Reporting device and reporting method

Abstract

To reliably report to a driver the presence of a peripheral target and an approaching target with a high risk level.SOLUTION: A reporting device performs first reporting processing when a reporting object satisfies a first reporting condition and performs second reporting processing when the reporting object satisfies a second reporting condition. In a first reporting state in which either the first reporting processing or the second reporting processing is performed by detection of the reporting object, the reporting device does not execute the first reporting processing with a second target as the reporting object even if the second object satisfies the first reporting condition when the second target is detected as the reporting object different from a first target which is the reporting object in a first reporting state, determines the priority of the second reporting processing for the first target and the second reporting processing for the second target when the second target satisfies the second reporting condition, and executes the second reporting processing for the second target when the priority of the second reporting processing for the second target is determined to be higher.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a notification device and a notification method, and more particularly to a technique for notifying a driver of a host vehicle of surrounding objects and approaching objects.

Background Art

[0002] For example, Patent Document 1 discloses an apparatus that, when detecting a plurality of approaching objects approaching a host vehicle, changes the nature (pulse, tone color, frequency, etc.) of a sound emitted from a plurality of sound generation sources according to the degree of danger of each approaching object, thereby notifying the driver of the presence of the plurality of approaching objects.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] According to the apparatus described in Patent Document 1, although it is possible to notify the driver of a plurality of approaching objects, for example, when a warning sound requiring a braking operation is sounding and a different warning sound is sounded, it may rather confuse the driver. Therefore, even when the warning targets are different, if the content to be notified to the driver (for example, a braking operation request, etc.) is the same, it is considered that sounding the same warning sound can prevent the driver from being confused. On the other hand, when the driver has recognized the warning target of the warning sound and is driving without stopping the vehicle, if a new surrounding object or approaching object with a high risk level appears, it is desirable to surely notify the driver of the new risk.

[0005] The technology of the present disclosure aims to effectively prevent causing confusion to the driver by sounding a plurality of notification sounds, and surely notify the driver of the presence of surrounding objects and approaching objects with a high risk level.

[0006] The notification device of the vehicle of the present disclosure detects a surrounding object existing around the host vehicle or an approaching object approaching the host vehicle as a notification target, and when the notification target satisfies a first notification condition which is a notification condition of a predetermined first risk level, performs a first notification process on an occupant of the host vehicle, and when the risk level of the notification target satisfies a second notification condition which is a notification condition of a predetermined second risk level higher than the first risk level, is a notification device that performs a second notification process on the occupant, the first notification process and the second notification process have a common first characteristic of the notification sound, but are made such that a second characteristic different from the first characteristic is different, in a first notification state in which either the first notification process or the second notification process is being performed due to detection of the notification target from a non-notification state in which neither the first notification process nor the second notification process is being performed, when a second object is detected as a notification target different from a first object which is the notification target in the first notification state, even if the second object satisfies the first notification condition, the first notification process for the second object as the notification target is not executed, when the second object satisfies the second notification condition, based on the direction and the risk level of the first object and the second object with respect to the host vehicle, the priority of the second notification process for the first object and the second notification process for the second object is determined, when it is determined that the priority of the second notification process for the second object is high, the second notification process for the second object is executed, the notification sound of the second notification process for the second object has the same second characteristic as the notification sound of the second notification process for the first object, and a third characteristic different from the second characteristic is made different between the notification sound of the second notification process for the first object and the notification sound of the second notification process for the second object is characterized by this.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0008] Hereinafter, a vehicle control device and a control method according to the present embodiment will be described with reference to the drawings.

[0009] [Hardware Configuration] FIG. 1 is a schematic diagram showing the hardware configuration of a vehicle VH to which the control device according to the present embodiment is applied. Hereinafter, when it is necessary to distinguish the vehicle VH from other vehicles or the like, it may also be referred to as the host vehicle.

[0010] The vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an interface device 14, and the like. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data and the like necessary for the CPU 11 to execute various programs. The RAM 13 is a volatile memory that provides a work area in which various programs are expanded when executed by the CPU 11. The interface device 14 is a communication device for communicating with an external device.

[0011] ECU 10 is a central device that performs driving assistance control and the like. Driving assistance control is a concept that includes automatic driving control. The ECU 10 is communicably connected to a drive device 20, a steering device 21, a braking device 22, a transmission device 23, an in-vehicle sensor device 30, an external sensor device 40, an HMI (Human Machine Interface) 60, etc.

