Drive support device and program

Abstract

To provide a drive support device and a program for suppressing contact between an own vehicle and another vehicle.SOLUTION: A drive support device includes a controller. The controller alerts a driver of an own vehicle. The controller detects a line-of-sight direction of a driver of another vehicle when the another vehicle is present in a travel direction of the own vehicle. The controller is configured to alert the driver of the own vehicle when the own vehicle starts and the line-of-sight direction of the driver of the another vehicle is not directed to the own vehicle.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device and a program. [Background technology]

[0002] There is known a technique for alerting a driver of a host vehicle to prevent the host vehicle from colliding with an obstacle when the host vehicle is backing up. For example, in Patent Document 1, a driving assistance device detects the line of sight of the host vehicle driver when the host vehicle is backing up, and determines whether the driver of the host vehicle is looking away from the road based on the detected line of sight. If the driving assistance device determines that the host vehicle is looking away from the road, it outputs a warning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-213164 Summary of the Invention [Problem to be solved by the invention]

[0004] However, for example, if the host vehicle is traveling backward and another vehicle is present in the backward direction of the host vehicle and the other vehicle is moving forward, there is a risk of the host vehicle and the other vehicle coming into contact if the driver of the other vehicle does not notice the presence of the host vehicle.Furthermore, there is a risk of the host vehicle and the other vehicle coming into contact not only when the host vehicle is moving backward but also when the host vehicle is moving forward.

[0005] Also, for example, if another vehicle is moving backward and your vehicle is in the same direction as the other vehicle and the other vehicle is also backing up, there is a risk of your vehicle coming into contact with the other vehicle if the driver of your vehicle does not notice the presence of the other vehicle.

[0006] The prior art does not take into consideration the presence of other vehicles, and there is room for improvement in terms of preventing contact between the vehicle and other vehicles.

[0007] The present invention has been made in view of the above, and has an object to prevent contact between a vehicle and another vehicle. [Means for solving the problem]

[0008] A driving assistance device according to one aspect of an embodiment includes a controller. The controller issues a warning to a driver of a host vehicle. When another vehicle is present in the traveling direction of the host vehicle, the controller detects a line of sight of the driver of the other vehicle. When the host vehicle starts moving and the line of sight of the driver of the other vehicle is not directed toward the host vehicle, the controller issues a warning to the driver of the host vehicle.

[0009] A driving assistance device according to another aspect of the embodiment includes a controller. The controller issues a warning to a driver of a host vehicle. When another vehicle is present in the traveling direction of the host vehicle, the controller detects a line of sight of the driver of the host vehicle. When the line of sight of the driver of the host vehicle is not toward the other vehicle and the other vehicle starts moving toward the host vehicle, the controller issues a warning to the driver of the host vehicle. [Effects of the Invention]

[0010] According to an embodiment, when there is another vehicle in the traveling direction of the host vehicle and either the driver of the host vehicle or the driver of the other vehicle does not see the other vehicle, the driving assistance device determines that the driver is unaware that the other vehicle has started moving. Then, when either the driver of the host vehicle or the driver of the other vehicle has not noticed the other vehicle starting moving, the driving assistance device issues a warning to the driver of the host vehicle. This allows the driving assistance device to prompt the driver of the host vehicle to take action to avoid contact between the host vehicle and the other vehicle, thereby preventing contact between the host vehicle and the other vehicle. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing the layout of a part of an in-vehicle device according to the first embodiment. [Figure 2] FIG. 2 is a block diagram showing the vehicle-mounted device according to the first embodiment. [Figure 3] FIG. 3 is a flowchart illustrating the attention-calling process according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing a state in which another vehicle is present behind the host vehicle and the driver of the other vehicle is aware that the host vehicle is retreating. [Figure 5] FIG. 5 is a diagram showing a state in which another vehicle is present behind the own vehicle and the driver of the other vehicle is unaware that the own vehicle is retreating. [Figure 6] FIG. 6 is a flowchart illustrating the attention-calling process according to the second embodiment. [Figure 7] FIG. 7 is a diagram showing the layout of a part of the vehicle-mounted device according to the third embodiment. [Figure 8] FIG. 8 is a flowchart illustrating the attention-calling process according to the third embodiment. [Figure 9] FIG. 9 is a flowchart showing a modified example of the attention drawing process according to the third embodiment. [Figure 10] FIG. 10 is a flowchart showing a modified example of the attention drawing process according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a driving assistance device and a program according to an embodiment will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiment.

[0013] (First embodiment) An in-vehicle device 1 according to the first embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a diagram showing the layout of a portion of the in-vehicle device 1 according to the first embodiment. Fig. 2 is a block diagram showing the in-vehicle device 1 according to the first embodiment.

[0014] The vehicle-mounted device 1 is a driving assistance device that issues a warning to the driver of the host vehicle C1 when another vehicle C2 (see FIG. 4) is present in the traveling direction of the host vehicle C1. The vehicle-mounted device 1 is provided in the host vehicle C1. When there is a risk of collision between the host vehicle C1 and the other vehicle C2 present in the traveling direction of the host vehicle C1, the vehicle-mounted device 1 notifies the driver of the host vehicle C1 that there is a risk of collision between the host vehicle C1 and the other vehicle C2, and issues a warning to the driver of the host vehicle C1. The warning to the driver of the host vehicle C1 will be described in detail below.

[0015] The vehicle-mounted device 1 includes a storage unit 10 and a controller 11.

[0016] The storage unit 10 is realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory. The storage unit 10 stores, for example, an image recognition AI (Artificial Intelligence) model. The image recognition AI model is an AI model for image recognition, such as a DNN model trained using a machine learning algorithm.

