Alert system

Abstract

To implement more effective alerts to drivers.SOLUTION: An alert system for alerting a driver in response to conditions around a vehicle includes an object sensor, a line-of-sight sensor, a reporting display device, and a controller. The controller allows a first warning display to be performed by the reporting display device in a first range including the direction of the driver's line of sight when the driver is looking at a specific object among the objects detected by the object sensor, based on the direction of the driver's line of sight detected by the line-of-sight sensor, and controls the reporting display device to allow a second notification display to be performed in a second range, which is wider than the first range and includes the direction of the driver's line of sight when the driver is not viewing the specified object.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to an alert system.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2013-156927 (Patent Document 1) describes an alert device that detects the line-of-sight direction of a vehicle driver, identifies a display device located in the driver's peripheral vision determined based on the detected line-of-sight direction from among one or more display devices arranged at positions visible to the driver, and causes the identified display device to perform predetermined lighting control.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] One of the objectives of the specific aspect according to the present disclosure is to provide a technology capable of more effectively alerting a driver.

Means for Solving the Problems

[0005] An alert system according to one aspect of the present disclosure is a system for alerting a driver according to the situation around the vehicle, an object sensor that detects an object existing around the vehicle, a line-of-sight sensor that detects the line-of-sight direction of the driver, notification display equipment that can partially control the display state and is installed at least in front of and on both sides of the driver's seat, It is connected to each of the object sensor, the line-of-sight sensor, and the notification display device, and a controller that controls the display state of the notification display device based on the detection results of the object sensor and the line-of-sight sensor. including Based on the line-of-sight direction detected by the line-of-sight sensor, when the driver is in a situation of visually recognizing a specific target among the objects detected by the object sensor, the controller causes the notification display device to perform a first notification display in a first range including the line-of-sight direction, and when the driver is not in a situation of visually recognizing the specific target, in a range including the line-of-sight direction and wider than the first range, i.e., a second range, the controller controls the notification display device to perform a second notification display. It is a warning system.

[0006] According to the above configuration, a technology capable of more effectively performing warning to the driver can be provided.

Brief Description of Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0008] Fig. 1(A) is a diagram showing the configuration of an attention - calling system according to an embodiment. The illustrated attention - calling system includes a controller 10, a camera 11, a vehicle - surrounding sensor 12, an other - vehicle communication unit 13, an infrastructure communication unit 14, a steering - angle sensor 15, a navigation system 16, a driver monitoring system (DMS) 17, a steering sensor 18, a seat sensor 19, an illuminance sensor 20, a raindrop sensor 21, and a notification display device 30. This attention - calling system is installed around the driver's seat inside the vehicle and performs notification display for calling the driver's attention according to the situation outside the vehicle.

[0009] The controller 10 controls the operation of the notification display by the notification display device 30. This controller 10 can be configured using a computer system such as the one shown in Fig. 1(B), that is, a computer system including a processor (CPU: Central Processing Unit) 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, a storage device 204 such as a flash memory, an input / output interface 205, etc. The controller 10 of the present embodiment can exhibit each function described later when a program 206 stored in the storage device 204 in advance is read out and executed by the processor.

[0010] The camera 11 is connected to the controller 10, and captures the surrounding space of the vehicle (mainly the front space of the vehicle) to output image data (or an image signal). This camera 11 is installed, for example, at the upper part of the windshield inside the vehicle cabin. The vehicle surrounding sensor 12 is connected to the controller 10, and detects an object existing in the surrounding space of the vehicle. The vehicle surrounding sensors 12 are installed in an appropriate number, for example, on the bumper or other parts of the vehicle. Note that the camera 11 and / or the vehicle surrounding sensor 12 corresponds to the "object sensor".

[0011] The other vehicle communication unit 13 is connected to the controller 10, performs wireless communication with other vehicles existing around the vehicle, and acquires information possessed by the other vehicles (for example, information such as obstacles). The infrastructure communication unit 14 is connected to the controller 10, connects to a server (not shown) or the like, and acquires information regarding the traffic situation around the vehicle (for example, information regarding the road, information such as obstacles, etc.).