[0012] The drive device 20 generates a driving force to be transmitted to the drive wheels of the vehicle VH. Examples of the drive device 20 include an electric motor and an engine. In the present implementation device, the vehicle VH may be any of a hybrid vehicle (HEV), a plug-in hybrid vehicle (PHEV), a fuel cell vehicle (FCEV), a battery electric vehicle (BEV), and an engine vehicle. The steering device 21 applies a steering force to the wheels of the vehicle VH. The braking device 22 applies a braking force to the wheels of the vehicle VH. The transmission device 23 shifts the rotational power output from the drive device 20 at a predetermined gear ratio and transmits it to the drive wheels.

[0013] The in-vehicle sensor device 30 is sensors that detect the state of the vehicle VH. Specifically, the in-vehicle sensor device 30 includes a vehicle speed sensor 31, an accelerator sensor 32, a brake sensor 33, a steering angle sensor 34, a shift sensor 35, etc. The in-vehicle sensor device 30 transmits the state of the vehicle VH detected by each sensor 31 to 35 to the ECU 10 at a predetermined cycle.

[0014] The vehicle speed sensor 31 detects the traveling speed of the vehicle VH (hereinafter referred to as the vehicle speed). The accelerator sensor 32 detects the operation amount of an accelerator pedal (not shown) by the driver. The brake sensor 33 detects the operation amount of a brake pedal (not shown) by the driver. The steering angle sensor 34 detects the rotation angle of a steering wheel or a steering shaft (not shown) of the vehicle VH, that is, the steering angle. The shift sensor 35 detects the shift position of the transmission device 23 (parking P, reverse R, neutral N, drive D, etc.).

[0015] The external sensor device 40 is a set of sensors that recognize target information regarding targets existing around the vehicle VH. Specifically, the external sensor device 40 includes a front camera 41F, a rear camera 41R, a front radar sensor 42F, a left front side radar sensor 42FL, a right front side radar sensor 42FR, a left rear side radar sensor 42RL, a right rear side radar sensor 42RR, a left front side sonar sensor 43FL1, a right front side sonar sensor 43FR1, a left front sonar sensor 43FL2, a right front sonar sensor 43FR2, a left rear side sonar sensor 43RL1, a right rear side sonar sensor 43RR1, a left rear sonar sensor 43RL2, a right rear sonar sensor 43RR2, etc. Here, examples of the target information include moving objects such as other vehicles and pedestrians, and stationary objects such as walls and poles. The external sensor device 40 repeatedly transmits the acquired target information to the ECU 10 every time a predetermined time elapses.

[0016] Hereinafter, when it is not necessary to distinguish between the cameras 41F and 41R, they may also be simply referred to as "camera 41". Also, when it is not necessary to distinguish between the radar sensors 42F, 42FL, 42FR, 42RL, and 42RR, they may also be simply referred to as "radar sensor 42". Further, when it is not necessary to distinguish between the sonar sensors 43FL1, 43FR1, 43FL2, 43FR2, 43RL1, 43RR1, 43RL2, and 43RR2, they may also be simply referred to as "sonar sensor 43".

[0017] The camera 41 is, for example, a stereo camera or a monocular camera, and a digital camera having an imaging element such as a CMOS or a CCD can be used. The camera 41 photographs the surroundings of the vehicle VH, and acquires target information around the vehicle VH by processing the photographed image data. The target information is information representing the type of the target detected around the vehicle VH, the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc. The type of the target may be recognized by machine learning such as pattern matching, for example.

[0018] The radar sensor 42 detects targets existing around the vehicle VH. The radar sensor 42 includes a millimeter-wave radar and / or a lidar. The millimeter-wave radar emits radio waves in the millimeter-wave band (millimeter waves), and receives the millimeter waves (reflected waves) reflected by the targets existing within the radiation range. The millimeter-wave radar acquires the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc., based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves. The lidar sequentially scans pulsed laser light with a shorter wavelength than millimeter waves in a plurality of directions, and receives the reflected light reflected by the targets, thereby acquiring the shape of the targets detected around the vehicle VH, the relative distance between the vehicle VH and the targets, the relative speed between the vehicle VH and the targets, etc.