[0017] The image recognition AI model may include, for example, a plurality of models. For example, the image recognition AI model may include a first model, a second model, and a third model. The image recognition AI model may include a model that integrates at least two of the first to third models.

[0018] The first model is a model that determines the presence of another vehicle C2 in the traveling direction of the host vehicle C1. Specifically, the first model is a model that detects the presence or absence of another vehicle C2 in the traveling direction of the host vehicle C1 and detects the distance to the other vehicle C2 in the traveling direction of the host vehicle C1 from image data captured by the camera 20 that captures the traveling direction of the host vehicle C1.

[0019] The second model is a model that detects the driver of another vehicle C2 that is present in the traveling direction of the host vehicle C1 from image data captured by a camera 20 that captures images in the traveling direction of the host vehicle C1.

[0020] The third model is a model that detects the gaze direction of the driver of another vehicle C2 that is located in the traveling direction of the host vehicle C1 from image data captured by a camera 20 that captures images in the traveling direction of the host vehicle C1. For example, the third model is a model that detects the gaze direction from the inner corners of the eyes, irises, corneal reflex, pupils, etc. The third model may also be a model that detects the gaze direction from the direction and posture of the person's face. The posture is detected, for example, from the orientation of the joints, etc.

[0021] The controller 11 is a component equivalent to a so-called processor or control unit. The controller 11 is realized by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like executing various programs stored in the storage unit 10 using RAM as a work area. The controller 11 can also be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0022] The controller 11 is connected to a camera 20, a monitor 21, a speaker 22, and a position sensor 23. The camera 20, the monitor 21, the speaker 22, and the position sensor 23 are connected to the controller 11, for example, via an in-vehicle network. The in-vehicle device 1 may include at least one of the camera 20, the monitor 21, and the speaker 22. The in-vehicle device 1 may include, for example, a drive recorder. The in-vehicle network includes, for example, a CAN (Controller Area Network) and an AVCLAN (Audio Visual Communication Local Area Network).

[0023] The camera 20 is provided in the cabin of the host vehicle C1. The camera 20 captures images of the surroundings of the host vehicle C1. The camera 20 captures images of a predetermined imaging range around the host vehicle C1. The camera 20 includes a first camera 20a that captures images of the front side of the host vehicle C1 and a second camera 20b that captures images of the rear side of the host vehicle C1. Image data captured by the camera 20 is transmitted to the controller 11.

[0024] The monitor 21 displays, for example, an image captured by the camera 20. The monitor 21 may also be capable of displaying buttons for operating the in-vehicle device 1. For example, the monitor 21 is a touch panel. When a risk of contact between the subject vehicle C1 and the other vehicle C2 is detected, the monitor 21 displays information regarding the risk of contact.

[0025] When a risk of contact between the host vehicle C1 and the other vehicle C2 is detected, the speaker 22 outputs a sound related to the risk of contact. The monitor 21 and the speaker 22 can notify the driver of the host vehicle C1 of the risk of contact between the host vehicle C1 and the other vehicle C2.

[0026] The position sensor 23 detects the operating position of a shift lever (operating unit) that sets the traveling direction of the host vehicle C1. If the host vehicle C1 is provided with a shift switch instead of a shift lever, the position sensor 23 detects the operating position of the shift switch, i.e., the operating state of the shift switch.

[0027] The controller 11 executes an attention-calling process, which will be described in detail later. When the controller 11 detects a risk of contact between the host vehicle C1 and another vehicle C2 in the attention-calling process, the controller 11 issues an attention-call to the driver of the host vehicle C1. Specifically, the controller 11 issues an attention-call to the driver of the host vehicle C1 via at least one of the monitor 21 and the speaker 22.

[0028] Next, the attention calling process according to the first embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart illustrating the attention calling process according to the first embodiment. The attention calling process is executed when the in-vehicle device 1 is turned on. For example, the attention calling process is started when the start switch or the ignition switch is turned on. After one attention calling process has ended, the attention calling process is executed again when a predetermined processing interval (for example, 10 ms) has elapsed.

[0029] The controller 11 determines whether the host vehicle C1 is about to start moving (S100). Specifically, the controller 11 acquires a signal related to the operating position of the shift lever from the position sensor 23. The controller 11 detects the operating position of the shift lever based on the acquired signal related to the operating position of the shift lever. The controller 11 then determines whether the operating position of the shift lever is a driving position. The driving positions are a forward position (D range) and a reverse position (R range). In other words, the controller 11 determines whether the operating position of the shift lever is a forward position or a reverse position.

[0030] The controller 11 determines that the host vehicle C1 will start moving when the operating position of the shift lever is the forward position or the reverse position. That is, the controller 11 detects that the host vehicle C1 will start moving when the operating position of the shift lever is the travel position. The controller 11 determines that the host vehicle C1 will not start moving when the operating position of the shift lever is not the forward position or the reverse position. In this way, the controller 11 determines whether or not the host vehicle C1 will start moving depending on the operating position of the shift lever.

[0031] When it is determined that the host vehicle C1 will not start moving (S100: No), the controller 11 executes the process of step S106, which will be described in detail later.

[0032] When the controller 11 determines that the host vehicle C1 is about to start moving (S100: Yes), the controller 11 determines whether or not another vehicle C2 is present in the traveling direction of the host vehicle C1 (S101). When the operating position of the shift lever is in the reverse position and the traveling direction of the host vehicle C1 is reverse, the controller 11 determines whether or not another vehicle C2 is present behind the host vehicle C1. When the operating position of the shift lever is in the forward position and the traveling direction of the host vehicle C1 is forward, the controller 11 determines whether or not another vehicle C2 is present in front of the host vehicle C1.