[0012] The steering angle sensor 15 is connected to the controller 10, and detects the steering angle when the driver operates the vehicle's steering wheel. The navigation system 16 is connected to the controller 10, and has a function of performing a map display according to the current position of the vehicle specified using a GPS sensor or the like, and a function of searching for a route from the current position to a desired position and guiding the route on the screen and by voice. The navigation system 16 has map data including various information regarding the road.

[0013] The driver monitoring system (DMS) 17 is connected to the controller 10, and detects the driver's situation based on an image obtained by capturing the driver's face. Examples of the detectable driver's situation include various information such as the line of sight direction, wakefulness, drowsiness, and looking aside. In the present embodiment, the DMS 17 detects at least the direction in which the driver's line of sight is directed (hereinafter referred to as the "line of sight direction"). Note that the DMS 17 corresponds to the "line of sight sensor".

[0014] The steering sensor 18 is connected to the controller 10, is installed on the vehicle's steering wheel (steering), and detects the driver's pulse. The seat sensor 19 is connected to the controller 10, is installed on the driver's seat of the vehicle, and detects the driver's body movement, breathing, pulse, etc.

[0015] The illuminance sensor 20 is connected to the controller 10, is installed at an appropriate position of the vehicle (such as the dashboard, etc.), and detects the illuminance in the environment where the vehicle is placed. The raindrop sensor 21 is connected to the controller 10, is installed at an appropriate position outside the vehicle, for example, and detects the presence, amount, etc. of raindrops around the vehicle.

[0016] The notification display device 30 is connected to the controller 10, is installed around the driver's seat and the front passenger seat in the vehicle, and performs a notification display according to the situation outside the vehicle to the driver under the control of the controller 10.

[0017] An example of the notification display device 30 is shown in FIG. 2. The exemplified notification display device 30 includes a light source 30a installed at the center front inside the vehicle and on the dashboard, a light source 30b installed on the right side of the driver's seat inside the vehicle, and a light source 30c installed on the left side of the driver's seat (left side of the front passenger seat) inside the vehicle. These light sources 30a, 30b, and 30c can be independently turned on and off, can be partially turned on and off, and can also switch the emission color. Each of the light sources 30a, 30b, and 30c of such a notification display device 30 can be configured using, for example, a sheet-shaped light source configured using a plurality of LEDs.

[0018] The above-mentioned controller 10 includes a driving scene detection unit (driving scene detection function) 40, a risk object detection unit (risk object detection function) 41, a driver state detection unit (driver state detection function) 42, a risk determination unit (risk determination function) 43, and a display mode setting unit (display mode setting function) 44 as functions realized by program execution.

[0019] The driving scene detection unit 40 detects the driving scene of the vehicle, that is, the situation in which the vehicle is placed. For example, the driving scene detection unit 40 acquires road information from the navigation system 16 to detect situations such as whether the road on which the vehicle is traveling is near an intersection, on a highway, or on a national road. The driving scene detection unit 40 may further utilize the detection results of the vehicle surrounding sensor 12, the steering angle sensor 15, the illuminance sensor 20, the raindrop sensor 21, etc., and may also consider the current time. Further, the information obtained from the other vehicle communication unit 13 and the infrastructure communication unit 14 may be utilized.

[0020] The risk object detection unit 41 analyzes the image data obtained by the camera 11 to detect information such as the position, traveling direction, and relative speed of the risk object (specific object). Examples of the risk object include moving objects such as pedestrians, bicycles, motorcycles, animals, and four-wheeled vehicles. The risk object detection unit 41 may further detect the position of the risk object using the detection result of the vehicle surrounding sensor 12, or may detect the position of the risk object based on the information obtained from the other vehicle communication unit 13 and the infrastructure communication unit 14.