[0019] The sonar sensor 43 is a well-known sensor that uses ultrasonic waves. The sonar sensor 43 emits ultrasonic waves to a predetermined range around the vehicle VH. The sonar sensor 43 receives the reflected waves reflected by the targets existing within the radiation range of the ultrasonic waves, and detects the presence or absence of the targets and the distance between the vehicle VH and the targets, etc., based on the time from transmitting the ultrasonic waves to receiving them. The sonar sensor 43 can detect the targets located substantially in the front by emitting ultrasonic waves with high directivity.

[0020] FIG. 2A is a schematic diagram showing an example of the in-vehicle positions of the front camera 41F, the rear camera 41R, the front radar sensor 42F, the left front side radar sensor 42FL, the right front side radar sensor 42FR, the left rear side radar sensor 42RL, and the right rear side radar sensor 42RR.

[0021] As shown in FIG. 2A, the front camera 41F is provided, for example, at the center in the vehicle width direction at the upper part of the front window of the vehicle VH. The imaging area AF of the front camera 41F is a wide-angle area that extends forward from the substantially central part in the vehicle width direction of the front window toward the front of the vehicle VH. The rear camera 41R is provided, for example, at the substantially central part in the vehicle width direction of the rear bumper of the vehicle VH. The imaging area AR of the rear camera 41R is a wide-angle area that extends rearward from the substantially central part in the vehicle width direction of the rear bumper toward the rear of the vehicle VH.

[0022] The front radar sensor 42F is provided, for example, at a substantially central portion in the vehicle width direction within the front bumper. The detection area BF of the front radar sensor 42F is a wide-angle area that extends forward from the substantially central portion in the vehicle width direction of the front bumper toward the front of the vehicle VH. The left front side radar sensor 42FL is provided at the left end within the front bumper, and the right front side radar sensor 42FR is provided at the right end within the front bumper. The detection area BFL of the left front side radar sensor 42FL is a wide-angle area that extends from the left end of the front bumper toward the left front side. The detection area BFR of the right front side radar sensor 42FR is a wide-angle area that extends from the right end of the front bumper toward the right rear side. The left rear side radar sensor 42RL is provided at the left end within the rear bumper, and the right rear side radar sensor 42RR is provided at the right end within the rear bumper. The detection area BRL of the left rear side radar sensor 42RL is a wide-angle area that extends from the left end of the rear bumper toward the left rear side. The detection area BRR of the right rear side radar sensor 42RR is a wide-angle area that extends from the right end of the rear bumper toward the right rear side.

[0023] FIG. 2B is a schematic diagram showing an example of the in-vehicle positions of the left front side sonar sensor 43FL1, the right front side sonar sensor 43FR1, the left front sonar sensor 43FL2, the right front sonar sensor 43FR2, the left rear side sonar sensor 43RL1, the right rear side sonar sensor 43RR1, the left rear sonar sensor 43RL2, and the right rear sonar sensor 43RR2.

[0024] As shown in FIG. 2B, the left front side sonar sensor 43FL1 is provided at the left end of the front bumper, and the right front side sonar sensor 43FR1 is provided at the right end of the front bumper. The detection area CFL1 of the left front side sonar sensor 43FL1 is a region with a relatively narrow width extending obliquely forward to the left from the left end of the front bumper. The detection area CFR1 of the right front side sonar sensor 43FR1 is a region with a relatively narrow width extending obliquely forward to the right from the right end of the front bumper. The left front sonar sensor 43FL2 is provided between the left end of the front bumper and the center in the vehicle width direction, and the right front sonar sensor 43FR2 is provided between the right end of the front bumper and the center in the vehicle width direction. The detection area CFL2 of the left front sonar sensor 43FL2 is a region with a relatively narrow width extending obliquely forward to the left from between the left end and the center of the front bumper. The detection area CFR2 of the right front sonar sensor 43FR2 is a region with a relatively narrow width extending obliquely backward to the right from between the right end and the center of the front bumper.

[0025] The left rear side sonar sensor 43RL1 is provided at the left end of the rear bumper, and the right rear side sonar sensor 43RR1 is provided at the right end of the rear bumper. The detection area CRL1 of the left rear side sonar sensor 43RL1 is a region with a relatively narrow width extending obliquely backward to the left from the left end of the rear bumper. The detection area CRR1 of the right rear side sonar sensor 43RR1 is a region with a relatively narrow width extending obliquely backward to the right from the right end of the rear bumper. The left rear sonar sensor 43RL2 is provided between the left end of the rear bumper and the center in the vehicle width direction, and the right rear sonar sensor 43RR2 is provided between the right end of the rear bumper and the center in the vehicle width direction. The detection area CRL2 of the left rear sonar sensor 43RL2 is a region with a relatively narrow width extending obliquely backward to the left from between the left end and the center of the rear bumper. The detection area CRR2 of the right rear sonar sensor 43RR2 is a region with a relatively narrow width extending obliquely backward to the right from between the right end and the center of the rear bumper.