[0033] The controller 11 determines that the other vehicle C2 is present in the traveling direction of the host vehicle C1 when the other vehicle C2 is detected within a predetermined distance (contact risk distance) in the traveling direction of the host vehicle C1. The controller 11 determines that the other vehicle C2 is not present in the traveling direction of the host vehicle C1 when the other vehicle C2 is not detected within the predetermined distance in the traveling direction of the host vehicle C1. In other words, the controller 11 does not detect a vehicle that is located at a distance greater than the predetermined distance in the traveling direction of the host vehicle C1 as the other vehicle C2. The predetermined distance is a preset distance that, if the driver of the host vehicle C1 and the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 move at least one of their vehicles without noticing each other's presence, the vehicles may come into contact before noticing their approach. The predetermined distance is set based on, for example, the distance between vehicles when vehicles stop at a traffic light, etc., or the distance between parking spaces facing each other across an aisle in a parking lot.

[0034] The controller 11 performs image processing using a first model on image data captured by a camera 20 that captures the direction of travel of the vehicle C1, thereby determining whether or not another vehicle C2 is present in the direction of travel of the vehicle C1.

[0035] Specifically, the controller 11 executes image processing using the first model to detect another vehicle C2 in the traveling direction of the host vehicle C1. The controller 11 also executes image processing using the first model to detect the distance to the other vehicle C2 detected in the traveling direction of the host vehicle C1.

[0036] The determination of whether or not another vehicle C2 is present in the traveling direction of the host vehicle C1 may be made based on a signal detected by a distance sensor, such as a sensor that measures distance using LiDAR (Light Detection and Ranging), millimeter waves, or ultrasonic waves.

[0037] When it is determined that there is no other vehicle C2 in the traveling direction of the host vehicle C1 (S101: No), the controller 11 executes the process of step S106, which will be described in detail later.

[0038] If the controller 11 determines that another vehicle C2 is present in the traveling direction of the host vehicle C1 (S101: Yes), it determines whether or not the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 has been detected (S102).

[0039] The controller 11 detects the driver of the other vehicle C2 that is present in the traveling direction of the host vehicle C1 by performing image processing using the second model on image data captured by the camera 20 that captures images in the traveling direction of the host vehicle C1. When the controller 11 determines that the driver of the other vehicle C2 that is present in the traveling direction of the host vehicle C1 is not detected (S102: No), the controller 11 executes the processing of step S106, which will be described in detail later.

[0040] When the controller 11 determines that the driver of the vehicle C2 in the traveling direction of the host vehicle C1 has been detected (S102: Yes), the controller 11 determines whether the line of sight of the driver of the vehicle C2 in the traveling direction of the host vehicle C1 is in the forward direction (S103). That is, the controller 11 determines whether the line of sight of the driver of the vehicle C2 in the traveling direction of the host vehicle C1 is toward the host vehicle C1.

[0041] The controller 11 detects the gaze direction of the driver of the other vehicle C2 that is present in the traveling direction of the host vehicle C1 by performing image processing using the third model on image data captured by the camera 20 that captures the image in the traveling direction of the host vehicle C1. Then, the controller 11 determines whether the detected gaze direction is toward the front, i.e., toward the host vehicle C1.

[0042] The process of step S102 and the process of step S103 may be one process. For example, the controller 11 may detect the driver of the other vehicle C2 using a model that combines the second model and the third model from image data captured by the camera 20 that captures the image in the traveling direction of the host vehicle C1, and detect the gaze direction of the detected driver. When the controller 11 determines that the other vehicle C2 is present in the traveling direction of the host vehicle C1, it detects the gaze direction of the other vehicle C2.

[0043] When the controller 11 determines that the line of sight of the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 is in the forward direction (S103: Yes), the controller 11 executes the process of step S106, which will be described in detail later.

[0044] When the controller 11 determines that the line of sight of the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 is not directly ahead (S103: No), the controller 11 issues a warning to the driver of the host vehicle C1 (S104). Specifically, when the line of sight of the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 is not directly ahead, the controller 11 determines that there is a possibility that the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 is unaware of the host vehicle C1. Then, when the host vehicle C1 starts moving, the controller 11 determines that there is a risk of collision between the host vehicle C1 and the other vehicle C2. Therefore, the controller 11 issues a warning that there is a risk of collision between the host vehicle C1 and the other vehicle C2. The controller 11 generates a signal for issuing a warning. Then, the controller 11 outputs the generated signal to the monitor 21 and the speaker 22.

[0045] As a result, the monitor 21 and the speaker 22 notify the driver of the host vehicle C1 of the possibility of collision between the host vehicle C1 and the other vehicle C2. For example, the speaker 22 outputs a voice message saying, "It is dangerous. Please stop." Note that the possibility of collision between the host vehicle C1 and the other vehicle C2 may be notified by at least one of the monitor 21 and the speaker 22.

[0046] In this way, when the host vehicle C1 starts moving and the line of sight of the driver of the other vehicle C2 is not directed toward the host vehicle C1, the controller 11 calls the driver's attention to the host vehicle C1.

[0047] Next, the controller 11 determines whether a predetermined waiting time has elapsed (S105). The predetermined waiting time is a time set in advance. The predetermined waiting time is several seconds (for example, 2 seconds). Specifically, after the process of step S104, the controller 11 starts measuring time, and determines whether the measured time has reached the predetermined waiting time.

[0048] If the controller 11 determines that the predetermined waiting time has not elapsed (S105: No), the controller 11 repeats the process of step S105 until the predetermined waiting time has elapsed. The controller 11 continues to alert the driver of the host vehicle C1 at least until the predetermined waiting time has elapsed. In other words, the predetermined waiting time is the minimum duration for alerting the driver of the host vehicle C1.

[0049] If the controller 11 determines that the predetermined waiting time has elapsed (S105: Yes), it ends the current processing.