[0021] The driver state detection unit 42 detects information such as the line-of-sight direction of the driver from the DMS 17. The driver state detection unit 42 may further detect information such as the face direction and arousal level of the driver from the DMS 17. Further, the driver state detection unit 42 may detect information such as the pulse of the driver from the steering sensor 18 and the seat sensor 19.

[0022] The risk determination unit 43 calculates a risk value as an index value indicating the presence or absence of a risk object and the tolerance level when the risk object exists based on the detection results of the driving scene detection unit 40, the risk object detection unit 41, and the driver state detection unit 42, and determines the presence or absence of a risk based on the risk value. As used herein, "risk" refers to the possibility of contact between the vehicle and the risk object. The method for calculating the risk value and the method for determining the risk based thereon will be described later.

[0023] When the risk determination unit 43 determines that there is a risk, the display mode setting unit 44 sets the display mode in the notification display device 30 based on the information such as the position of the risk object acquired from the risk object detection unit 41 and the line-of-sight direction of the driver acquired from the driver state detection unit 42. In the notification display device 30, a notification display based on the display mode set by the display mode setting unit 44 is performed.

[0024] FIG. 3(A) and FIG. 3(B) are diagrams for explaining the relationship between the risk object and the line-of-sight direction. Similar to FIG. 2, the interior of the vehicle is schematically shown, and the driver is schematically shown. As shown in FIG. 3(A), when the line-of-sight direction of the driver does not match the direction in which the risk object (a pedestrian as an example) around the vehicle is located, it can be said that the driver is in a situation where the risk object is not visually recognized. Here, the case where the line-of-sight direction of the driver is facing the straight-ahead direction of the vehicle is illustrated, but the line-of-sight direction is not limited to this.

[0025] As shown in FIG. 3(B), when the line-of-sight direction of the driver matches the direction in which the risk object around the vehicle is located, it can be said that the driver is in a situation where the risk object is visually recognized. Regarding the match / mismatch between the line-of-sight direction and the direction of the risk object, it is desirable to make a judgment with a certain width as shown in the figure. For example, when the difference between the line-of-sight direction and the direction of the risk object is 2° in absolute value, it can be determined that the two match. That is, when the risk object enters within the range of the visual field angle (central visual field) of 2°, it can be determined that the two match. It is not desirable to set the difference between the line-of-sight direction and the direction of the risk object too large. For example, it is desirable to set it within an angle range of about 1° to 3°. Further, in the present embodiment, when the time during which the line-of-sight direction and the direction of the risk object match is equal to or longer than a predetermined time (for example, 1 second), it is determined (estimated) that the driver is in a situation where the risk object is recognized. Thereby, a situation where the line-of-sight direction only momentarily matches the direction of the risk object but actually the driver does not recognize the risk object can be excluded.

[0026] Figs. 4(A) to 4(C) are diagrams for explaining the basic notification display modes by the notification display device 30. Similar to Fig. 2, the interior of the vehicle cabin is schematically shown, and the driver is schematically shown.

[0027] Fig. 4(A) is an example of a display mode when the direction of the driver's line of sight and the direction of the risk object coincide, that is, when the risk object exists within a range of a visual angle of 2° centered on the direction of the driver's line of sight. On the xy plane with the vehicle longitudinal direction as the x-axis and the vehicle width direction as the y-axis, a line connecting the midpoint between the driver's left and right eyes and the center position of the risk object is taken as the center of the display area, and the notification display device 30 is continuously lit in a range of a certain width (the first range) from there. In the figure, the lit portions are shown with patterns (the same applies hereinafter). Note that this lighting corresponds to the "first notification display".