[0026] Returning to FIG. 1, the HMI 60 is an interface for inputting and outputting information between the ECU 10 and the driver, and includes an input device and an output device. Examples of the input device include a touch panel, a switch, a voice pickup microphone, etc. Examples of the output device include a display device 61, a speaker 62, a buzzer 63, etc. The display device 61 is, for example, a center display installed on an instrument panel or the like, a multi-information display, a head-up display, a display of a navigation system, etc. The speaker 62 is, for example, a speaker of an audio system or a navigation system.

[0027] [Software Configuration] FIG. 3 is a schematic diagram showing the software configuration of the ECU 10 according to the present embodiment. As shown in FIG. 3, the ECU 10 includes function elements such as a target recognition unit 100, an alarm control unit 110, an alarm sound selection unit 120, etc. These function elements 100 to 120 are realized by the CPU 11 of the ECU 10 reading out the program stored in the ROM 12 and executing it in the RAM 13. Note that all or part of these function elements 100 to 120 can also be provided in another ECU separate from the ECU 10, or an information processing device of a facility (such as a management center) capable of communicating with the vehicle VH.

[0028] Based on the detection results of the external sensor device 40, the target recognition unit 100 recognizes surrounding targets such as stationary objects existing around the host vehicle VH and approaching targets such as other vehicles and pedestrians approaching the host vehicle VH. When the host vehicle VH is traveling at a predetermined low speed, the target recognition unit 100 recognizes the distance between the host vehicle VH and the surrounding targets existing around the host vehicle VH and the direction of the surrounding targets with respect to the host vehicle VH based on the detection results of the sonar sensor 43. Also, when the host vehicle VH is traveling at a predetermined low speed, the target recognition unit 100 recognizes the distance between the host vehicle VH and the approaching targets approaching the host vehicle VH and the direction of the approaching targets with respect to the host vehicle VH based on the detection results of the radar sensor 42 and / or the camera 41. The target recognition unit 100 transmits the recognition results (distance, direction, etc.) of the surrounding targets and approaching targets to the alarm control unit 110.

[0029] The warning control unit 110 executes a warning process to notify the driver that a surrounding object or an approaching object is approaching the host vehicle VH based on the distance between the host vehicle VH recognized by the object recognition unit 100 and the surrounding object, and the distance between the host vehicle VH and the approaching object. In the present embodiment, the warning control unit 110 performs the warning process in two stages: "attention - arousal warning" and "brake - operation - request warning". The attention - arousal warning is an example of the "first notification process" of the present disclosure, and the brake - operation - request warning is an example of the "second notification process" of the present disclosure. The brake - operation - request warning is a warning with a higher risk level than the attention - arousal warning.

[0030] When the first warning condition that the distance between the host vehicle VH and the surrounding object and / or the distance between the host vehicle VH and the approaching object becomes equal to or less than a predetermined first threshold value D1 is satisfied, the warning control unit 110 executes an attention - arousal warning by sounding a first warning sound from the speaker 62 or the buzzer 63. The first warning condition is an example of the "first notification condition" of the present disclosure. The first warning sound is sounded as a unified warning sound having common characteristics (e.g., frequency, etc.) regardless of the difference in the surrounding object or approaching object (difference in the detected sensor) or the difference in direction (e.g., front, rear, left, right). The common characteristics mentioned here are an example of the "first characteristics" of the present disclosure.

[0031] Also, when the second warning condition that the distance between the host vehicle VH and the surrounding object and / or the distance between the host vehicle VH and the approaching object becomes equal to or less than a predetermined second threshold value D2 which is smaller than the first threshold value D1 is satisfied, the warning control unit 110 executes a brake - operation - request warning by sounding a second warning sound from the speaker 62 or the buzzer 63. The second warning condition is an example of the "second notification condition" of the present disclosure. The second warning sound is also sounded as a unified warning sound having common characteristics (e.g., frequency, etc.) regardless of the difference in the surrounding object or approaching object or the difference in direction (e.g., front, rear, left, right).