[0050] The controller 11 executes the process of step S106 when it determines that the host vehicle C1 will not start (S100: No) or when it determines that the other vehicle C2 does not exist in the traveling direction of the host vehicle C1 (S101: No). Furthermore, the controller 11 executes the process of step S106 when it determines that the driver of the other vehicle C2 existing in the traveling direction of the host vehicle C1 has not been detected (S102: No). Furthermore, the controller 11 executes the process of step S106 when it determines that the line of sight of the driver of the other vehicle C2 existing in the traveling direction of the host vehicle C1 is facing forward (S103: Yes). Specifically, the controller 11 determines whether or not a warning is being issued to the driver of the host vehicle C1 (S106). If a warning is being issued to the driver of the host vehicle C1 (S106: Yes), the controller 11 ends the warning (S107). If the driver of the vehicle C1 is not being alerted (S106: No), the controller 11 ends the current process.

[0051] For example, as shown in FIG. 4, if the line of sight (solid arrow in FIG. 4) of the driver (indicated as "D" in FIGS. 4 and 5) of another vehicle C2 present behind the host vehicle C1 is facing forward (host vehicle C1) and the host vehicle C1 is backing up, the driver D of the other vehicle C2 is looking at the host vehicle C1 and is therefore aware that the host vehicle C1 is backing up. Therefore, for example, even if the driver of the host vehicle C1 backs up without noticing the other vehicle C2 behind it, the driver D of the other vehicle C2 can back up the other vehicle C2 to avoid contact with the host vehicle C1. FIG. 4 is a diagram showing a state in which the other vehicle C2 is present behind the host vehicle C1 and the driver D of the other vehicle C2 is aware that the host vehicle C1 is backing up.

[0052] For example, as shown in Fig. 5, if the line of sight (solid arrow in Fig. 5) of the driver D of another vehicle C2 behind the host vehicle C1 is not directed forward (towards the host vehicle C1) and the host vehicle C1 is backing up, the driver D of the other vehicle C2 may not notice that the host vehicle C1 is backing up. Therefore, if the driver of the host vehicle C1 backs up without noticing the other vehicle C2 behind the host vehicle C1, there is a risk that the host vehicle C1 and the other vehicle C2 may come into contact. Fig. 5 is a diagram showing a state in which the other vehicle C2 is behind the host vehicle C1 and the driver D of the other vehicle C2 is unaware that the host vehicle C1 is backing up.

[0053] Although an example in which the host vehicle C1 moves backward has been described in FIGS. 4 and 5, the same can be said for a case in which another vehicle C2 is present ahead of the host vehicle C1 and the host vehicle C1 moves forward.

[0054] When the host vehicle C1 starts moving and the line of sight of the driver of the other vehicle C2 that is in the traveling direction of the host vehicle C1 is not directed at the host vehicle C1, the driver of the other vehicle C2 may not be looking at the host vehicle C1 and may not have noticed the host vehicle C1 starting. In such a case, the in-vehicle device 1 can alert the driver of the host vehicle C1 to urge the driver of the host vehicle C1 to take action to avoid contact between the host vehicle C1 and the other vehicle C2, thereby preventing contact between the host vehicle C1 and the other vehicle C2.

[0055] When the operating position of the shift lever is the drive position, the vehicle-mounted device 1 detects the start of the host vehicle C1, and can determine, for example, before the host vehicle C1 actually starts moving, whether or not there is a risk of contact between the host vehicle C1 and the other vehicle C2. Therefore, the vehicle-mounted device 1 can prompt the driver of the host vehicle C1 to take action to avoid contact between the host vehicle C1 and the other vehicle C2 at an early stage. Therefore, the vehicle-mounted device 1 can urge the driver of the host vehicle C1 to take action to avoid contact between the host vehicle C1 and the other vehicle C2, and can prevent contact between the host vehicle C1 and the other vehicle C2.

[0056] (Second embodiment) Next, the vehicle-mounted device 1 according to the second embodiment will be described. Here, differences from the first embodiment will be described. Explanation of the same configuration as the first embodiment will be omitted.

[0057] The attention drawing process according to the second embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart illustrating the attention drawing process according to the second embodiment.

[0058] The controller 11 determines whether or not the host vehicle C1 will start moving (S100). If the controller 11 determines that the host vehicle C1 will not start moving (S100: No), the controller 11 executes the process of step S106.

[0059] When the controller 11 determines that the host vehicle C1 is about to start moving (S100: Yes), the controller 11 starts a timer (S200). Specifically, the controller 11 counts the time since the operating position of the shift lever is operated to the drive position.

[0060] Next, the controller 11 determines whether or not another vehicle C2 is present in the traveling direction of the host vehicle C1 (S101).

[0061] When it is determined that there is no other vehicle C2 in the traveling direction of the host vehicle C1 (S101: No), the controller 11 executes the process of step S106.

[0062] If the controller 11 determines that another vehicle C2 is present in the traveling direction of the host vehicle C1 (S101: Yes), it determines whether or not the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 has been detected (S102).

[0063] When the controller 11 determines that the driver of another vehicle C2 located in the direction of travel of the own vehicle C1 has been detected (S102: Yes), it determines whether the line of sight of the driver of the other vehicle C2 located in the direction of travel of the own vehicle C1 is facing forward, i.e., whether it is in the direction of the own vehicle C1 (S103).

[0064] When the controller 11 determines that the line of sight of the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 is in the forward direction (S103: Yes), the controller 11 executes the process of step S106.