[0028] Figs. 4(B) and 4(C) are examples of display modes when the direction of the driver's line of sight and the direction of the risk object do not coincide. In this case, for example, as shown in Fig. 4(B), one end is the position where the direction of the driver's line of sight and the notification display device 30 overlap on the above xy plane, and the other end is the position where the line connecting the midpoint between the driver's left and right eyes and the center position of the risk object and the notification display device 30 overlap on the above xy plane, and the notification display device 30 is lit in the range from one end to the other end. In the illustrated example, the light sources 30a and 30b of the notification display device 30 are partially lit to perform the notification display. Also, as shown in Fig. 4(C), the other end of the range where the notification display is performed may be the rightmost end (the side where the risk object exists) of the notification display device 30. That is, the light source 30b of the notification display device 30 will be lit entirely. In this case, it is a display in a wider range (the second range) than the notification display shown in Fig. 4(A) described above. Note that this lighting corresponds to the "second notification display". In these display modes, it is also possible to control the notification display device 30 to blink instead of lighting.

[0029] FIG. 5 is a diagram showing the relationship between the state of the risk target and the notification display mode. FIG. 6 is a diagram showing a specific example of risk determination. In FIG. 6, the relative positional relationship between the vehicle and the pedestrian at the intersection is shown by an overhead view.

[0030] First, the case where there is a risk target and the risk is high will be described. In this case, the risk determination unit 43 determines that the risk is "large". As an example, it is a case where there is a pedestrian who may collide with a vehicle at an intersection and the predicted time until the collision between the two is short. Specifically, it is a case where the position of the pedestrian is relatively close to the point where the collision between the vehicle and the pedestrian is predicted (hereinafter simply referred to as the "collision point"). In the example shown in FIG. 6, the distance from the collision point to the pedestrian is 1 m.

[0031] In this case, when the driver's line of sight is not directed at the risk target, the notification display device 30 is controlled to blink in red, for example, in a wide range (see FIG. 4(C) above).

[0032] Also, when the driver's line of sight is directed at the risk target but it is determined that the driver does not recognize the risk target, the notification display device 30 is controlled to blink in red, for example, in a narrow range set to overlap with the direction where the risk target exists (see FIG. 4(B) above). Here, the case where it is determined that the driver does not recognize the risk target means that, as described above, the direction of the driver's line of sight and the direction of the risk target do not match for a certain period of time (for example, 1 second) or more (the same applies hereinafter).

[0033] Also, when the driver's line of sight is directed at the risk target and it is determined that the driver recognizes the risk target, the notification display device 30 is controlled to continuously light up in red, for example, in a narrow range set to overlap with the direction where the risk target exists (see FIG. 4(A) above). Here, the case where it is determined that the driver recognizes the risk target means that, as described above, the direction of the driver's line of sight and the direction of the risk target match for a certain period of time (for example, 1 second) or more (the same applies hereinafter).

[0034] Next, a case where a risk object exists but the risk is low will be described. In this case, the risk determination unit 43 determines that the risk is "low". As an example, at an intersection, there is a pedestrian who may collide with the vehicle, and the predicted time until the collision between the two is long.

[0035] In this case, when the driver's line of sight is not directed at the risk object, the notification display device 30 is controlled to continuously light up in yellow, for example, in a wide range (see FIG. 4(C) above). That is, the display color is different from the case of "high risk", and it is lit rather than flashing.

[0036] Also, when it is determined that the driver's line of sight is directed at the risk object but the driver does not recognize the risk object, the notification display device 30 is controlled to flash in yellow, for example, in a narrow range set to overlap with the direction in which the risk object exists (see FIG. 4(B) above). That is, the display color is different from the case of "high risk".

[0037] Also, when it is determined that the driver's line of sight is directed at the risk object and the driver recognizes the risk object, the notification display device 30 is controlled to continuously light up in yellow, for example, in a narrow range set to overlap with the direction in which the risk object exists (see FIG. 4(A) above). That is, the display color is different from the case of "high risk".