[0032] The first warning sound and the second warning sound need to enable the driver to recognize the difference in risk levels. Therefore, the first warning sound and the second warning sound are emitted as warning sounds with different characteristics. The different characteristics mentioned here are an example of the "second characteristic" of the present disclosure. In the present embodiment, the first warning sound is emitted from the speaker 62 or the buzzer 63 as an intermittent sound, and the second warning sound is emitted from the speaker 62 or the buzzer 63 as a continuous sound.

[0033] Incidentally, when the target recognition unit 100 recognizes a plurality of surrounding targets and approaching targets, and the warning control unit 110 executes warning processing on all of them as warning targets, there is a possibility that the driver may be confused by the simultaneous emission of a plurality of warning sounds. Therefore, for example, when the first target and the second target exist in the same direction with respect to the host vehicle VH as warning targets, and the second target exists farther than the first target, it is desirable to perform warning processing on the first target closer to the host vehicle VH and not perform warning processing on the second target existing farther than the first target. However, when the risk level of the second target becomes higher than the risk level of the first target as the second target moves, it is necessary to reliably notify the driver of the risk of the second target.

[0034] In order to solve such problems, when the warning sound selection unit 120 detects a plurality of warning targets, it determines the priority based on the direction of the plurality of warning targets with respect to the host vehicle VH and the risk level, and appropriately selects the warning sound to be emitted according to the determined priority. Hereinafter, specific warning sound selection processing will be described based on FIG. 4.

[0035] Assume a state (an example of the first notification state of the present disclosure) in which, after the target recognition unit 100 recognizes a first target approaching the host vehicle VH from a non-alarm state where neither the first alarm condition nor the second alarm condition is satisfied, and the alarm control unit 110 performs a first alarm process targeting the first target, the second alarm process is being executed. As such a state, as shown in FIG. 4A, when the host vehicle VH is backing out of the garage and the right rear sonar sensor 43RR1 detects a stationary object OJ1 on the right rear side of the host vehicle VH, and the distance between the host vehicle VH and the stationary object OJ1 becomes equal to or less than the second threshold value D2.

[0036] In such a state, assume that the target recognition unit 100 recognizes a second target different from the first target. When the target recognition unit 100 recognizes the second target, the alarm sound selection unit 120 determines whether the second target satisfies the second alarm condition. If the second target does not satisfy the second alarm condition, the alarm sound selection unit 120 does not select the second target as an alarm target even if the second target satisfies the first alarm condition. That is, the alarm control unit 110 executes only the brake operation request alarm targeting the first target. As such a state, as shown in FIG. 4B, for example, the rear camera 41R or the right rear radar sensor 42RR detects an approaching object OJ2 (e.g., a pedestrian) within a distance of the first threshold value D1 from the host vehicle VH, but the approaching object OJ2 is in the same direction as the stationary object OJ1 with respect to the host vehicle VH, and the approaching object OJ2 is farther from the host vehicle VH than the second threshold value D2.

[0037] Further, even when the second target recognized by the target recognition unit 100 satisfies the second warning condition, if the second target exists in the same direction as the first target with respect to the host vehicle VH and the risk level of the second target is lower than that of the first target, the warning sound selection unit 120 does not select the second target as a warning target. That is, the warning control unit 110 executes only the brake operation request warning for the first target. Such a state is, for example, as shown in FIG. 4C, an approaching object OJ2 (for example, a pedestrian) detected by the rear camera 41R or the right rear side radar sensor 42RR exists within a distance within the second threshold D2, but the approaching object OJ2 is in the same direction as the stationary object OJ1 with respect to the host vehicle VH and exists farther than the stationary object OJ1. Thus, even when the second target satisfies the second warning condition, when it is not necessary to notify the driver of the existence of the second target, by not performing the brake operation request warning for the second target, it becomes possible to effectively prevent the driver from being confused.

[0038] In the present disclosure, the fact that the first target and the second target exist in the same direction means not only the case where they exist substantially on the same straight line as shown in FIGS. 4B and 4C, but also a concept including the case where the first target and the second target exist within the same area when the periphery of the host vehicle VH is divided into a plurality of areas. The number of areas to be divided may be, for example, 8 (immediately ahead, left ahead, right ahead, directly left, directly right, left rear, directly rear, right rear), 4 (front, rear, left, right), or 2 (front and rear or left and right). The number of areas may be appropriately set according to the number of sensors included in the external sensor device 40 and the like.