[0065] When the controller 11 determines that the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 has not been detected (S102: No), the controller 11 determines whether or not the other vehicle C2 is approaching (S201). When the controller 11 determines that the line of sight of the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1 is not in the forward direction (S103: No), the controller 11 determines whether or not the other vehicle C2 is approaching (S201). The controller 11 determines whether or not the other vehicle C2 is approaching based on the processing result of step S101. In the processing of step S101, the distance to the other vehicle C2 is detected by performing image processing using a first model on image data captured by the camera 20 capturing an image in the traveling direction of the host vehicle C1.

[0066] The controller 11 stores the distance to the other vehicle C2 detected in the processing of step S101. For example, the controller 11 calculates the difference between the distance to the other vehicle C2 detected in the processing of step S101 a predetermined time before the current processing and the distance to the other vehicle C2 detected in the processing of step S101 this time. If the calculated difference is equal to or greater than a predetermined departure judgment distance, the controller 11 determines that the other vehicle C2 is approaching. If the calculated difference is less than the predetermined departure judgment distance, the controller 11 determines that the other vehicle C2 is not approaching. The predetermined time is a time that is set in advance. The predetermined departure judgment distance is a distance that is set in advance. The predetermined time and the predetermined departure judgment distance are the time and distance at which vehicle movement can be detected.

[0067] When the controller 11 determines that the other vehicle C2 is approaching (S201: Yes), the controller 11 issues a warning to the driver of the host vehicle C1 (S104). That is, when the other vehicle C2, which is present in the traveling direction of the host vehicle C1, is moving toward the host vehicle C1, the controller 11 issues a warning to the driver of the host vehicle C1.

[0068] As a result, even if the vehicle-mounted device 1 cannot detect the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1, if the other vehicle C2 is approaching, the vehicle-mounted device 1 can alert the driver of the host vehicle C1 to the approach of the other vehicle C2. Furthermore, even if the vehicle-mounted device 1 cannot detect the line of sight of the driver of the other vehicle C2 present in the traveling direction of the host vehicle C1, if the other vehicle C2 is approaching, the vehicle-mounted device 1 can alert the driver of the host vehicle C1 to the approach of the other vehicle C2. Therefore, the vehicle-mounted device 1 can urge the driver of the host vehicle C1 to take action to avoid contact between the host vehicle C1 and the other vehicle C2, and can prevent contact between the host vehicle C1 and the other vehicle C2.

[0069] Next, the controller 11 determines whether or not a predetermined waiting time has elapsed (S105). If the controller 11 determines that the predetermined waiting time has not elapsed (S105: No), the controller 11 repeats the processing of step S105 until the predetermined waiting time has elapsed. If the controller 11 determines that the predetermined waiting time has elapsed (S105: Yes), the controller 11 ends this processing.

[0070] When the controller 11 determines that the other vehicle C2 is not approaching (S201: No), the controller 11 determines whether a predetermined elapsed time (stop determination time) has elapsed based on the value of the timer (S202). Specifically, the controller 11 determines whether the elapsed time since the operating position of the shift lever was operated to the drive position is equal to or greater than the predetermined elapsed time. The predetermined elapsed time is a time set in advance. The predetermined elapsed time is the time after the operating position of the shift lever of the host vehicle C1 is set to the drive position at which it can be determined that the other vehicle C2 has definitely stopped. For example, the predetermined elapsed time is the time at which the driver of the other vehicle C2 has noticed the presence of the host vehicle C1 and it can be determined that the other vehicle C2 has stopped.

[0071] If the controller 11 determines that the predetermined time has not elapsed (S202: No), the controller 11 returns to step S201 and executes the processing of step S201.

[0072] When it is determined that the predetermined time has elapsed (S202: Yes), the controller 11 issues a start permission notification (S203). Specifically, the controller 11 generates a signal for issuing the start permission notification. Then, the controller 11 outputs the generated signal to the monitor 21 and the speaker 22.

[0073] As a result, the monitor 21 and the speaker 22 notify the driver of the host vehicle C1 that it is possible to start the host vehicle C1 safely. For example, a voice saying "It is safe to start" is output by the speaker 22. Note that it is also possible to notify the driver that it is possible to start the host vehicle C1 safely by at least one of the monitor 21 and the speaker 22.

[0074] In this way, when another vehicle C2 present in the direction of travel of the vehicle C1 has not moved toward the vehicle C1 and a predetermined amount of time has elapsed, the controller 11 notifies the driver of the vehicle C1 that it is possible to start moving.

[0075] As a result, when the host vehicle C1 starts moving, the vehicle-mounted device 1 can notify the driver of the host vehicle C1 of the safety of starting the vehicle, and can provide driving assistance to the driver of the host vehicle C1.

[0076] In step S106, the controller 11 determines whether or not the driver of the host vehicle C1 is being alerted. If the driver of the host vehicle C1 is being alerted (S106: Yes), the controller 11 ends the alert (S107).

[0077] If the driver of the vehicle C1 is not being alerted (S106: No), the controller 11 ends the current process.

[0078] (Third embodiment) Next, the vehicle-mounted device 1 according to the third embodiment will be described. Here, differences from the first embodiment will be described. Explanation of the same configuration as the first embodiment will be omitted.

[0079] As shown in Fig. 7, the camera 20 includes a first camera 20a, a second camera 20b, and a third camera 20c. The third camera 20c captures images of the inside of the host vehicle C1, specifically, the driver of the host vehicle C1. Fig. 7 is a diagram showing the layout of a portion of the vehicle-mounted device 1 according to the third embodiment.

[0080] The image recognition AI models stored in the storage unit 10 of the vehicle-mounted device 1 include a fourth model, a fifth model, and a sixth model.

[0081] The fourth model is a model that detects the backup lights of another vehicle C2 located in front of the host vehicle C1 from image data captured by the first camera 20a, which captures the area in front of the host vehicle C1, and detects whether the backup lights are on or not.