[0038] Next, a case where no risk object exists, or a case where a risk object exists but the possibility of collision is extremely low will be described. In this case, the risk determination unit 43 determines that there is "no risk". As an example, at an intersection, there is no pedestrian who may collide with the vehicle, or although there is a pedestrian, the pedestrian is facing away from the vehicle as seen from the vehicle. In this case, regardless of the driver's line of sight direction, the notification display device 30 is controlled not to give a notification display.

[0039] Referring to FIG. 6, an example of a method for calculating a risk value and a risk determination method in the risk determination unit will be described. Here, the case where the vehicle is at an intersection will be taken as an example. First, regarding the position of the vehicle, it is divided into three states: before entering the intersection, after entering the intersection, and immediately before a right turn, and points of 1 point, 2 points, and 3 points are assigned to each state, respectively. Then, corresponding to which of the above three states the position of the vehicle is in at a certain point in time, a score corresponding to the position of the vehicle is determined. Note that the position of the vehicle can be obtained from, for example, the navigation system 16.

[0040] Similarly, regarding the vehicle speed of the vehicle, it is divided into three states: decelerating, stopping, and accelerating, and points of 1 point, 3 points, and 5 points are assigned to each state, respectively. Then, corresponding to which of the above three states the vehicle speed is in at a certain point in time, a score corresponding to the vehicle speed is determined. Note that the vehicle speed can be obtained from, for example, a vehicle speed sensor (one provided in the vehicle) not shown in the figure.

[0041] Also, corresponding to the planned travel of the vehicle, points of 5 points are assigned if it is waiting for a right turn and 0 points otherwise. Then, corresponding to whether the vehicle is waiting for a right turn at a certain point in time, a score corresponding to the planned travel is determined. Here, when the vehicle's blinker (direction indicator) is operating or when the vehicle is located in the right turn lane, it is considered to be waiting for a right turn. The operating state of the blinker can be obtained from a blinker switch not shown in the figure. Whether the vehicle is located in the right turn lane can be obtained from, for example, the navigation system 16.

[0042] Also, regarding the position of the pedestrian, it is divided into three states: more than 10 m from the collision point, 5 m or more and less than 10 m, and 1 m or more and less than 5 m, and points of 1 point, 3 points, and 5 points are assigned to each state, respectively. Then, corresponding to which of the above three states the position of the pedestrian is in at a certain point in time, points corresponding to the position are determined. Note that the position of the pedestrian can be obtained from, for example, the image processing result based on the image captured by the camera 11 or the detection result of the vehicle peripheral sensor 12. In other words, this position of the pedestrian indirectly indicates the length of time to the collision point.

[0043] Also, regarding the traveling direction of the pedestrian, it is divided into two states: the direction approaching the intersection and the direction not approaching the intersection, and points of 3 points and 0 points are assigned to each state, respectively. Then, corresponding to which of the above two states the traveling direction of the pedestrian is in at a certain point in time, points corresponding to the traveling direction are determined. Note that the traveling direction of the pedestrian can be obtained from, for example, the image processing result based on the image captured by the camera 11 or the detection result of the vehicle peripheral sensor 12.

[0044] Then, according to the situation of the vehicle and the pedestrian at a certain point in time, points for each of the above-mentioned states are determined, and the total of these points is obtained. This total point is defined as the risk value. For example, when the risk value is 15 points or less, it is "no risk"; when the risk value is 16 points or more and 20 points or less, it is "low risk"; and when the risk value is 21 points or more, the risk is determined as "high risk".

[0045] Fig. 6 exemplifies typical situations at intersections and the corresponding risk values. For example, when the vehicle is decelerating and the turn signal is on before entering the intersection, and the position of the pedestrian is 10 m from the collision point and the traveling direction is the direction approaching the intersection, the points corresponding to the position of the vehicle are 1 point, the points corresponding to the vehicle speed are 1 point, the points corresponding to the turn signal are 5 points, the points corresponding to the position of the pedestrian are 1 point, and the points corresponding to the approaching direction are 3 points, and the risk value, which is the total point, is 11 points. In this case, the determination is "no risk".