[0039] On the other hand, when the second target recognized by the target recognition unit 100 moves in a direction different from that of the first target with respect to the host vehicle VH and the risk level of the second target becomes higher than that of the first target, or when a new stationary object or approaching object recognized by the target recognition unit 100 satisfies the second warning condition as the second target, the warning sound selection unit 120 selects the third warning process. When the warning sound selection unit 120 selects the third warning process, the warning control unit 110 executes a brake operation request warning by causing the speaker 62 or the buzzer 63 to emit the third warning sound. Such a state is as shown in FIG. 4D, where the approaching object OJ2 (for example, a pedestrian) detected by the rear camera 41R or the right rear side radar sensor 42RR moves in a direction different from that of the stationary object OJ1 with respect to the host vehicle VH, and when the approaching object OJ2 satisfies the second warning condition, or when the right front side sonar sensor 43FR1 detects the adjacent vehicle VH1 as a new stationary object within the second threshold D2 and the adjacent vehicle VH1 satisfies the second warning condition.

[0040] The third warning sound needs to make the driver recognize that it is a brake operation request targeting a warning target different from the second warning sound. For this reason, the third warning sound is emitted as a warning sound having the same characteristics as the second warning sound while having different characteristics from the second warning sound. The same characteristics mentioned here are an example of the "second characteristic" of the present disclosure, and the different characteristics are an example of the "third characteristic" of the present disclosure. In the present embodiment, the third warning sound is the same continuous sound as the second warning sound and is emitted from the speaker 62 or the buzzer 63 with a different frequency or tone color.

[0041] In this way, when the second target is in a direction different from that of the first target with respect to the host vehicle VH and the risk level of the second target is higher than that of the first target, by emitting the third warning sound targeting the second target, it becomes possible to surely notify the driver of the presence of the second target with a high risk level. The third warning sound may be emitted superimposed on the second warning sound, or the second warning sound may be stopped and only the third warning sound may be emitted. Further, the third warning sound may be configured to be emitted for a certain period of time so as not to be a momentary sound when emitted once, and then return to the emission of the second warning sound.

[0042] Next, based on FIG. 5, the flow of the warning process by the CPU 11 of the ECU 10 will be described. This routine is started, for example, when the shift sensor 35 detects a shift position other than the parking P.

[0043] In step S100, the ECU 10 determines whether or not there is a first target to be warned based on the detection result of the external sensor device 40. If there is a first target (Yes), the ECU 10 proceeds to the process of step S110. On the other hand, if there is no first target (No), the ECU 10 returns from this routine.

[0044] In step S110, the ECU 10 determines whether or not the first target satisfies the second warning condition, that is, whether or not a brake operation request warning for the first target is necessary. If the first target does not satisfy the second warning condition (No), the ECU 10 proceeds to the process of step S170. On the other hand, if the first target satisfies the second warning condition (Yes), the ECU 10 proceeds to the process of step S120.

[0045] In step S170, it is determined whether or not the first target satisfies the first warning condition, that is, whether or not a caution warning for the first target is necessary. If the first target satisfies the first warning condition (Yes), the ECU 10 proceeds to the process of step S180, causes a first warning sound (intermittent sound) to be emitted from the speaker 62 or the buzzer 63, and returns from this routine. On the other hand, if the first target does not satisfy the first warning condition (No), the ECU 10 returns from this routine.

[0046] In step S120, the ECU 10 determines whether or not there is a second target to be warned based on the detection result of the external sensor device 40. If there is a second target (Yes), the ECU 10 proceeds to the process of step S140. On the other hand, if there is no second target (No), the ECU 10 proceeds to the process of step S130, causes a second warning sound (continuous sound) to be emitted from the speaker 62 or the buzzer 63, and returns from this routine.

[0047] In step S140, the ECU 10 determines whether the second target satisfies the second warning condition, that is, whether a brake operation request warning for the second target is necessary. When the second target does not satisfy the second warning condition (No), the ECU 10 proceeds to the process of step S130, causes the speaker 62 and the buzzer 63 to emit a second warning sound (continuous sound), and returns from this routine. On the other hand, when the second target satisfies the second warning condition (Yes), the ECU 10 proceeds to the process of step S150.