[0082] The fifth model is a model that detects the driver of the host vehicle C1 from image data captured by the third camera 20c that captures images of the interior of the host vehicle C1.

[0083] The sixth model is a model that detects the gaze direction of the driver of the vehicle C1. For example, the sixth model is a model that detects the gaze direction from the inner corners of the eyes, irises, corneal reflexes, pupils, etc. The sixth model may be a model that detects the gaze direction from the direction and posture of the person's face. The posture is detected, for example, from the orientation of the joints, etc.

[0084] At least two of the fourth to sixth models may be integrated models. At least one of the fourth to sixth models may be integrated with any of the first to third models.

[0085] The attention drawing process according to the third embodiment will be described with reference to Fig. 8. Fig. 8 is a flowchart illustrating the attention drawing process according to the third embodiment.

[0086] The controller 11 determines whether the host vehicle C1 will move forward (S300). Specifically, the controller 11 detects the operating position of the shift lever based on a signal related to the operating position of the shift lever acquired from the position sensor 23. The controller 11 then determines whether the operating position of the shift lever is a forward position. If the operating position of the shift lever is a forward position, the controller 11 determines that the host vehicle C1 will move forward, i.e., that the host vehicle C1 will start moving forward. If the operating position of the shift lever is not a forward position, the controller 11 determines that the host vehicle C1 will not move forward.

[0087] When the controller 11 determines that the host vehicle C1 will move forward (S300: Yes), it determines whether or not another vehicle C2 is present ahead, which is the traveling direction of the host vehicle C1 (S301). Specifically, the controller 11 determines whether or not another vehicle C2 is present ahead of the host vehicle C1 by performing image processing using a first model on image data captured by the first camera 20a that captures an image ahead of the host vehicle C1. When the controller 11 detects the other vehicle C2 ahead, which is the traveling direction of the host vehicle C1, at a distance equal to or less than a predetermined distance, the controller 11 determines that the other vehicle C2 is present ahead. When the controller 11 does not detect the other vehicle C2 ahead, which is the traveling direction of the host vehicle C1, at a distance equal to or less than a predetermined distance, the controller 11 determines that the other vehicle C2 is not present ahead.

[0088] The determination of whether or not the other vehicle C2 is present in the traveling direction of the host vehicle C1 may be made based on a signal detected by a distance sensor.

[0089] When it is determined that the other vehicle C2 does not exist ahead of the host vehicle C1 (S301: No), the controller 11 executes the process of step S312, which will be described later.

[0090] When the controller 11 determines that the other vehicle C2 is present ahead of the host vehicle C1 (S301: Yes), the controller 11 determines whether the backup lights of the other vehicle C2 present ahead of the host vehicle C1 are on or not (S302). Specifically, the controller 11 performs image processing using the fourth model on the image data captured by the first camera 20a. As a result, the controller 11 detects the backup lights of the other vehicle C2 present ahead of the host vehicle C1, and further determines whether the backup lights of the other vehicle C2 present ahead of the host vehicle C1 are on or off. Note that when the controller 11 does not detect the backup lights of the other vehicle C2 present ahead of the host vehicle C1, the controller 11 determines that the backup lights of the other vehicle C2 are not on, i.e., the backup lights of the other vehicle C2 are off.

[0091] If the controller 11 determines that the backup lights of another vehicle C2 in front of the host vehicle C1 are on (S302: Yes), that is, if the other vehicle C2 is reversing toward the host vehicle C1, it executes the processing of step S308, which will be described in detail later.

[0092] If the controller 11 determines that the backup lights of the other vehicle C2 in front of the host vehicle C1 are not on (S302: No), it determines whether the other vehicle C2 in front of the host vehicle C1 is approaching from the front (S303).

[0093] Specifically, the controller 11 determines whether or not the other vehicle C2 is approaching from the front based on the processing result in step S301. In the processing in step S301, the controller 11 performs image processing using a first model on image data captured by the first camera 20a that captures an image ahead of the host vehicle C1, thereby detecting the distance to the other vehicle C2.

[0094] The controller 11 stores the distance to the other vehicle C2 detected in the processing of step S301. For example, the controller 11 calculates the difference between the distance to the other vehicle C2 detected in the processing of step S301 a predetermined time before the current processing and the distance to the other vehicle C2 detected in the processing of step S301 this time. If the calculated difference is equal to or greater than a predetermined departure determination distance, the controller 11 determines that the other vehicle C2 is approaching from the front. If the calculated difference is less than the predetermined departure determination distance, the controller 11 determines that the other vehicle C2 is not approaching from the front.

[0095] When it is determined that the other vehicle C2 is not approaching from the front (S303: No), the controller 11 executes the process of step S312, which will be described later.

[0096] When it is determined that the other vehicle C2 is approaching from the front (S303: Yes), the controller 11 executes the process of step S308, which will be described in detail later. As described above, in the third embodiment, the approach of the other vehicle C2 to the host vehicle C1 is determined based on the illumination of the backup lamps of the other vehicle C2 (step S302) or the reduction of the actual distance (step S303).

[0097] When the controller 11 determines that the host vehicle C1 will not move forward (S300: No), it determines whether the host vehicle C1 will move backward (S304). The controller 11 determines whether the host vehicle C1 will move backward based on a signal relating to the operating position of the shift lever acquired from the position sensor 23. When the operating position of the shift lever is in the reverse position, the controller 11 determines that the host vehicle C1 will move backward. When the operating position of the shift lever is not in the reverse position, the controller 11 determines that the host vehicle C1 will not move backward.

[0098] When it is determined that the host vehicle C1 will not move backward (S304: No), the controller 11 executes the process of step S312, which will be described later.