[0046] Also, for example, after the vehicle enters an intersection and is stopped with the turn signal on, if the position of the pedestrian is 5 m from the collision point and the direction of travel is approaching the intersection, the score corresponding to the vehicle's position is 2 points, the score corresponding to the vehicle speed is 3 points, the score corresponding to the turn signal is 5 points, the score corresponding to the pedestrian's position is 3 points, and the score corresponding to the approaching direction is 3 points. The risk value, which is the total score, is 16 points. In this case, the determination is "low risk".

[0047] Also, for example, when the vehicle is accelerating with the turn signal on just before turning right at an intersection, and the position of the pedestrian is 1 m from the collision point and the direction of travel is approaching the intersection, the score corresponding to the vehicle's position is 3 points, the score corresponding to the vehicle speed is 5 points, the score corresponding to the turn signal is 5 points, the score corresponding to the pedestrian's position is 5 points, and the score corresponding to the approaching direction is 3 points. The risk value, which is the total score, is 21 points. In this case, the determination is "high risk".

[0048] As another example regarding the calculation of the risk value and the risk determination, a typical situation on a straight road and the corresponding risk value are illustrated in FIG. 7. Information that the vehicle is traveling on a straight road is obtained, for example, from the navigation system 16. Here, compared with the above example of the intersection, the assignment of scores regarding the vehicle's position, vehicle speed, and pedestrian's position is different. Specifically, regarding the vehicle's position, 1 point, 5 points, and 10 points are assigned to three states of 80 m or more, 60 m or more and less than 80 m, and less than 60 m from the collision point, respectively. This vehicle position, in other words, indirectly indicates the length of time until the collision point.

[0049] Also, regarding the vehicle speed, 4 points are assigned when the vehicle is traveling at a constant speed, and 0 points are assigned when it is not. Here, the constant speed means, for example, the case where the vehicle speed is stable within ±5 km / h. Regarding the pedestrian's position, 3 points, 4 points, and 5 points are assigned to three states of 7 m or more, 3 m or more and less than 7 m, and less than 3 m from the collision point, respectively. This pedestrian position, in other words, represents the length of time until the collision point.

[0050] For example, when the position of the vehicle is 80 m from the collision point, the vehicle is traveling at a constant speed and the turn signal is off (or it is not in a right-turn lane), and the position of the pedestrian is 7 m from the collision point and the direction of travel is approaching the vehicle, the score corresponding to the position of the vehicle is 1 point, the score corresponding to the vehicle speed is 4 points, the score corresponding to the turn signal is 3 points, the score corresponding to the position of the pedestrian is 3 points, and the score corresponding to the approaching direction is 3 points. The risk value, which is the total score, is 14 points. In this case, the determination is "no risk".

[0051] Also, for example, when the position of the vehicle is 60 m from the collision point, the vehicle is traveling at a constant speed and the turn signal is off (or it is not in a right-turn lane), and the position of the pedestrian is 3 m from the collision point and the direction of travel is approaching the vehicle, the score corresponding to the position of the vehicle is 5 points, the score corresponding to the vehicle speed is 4 points, the score corresponding to the turn signal is 3 points, the score corresponding to the position of the pedestrian is 4 points, and the score corresponding to the approaching direction is 3 points. The risk value, which is the total score, is 19 points. In this case, the determination is "low risk".

[0052] Also, for example, when the position of the vehicle is 40 m from the collision point, the vehicle is traveling at a constant speed and the turn signal is off (or it is not in a right-turn lane), and the position of the pedestrian is 1 m from the collision point and the direction of travel is approaching the vehicle, the score corresponding to the position of the vehicle is 10 points, the score corresponding to the vehicle speed is 4 points, the score corresponding to the turn signal is 3 points, the score corresponding to the position of the pedestrian is 5 points, and the score corresponding to the approaching direction is 3 points. The risk value, which is the total score, is 25 points. In this case, the determination is "high risk".