[0048] In step S150, the ECU 10 determines whether the execution condition of a third warning process is satisfied, where the second target exists in a direction different from the first target with respect to the host vehicle VH and the risk level is higher than that of the first target. When the execution condition of the third warning process is not satisfied (No), the ECU 10 proceeds to the process of step S130, causes the speaker 62 and the buzzer 63 to emit a second warning sound (continuous sound), and returns from this routine. On the other hand, when the execution condition of the third warning process is satisfied (Yes), the ECU 10 proceeds to the process of step S160, causes the speaker 62 and the buzzer 63 to emit a third warning sound (continuous sound and having a frequency or timbre different from that of the second warning sound), and returns from this routine.

[0049] As described above, the notification device and the notification method according to the present embodiment have been described. However, the present disclosure is not limited to the above embodiment, and various modifications are possible without departing from the object of the present disclosure.

[0050] For example, in the above embodiment, the warning control unit 110 has been described as performing the first warning process and the second warning process step by step on the stationary object detected by the sonar sensor 43 and the approaching object detected by the radar sensor 42 or the camera 41. However, it may be configured to perform a stepwise warning process only on either the stationary object or the approaching object, and to perform only one of the first warning process or the second warning process on the other. Also, although the third warning sound has been described as having a characteristic (continuous sound) common to the second warning sound, it is also possible to configure the third warning sound to be temporarily emitted as a warning sound having no characteristic common to the second warning sound.

Claims

1. A notification device that detects a surrounding object existing around the host vehicle or an approaching object approaching the host vehicle as a notification target, and when the notification target satisfies a first notification condition that is a notification condition of a predetermined first risk level, performs a first notification process on an occupant of the host vehicle, and when the risk level of the notification target satisfies a second notification condition that is a notification condition of a predetermined second risk level higher than the first risk level, performs a second notification process on the occupant, wherein the first notification process and the second notification process have the same first characteristic of the notification sound, but are made such that a second characteristic different from the first characteristic is different, in a first notification state in which either the first notification process or the second notification process is being performed due to the detection of the notification target from a non-notification state in which neither the first notification process nor the second notification process is being performed, when a second object is detected as a notification target different from the first object that is the notification target in the first notification state, even if the second object satisfies the first notification condition, the first notification process for the second object as the notification target is not executed, when the second object satisfies the second notification condition, based on the direction and risk level of the first object and the second object with respect to the host vehicle, the priority of the second notification process for the first object and the second notification process for the second object is determined, when it is determined that the priority of the second notification process for the second object is high, the second notification process for the second object is executed, the notification sound of the second notification process for the second object has the same second characteristic as the notification sound of the second notification process for the first object, and is made such that a third characteristic different from the second characteristic is different between the notification sound of the second notification process for the first object and the notification sound of the second notification process for the second object A notification device characterized by the above.

2. The notification device according to claim 1, wherein the first characteristic is frequency, the second characteristic is the blowing interval, and the third characteristic is timbre or frequency A notification device characterized by the above.

3. The notification device according to claim 2, wherein the first notification sound by the first notification process is an intermittent sound that prompts the occupant to pay attention, and the second notification sound by the second notification process is a continuous sound that prompts the occupant to perform a braking operation A notification device characterized by the above.

4. Detecting a surrounding object existing around the vehicle or an approaching object approaching the host vehicle as a notification target, and when the notification target satisfies a first notification condition which is a notification condition of a predetermined first risk level, performing a first notification process on an occupant of the host vehicle, and when the notification target satisfies a second notification condition which is a notification condition of a predetermined second risk level higher than the first risk level, a notification method for performing a second notification process on the occupant, The first notification process and the second notification process make the first characteristic of the notification sound common, but make a second characteristic different from the first characteristic, In a first notification state in which either the first notification process or the second notification process is being performed due to the detection of the notification target from a non-notification state in which neither the first notification process nor the second notification process is being performed, When a second object is detected as a notification target different from the first object which is the notification target in the first notification state, Even if the second object satisfies the first notification condition, the first notification process for the second object as the notification target is not executed, When the second object satisfies the second notification condition, based on the direction and risk level of the first object and the second object with respect to the host vehicle, the priority of the second notification process for the first object and the second notification process for the second object is determined, When it is determined that the priority of the second notification process for the second object is high, the second notification process for the second object is executed, The notification sound of the second notification process for the second object has the same second characteristic as the notification sound of the second notification process for the first object, and makes a third characteristic different from the second characteristic between the notification sound of the second notification process for the first object and the notification sound of the second notification process for the second object A notification method characterized by the above.

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