[0099] When the controller 11 determines that the host vehicle C1 is moving backward (S304: Yes), the controller 11 determines whether or not another vehicle C2 is present behind the host vehicle C1 in the traveling direction (S305). Specifically, the controller 11 determines whether or not another vehicle C2 is present behind the host vehicle C1 by performing image processing using a first model on image data captured by the second camera 20b that captures an image of the area behind the host vehicle C1. When the controller 11 detects another vehicle C2 behind the host vehicle C1 in the traveling direction within a predetermined distance, the controller 11 determines that another vehicle C2 is present behind the host vehicle C1. When the controller 11 does not detect another vehicle C2 behind the host vehicle C1 in the traveling direction within a predetermined distance, the controller 11 determines that another vehicle C2 is not present behind the host vehicle C1.

[0100] When it is determined that the other vehicle C2 does not exist behind the host vehicle C1 (S305: No), the controller 11 executes the process of step S312, which will be described later.

[0101] When it is determined that the other vehicle C2 is present behind the host vehicle C1 (S305: Yes), the controller 11 determines whether the backup lamps of the other vehicle C2 present behind the host vehicle C1 are on (S306). That is, it determines whether the other vehicle C2 is also attempting to back up toward the host vehicle C1.

[0102] When the controller 11 determines that the backup lamps of the other vehicle C2 present behind the host vehicle C are on (S306: Yes), the controller 11 executes the process of step S308, which will be described later.

[0103] If the controller 11 determines that the backup lights of the other vehicle C2 behind the host vehicle C are not on (S306: No), it determines whether the other vehicle C2 behind the host vehicle C1 is approaching from behind (S307).

[0104] Specifically, the controller 11 determines whether the other vehicle C2 is approaching from behind based on the processing result in step S305. In the processing in step S305, the controller 11 performs image processing using the first model on image data captured by the second camera 20b that captures an image behind the host vehicle C1, thereby detecting the distance to the other vehicle C2.

[0105] The controller 11 stores the distance to the other vehicle C2 detected in the processing of step S305. For example, the controller 11 calculates the difference between the distance to the other vehicle C2 detected in the processing of step S305 a predetermined time before the current processing and the distance to the other vehicle C2 detected in the processing of step S305 this time. If the calculated difference is equal to or greater than a predetermined departure determination distance, the controller 11 determines that the other vehicle C2 is approaching from behind. If the calculated difference is less than the predetermined departure determination distance, the controller 11 determines that the other vehicle C2 is not approaching from behind.

[0106] When it is determined that the other vehicle C2 is not approaching from behind (S307: No), the controller 11 executes the process of step S312, which will be described later.

[0107] When the controller 11 determines that the backup lights of the vehicle C2 in front of the host vehicle C1 are on (S302: Yes) or that the vehicle C2 is approaching from the front (S303: Yes), the controller 11 executes the process of step S308. When the controller 11 determines that the backup lights of the vehicle C2 in the rear of the host vehicle C1 are on (S306: Yes) or that the vehicle C2 is approaching from the rear (S307: Yes), the controller 11 executes the process of step S308.

[0108] The controller 11 determines whether the driver of the host vehicle C1 has been detected (S308). Specifically, the controller 11 detects the driver of the host vehicle C1 by performing image processing using the fifth model on image data captured by the third camera 20c that captures an image of the interior of the host vehicle C1.

[0109] When it is determined that the driver of the host vehicle C1 has not been detected (S308: No), the controller 11 executes the process of step S312, which will be described later.

[0110] When the controller 11 determines that the driver of the host vehicle C1 has been detected (S308: Yes), the controller 11 determines whether the line of sight of the driver of the host vehicle C1 is in the traveling direction of the host vehicle C1 (S309). Specifically, the controller 11 detects the line of sight of the driver of the host vehicle C1 by performing image processing using the sixth model on image data captured by the third camera 20c that captures the interior of the host vehicle C1. Then, the controller 11 determines whether the detected line of sight of the driver of the host vehicle C1 is in the traveling direction of the host vehicle C1. In other words, the controller 11 determines whether the detected line of sight of the driver of the host vehicle C1 is directed toward another vehicle C2 that is present in the traveling direction of the host vehicle C1.

[0111] When the controller 11 determines that the line of sight of the driver of the host vehicle C1 is in the traveling direction of the host vehicle C1 (S309: Yes), the controller 11 executes the process of step S312, which will be described later.

[0112] When the controller 11 determines that the line of sight of the driver of the host vehicle C1 is not in the traveling direction of the host vehicle C1 (S309: No), the controller 11 issues a warning to the driver of the host vehicle C1 (S310). Specifically, when the line of sight of the driver of the host vehicle C1 is not in the traveling direction of the host vehicle C1, the controller 11 determines that there is a possibility that the driver of the host vehicle C1 is unaware of the other vehicle C2 that is present in the traveling direction of the host vehicle C1. Then, when the host vehicle C1 starts moving, the controller 11 determines that there is a risk of collision between the host vehicle C1 and the other vehicle C2. Therefore, the controller 11 issues a warning to the driver of the host vehicle C1. The controller 11 generates a signal for issuing the warning. The controller 11 outputs the generated signal to at least one of the monitor 21 and the speaker 22.

[0113] For example, when the host vehicle C1 starts moving, the controller 11 detects that the backup lamps of the other vehicle C2 are on, and the line of sight of the driver of the host vehicle C1 is not directed toward the other vehicle C2, the controller 11 alerts the driver of the host vehicle C1.

[0114] As a result, when there is a possibility that the driver of the host vehicle C1 is unaware of the retreating of the other vehicle C2 present in the traveling direction of the host vehicle C1, the vehicle-mounted device 1 alerts the driver of the host vehicle C1. Therefore, the vehicle-mounted device 1 can urge the driver of the host vehicle C1 to take action to avoid contact between the host vehicle C1 and the other vehicle C2, thereby preventing contact between the host vehicle C1 and the other vehicle C2.

