063] In this embodiment, weighting is performed according to the steering angle. According to this embodiment, the notification mode, such as the presence or absence of notification, the volume of the notification, or the number of notifications, can be determined for each degree of weighting for the recognition range in which another vehicle is recognized.

[0064] Each component of the illustrated vehicle warning device is a functional concept, and does not necessarily have to be physically configured as illustrated. In other words, the specific form of each device is not limited to that shown in the figure, and all or part of the device may be functionally or physically distributed or integrated in any unit depending on the processing load and usage status of each device.

[0065] The configuration of the vehicle alarm device is realized, for example, as software, by a program loaded into a memory. In the above embodiment, the functional blocks are described as being realized by the cooperation of these hardware and software. In other words, these functional blocks can be realized in various forms, by only hardware, only software, or a combination of both.

[0066] The components described above include those that a person skilled in the art can easily imagine and those that are substantially the same. Furthermore, the configurations described above can be appropriately combined. Furthermore, various omissions, substitutions, or modifications of the configurations are possible without departing from the scope of the present invention. [Explanation of symbols]

[0067] 1 Vehicle warning device 11 Camera 19. Notification Department 20 Vehicle notification control device 21 Video Acquisition Unit 22 Other vehicle recognition unit 23 Vehicle behavior information acquisition unit 24 Notification mode determination unit 29 Notification control section 100 Shooting range 101R Recognition range 101R1 Recognition range 101R2 Recognition range 101R3 Recognition range V Vehicle VA Other vehicles

Claims

1. an other vehicle recognition unit that recognizes other vehicles located to the rear side of the vehicle from an image captured by a camera that captures an image of the rear of the vehicle, and identifies a recognition area in which the other vehicles are recognized in the image; A vehicle behavior information acquisition unit that acquires behavior information indicating a behavior of the vehicle; a notification control unit that controls the other vehicle to issue a notification regarding the other vehicle based on a recognition result of the other vehicle recognition unit; a notification mode determination unit that determines a mode of notification based on the behavior information acquired by the vehicle behavior information acquisition unit and the recognition area specified by the other vehicle recognition unit; Equipped with The notification control unit controls the notification to be performed in the notification mode determined by the notification mode determination unit. Vehicle notification control device.

2. the behavior information is information indicating that the vehicle is turning right or left, the notification mode determination unit determines a suppressed notification mode when the behavior information indicates a right turn of the vehicle and the recognition area in which the other vehicle is recognized is a right rear of the vehicle, or when the behavior information indicates a left turn of the vehicle and the recognition area in which the other vehicle is recognized is a left rear of the vehicle, The suppressed notification mode is either a mode in which no notification is performed or a mode in which audio output of the notification is suppressed. The vehicle notification control device according to claim 1 .

3. a weighting unit that weights, for each recognition range in which another vehicle is recognized within a capture range of the video, based on the behavior information and the specified recognition area, the weighting unit according to a degree of possibility of erroneously recognizing the other vehicle; Further equipped with the notification mode determination unit determines a mode of suppressing the volume of the notification or a mode of suppressing the number of times of notification when another vehicle is recognized in a recognition range where the degree of weighting is a first level or higher, and determines a mode of not making a notification when another vehicle is recognized in a recognition range where the degree of weighting for the recognition range in which the other vehicle is recognized is a second level or higher that is higher than the first level. The vehicle notification control device according to claim 2 .

4. The weighting unit performs weighting in accordance with a steering angle of the vehicle. The vehicle notification control device according to claim 3.

5. an other vehicle recognition step of recognizing another vehicle located to the rear side of the vehicle from an image captured by a camera that captures an image of the rear of the vehicle, and specifying a recognition area in which the other vehicle is recognized in the image; A vehicle behavior information acquisition step of acquiring behavior information indicating a behavior of the vehicle; a notification control step of controlling to issue a notification regarding the other vehicle based on a recognition result in the other vehicle recognition step; a notification determination step of determining a mode of notification based on the behavior information acquired in the vehicle behavior information acquisition step and the recognition area specified in the other vehicle recognition step; Including, The notification control step controls the notification to be performed in the notification mode determined in the notification determination step. Notification method.

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