[0053] Figures 8(A) to 8(C) are bird's-eye views showing the positional relationship between the vehicle and the pedestrian on a straight road. Also, Figures 8(D) to 8(F) are diagrams for explaining other notification display modes by the notification display device 30. Similar to Figure 2, the interior of the vehicle is schematically shown, and the driver is schematically shown. Here, an example of the notification display mode when the vehicle is traveling on a straight road is shown.

[0054] FIG. 8(D) shows an example of a display mode when the line-of-sight direction of the driver does not match the direction of the risk object. Here, as shown in FIG. 8(A), the relative distance between the vehicle and the pedestrian is large, and the pedestrian as the risk object is in a position where it is not illuminated by the irradiation light from the headlamp. In this case, as shown in FIG. 8(D), notification display is performed by partially flashing the notification display device 30 in a relatively wide range.

[0055] FIG. 8(E) shows an example of a display mode when the line-of-sight direction of the driver matches the direction of the risk object. Here, as shown in FIG. 8(B), the relative distance between the vehicle and the pedestrian has become small, but the pedestrian as the risk object is in a position where it is not illuminated by the irradiation light from the headlamp. In this case, as shown in FIG. 8(E), notification display is performed by partially flashing the notification display device 30 in a relatively wide range.

[0056] FIG. 8(F) shows an example of a display mode when the line-of-sight direction of the driver matches the direction of the risk object. Here, as shown in FIG. 8(C), the relative distance between the vehicle and the pedestrian has become small, and the pedestrian as the risk object is in a position where it is illuminated by the irradiation light from the headlamp. In this case, as shown in FIG. 8(F), notification display is performed by partially lighting the notification display device 30 in a relatively wide range.

[0057] FIG. 9 is a flowchart showing the operation procedure of the attention-grabbing system. Note that for each process shown here, as long as there are no contradictions or inconsistencies in the results of the information processing, their order can be swapped, and it is also possible to add other processes not explicitly shown here.

[0058] The driving scene detection unit 40 detects information regarding the driving scene of the vehicle (step S11). The risk object detection unit 41 detects information regarding the risk object (step S12). The driver state detection unit 42 detects information regarding the driver (step S13).

[0059] Next, the risk determination unit 43 obtains a risk value based on each piece of information detected in steps S11 to S13, and performs a risk determination based on the risk value. In the present embodiment, based on the risk value calculation method as exemplified above, when it is "high risk" or "low risk", it is determined that there is a risk in step S14.

[0060] In the case of "there is a risk" (step S14; YES), when the driver's line-of-sight direction and the direction of the risk target match (step S15; YES), and it is determined that the driver recognizes the risk target (step S16; YES), a control signal is generated and output so as to cause the notification display device 30 to perform a continuous lighting display in red (in the case of high risk) or a continuous lighting display in yellow in a relatively narrow range according to the direction in which the risk target exists (denoted as "risk direction" in the figure. The same applies hereinafter) (step S17).

[0061] Also, when the driver's line-of-sight direction and the direction of the risk target match (step S15; YES), and it is determined that the driver recognizes the risk target (step S16; NO), the display mode setting unit 44 generates a control signal and outputs it so as to cause the notification display device 30 to perform a blinking display in red (in the case of high risk) or a blinking display in yellow (in the case of low risk) in a relatively narrow range according to the direction in which the risk target exists (step S18).

[0062] Also, when the driver's line-of-sight direction and the direction of the risk target do not match (step S15; NO), the display mode setting unit 44 generates a control signal and outputs it so as to cause the notification display device 30 to perform a continuous lighting display in red (in the case of high risk) or a continuous lighting display in yellow (in the case of low risk) in a relatively wide range according to the direction in which the risk target exists (step S19).

[0063] On the other hand, when it is determined by the risk determination unit 43 that there is no risk (step S14; NO), the notification display by the notification display device 30 is not executed. In this case, after steps S17 to S19 are executed, the process returns to step S11, and the subsequent processing is repeated.

[0064] According to the above-described embodiments, it is possible to provide a technique capable of more effectively alerting a driver.

[0065] Note that the present disclosure is not limited to the contents of the above-described embodiments, and various modifications can be made and implemented within the scope of the gist of the present disclosure. For example, in the above-described embodiments, as examples of the display target, changing the display range (area) and display color, or properly using lighting and blinking have been exemplified, but the present disclosure is not limited thereto. For example, the brightness may be changed, a brightness gradient may be provided, a gradation may be added to the display color, or a sequential display in which the display location flows in one direction may be performed.

[0066] Also, in the above-described embodiments, an example of the display in which the notification display device 30 is partially lit in the case of having a risk (large risk, small risk) has been exemplified, but the display mode may be changed between daytime and nighttime. Specifically, at night, a lighting display may be performed for having a risk as described above, and a non-lighting display may be performed for having no risk. During the day, a non-lighting display may be performed for having a risk, and a lighting display may be performed for having no risk, contrary to the above. Note that the discrimination between daytime and nighttime may be performed based on, for example, the detection result of the illuminance sensor 20 or based on the time.

Explanation of Reference Numerals

[0067] 10: Controller, 11: Camera, 12: Vehicle Peripheral Sensor, 13: Other Vehicle Communication Unit, 14: Infrastructure Communication Unit, 15: Steering Angle Sensor, 16: Navigation System, 17: DMS, 18: Steering Sensor, 19: Seat Sensor, 20: Illuminance Sensor, 21: Raindrop Sensor, 30: Notification Display Device, 30a, 30b, 30c: Light Source, 40: Driving Scene Detection Unit, 41: Risk Object Detection Unit, 42: Driver State Detection Unit, 43: Risk Judgment Unit, 44: Display Mode Setting Unit

Claims

1. A system for alerting a driver according to a situation around a vehicle, An object sensor that detects objects present around the vehicle; A gaze sensor for detecting the gaze direction of the driver; A notification display device that is capable of partially controlling a display state and is installed at least in front of and on both sides of the driver's seat; a controller connected to each of the object sensor, the line-of-sight sensor, and the notification display device, and configured to control a display state of the notification display device based on detection results of the object sensor and the line-of-sight sensor; Including, The controller controls the notification display device to perform a first notification display in a first range including the line of sight direction when the driver is viewing a specific object among the objects detected by the object sensor, based on the line of sight direction detected by the line of sight sensor, and to perform a second notification display in a second range including the line of sight direction and wider than the first range when the driver is not viewing the specific object. Attention warning system.

2. the controller determines that the driver is viewing the specific object when the specific object is present within a range of a predetermined angle based on the line of sight direction; The warning system according to claim 1 .

3. the controller determines that the driver is viewing the specific object when the specific object is present within a range of a specific angle based on the line of sight for a specific period of time or more; The warning system according to claim 1 .

4. The predetermined angle range is a range of 1° to 3° centered on the line of sight, The warning system according to claim 2 or 3.

5. The controller controls the notification display device so as to display the first notification display continuously and to display the second notification display flashing. The warning system according to claim 1 .

6. the controller controls the notification display device so that at least one of a display color, a luminance, and a luminance gradient is made different between the first notification display and the second notification display. The warning system according to claim 1 .

7. the controller determines a possibility of contact between the specific object and the vehicle based on the respective states of the specific object and the vehicle, and controls the notification display device to perform the first notification display or the second notification display when there is a possibility of contact, and to not perform either the first notification display or the second notification display when there is no possibility of contact. The warning system according to claim 1 .

8. the controller, when there is a possibility of contact, determines the magnitude of the possibility of contact based on the respective states of the specific object and the vehicle, and controls the notification display device such that the first notification display and the second notification display have different display colors when the possibility of contact is relatively large and when the possibility of contact is relatively small. The warning system according to claim 7.

Images