[0115] Furthermore, for example, when the host vehicle C1 starts moving forward, another vehicle C2 in front of the host vehicle C1 backs up and approaches the host vehicle C1, and the line of sight of the driver of the host vehicle C1 is not directed toward the other vehicle C2, the controller 11 issues a warning to the driver of the host vehicle C1. That is, when the host vehicle C1 starts moving, the other vehicle C2 moves toward the host vehicle C1, and the line of sight of the driver of the host vehicle C1 is not directed toward the other vehicle C2, the controller 11 issues a warning to the driver of the host vehicle C1.

[0116] As a result, when there is a possibility that the driver of the host vehicle C1 is unaware of the approach of another vehicle C2 present in the traveling direction of the host vehicle C1 to the host vehicle C1, the in-vehicle device 1 issues a warning to the driver of the host vehicle C1, thereby preventing contact between the host vehicle C1 and the other vehicle C2. For example, when the other vehicle C2 present in front of the host vehicle C1 is rolling backward due to its own weight on an uphill road and the driver of the host vehicle C1 is unaware of the rolling backward of the other vehicle C2, the in-vehicle device 1 issues a warning to the driver of the host vehicle C1. As a result, the in-vehicle device 1 can urge the driver of the host vehicle C1 to take action to avoid contact between the host vehicle C1 and the other vehicle C2, thereby preventing contact between the host vehicle C1 and the other vehicle C2.

[0117] Next, the controller 11 determines whether or not a predetermined waiting time has elapsed (S311). If the controller 11 determines that the predetermined waiting time has not elapsed (S311: No), the controller 11 repeats the processing of step S311 until the predetermined waiting time has elapsed. If the controller 11 determines that the predetermined waiting time has elapsed (S311: Yes), the controller 11 ends this processing.

[0118] The controller 11 executes the process of step S312 when it determines that the other vehicle C2 is not present ahead of the host vehicle C1 (S301: No) or when it determines that the other vehicle C2 is not approaching from the front (S303: No). Furthermore, the controller 11 executes the process of step S312 when it determines that the host vehicle C1 is not moving backward (S304: No) or when it determines that the other vehicle C2 is not present behind the host vehicle C1 (S305: No). Furthermore, the controller 11 executes the process of step S312 when it determines that the other vehicle C2 is not approaching from the rear (S307: No) or when it determines that the driver of the host vehicle C1 has not been detected (S308: No). Furthermore, the controller 11 executes the process of step S312 when it determines that the line of sight of the driver of the host vehicle C1 is in the traveling direction of the host vehicle C1 (S309: Yes).

[0119] In step S312, the controller 11 determines whether or not the driver of the vehicle C1 is being alerted. If the driver of the vehicle C1 is being alerted (S312: Yes), the controller 11 ends the alert (S313). If the driver of the vehicle C1 is not being alerted (S312: No), the controller 11 ends the current process.

[0120] As shown in Fig. 9, the attention calling process according to the third embodiment may omit part of the attention calling process of Fig. 8. Fig. 9 is a flowchart showing a modified example of the attention calling process according to the third embodiment. In the flowchart shown in Fig. 9, the processes of steps S302, S303, S306, and S307 shown in Fig. 8 are omitted.

[0121] When the controller 11 determines that another vehicle C2 exists in front of the host vehicle C1 (S301: Yes), the controller 11 determines whether or not the driver of the host vehicle C1 has been detected (S308). When the controller 11 determines that another vehicle C2 exists behind the host vehicle C1 (S305: Yes), the controller 11 determines whether or not the driver of the host vehicle C1 has been detected (S308). In other words, when the other vehicle C2 exists in the traveling direction of the host vehicle C1, the controller 11 determines whether or not the driver of the host vehicle C1 has been detected.

[0122] The process of step S308 and the process of step S309 may be one process. For example, the controller 11 may detect the driver of the host vehicle C1 using a model that combines the fifth model and the sixth model from image data captured by the third camera 20c that captures the interior of the host vehicle C1, and detect the gaze direction of the detected driver. When another vehicle C2 is present in the traveling direction of the host vehicle C1, the controller 11 detects the gaze direction of the host vehicle C1. Furthermore, when the host vehicle C1 starts moving and the gaze direction of the driver of the host vehicle C1 is not directed at the other vehicle C2, the controller 11 issues a warning to the driver of the host vehicle C1.

[0123] When the host vehicle C1 starts moving and another vehicle C2 is present in the traveling direction of the host vehicle C1, and the line of sight of the driver of the host vehicle C1 is not directed toward the other vehicle C2, the driver of the host vehicle C1 may not be looking at the other vehicle C2 and may not be aware of the other vehicle C2. In such a case, the in-vehicle device 1 can prevent contact between the host vehicle C1 and the other vehicle C2 by alerting the driver of the host vehicle C1.

[0124] In addition, when the host vehicle C1 starts moving, the distance between the host vehicle C1 and the other vehicle C2 is less than a predetermined distance, and the driver of the host vehicle C1 is not looking at the other vehicle C2, the controller 11 alerts the driver of the host vehicle C1.

[0125] As a result, the vehicle-mounted device 1 issues a warning to the driver of the vehicle C1 when there is a risk of the vehicle C1 coming into contact with another vehicle C2 that is close to the vehicle C1. That is, the vehicle-mounted device 1 does not issue a warning about another vehicle C2 that is far from the vehicle C1. Therefore, the vehicle-mounted device 1 can prevent unnecessary warnings from being issued and prevent the driver of the vehicle C1 from feeling uncomfortable.

[0126] As shown in Fig. 10, the attention calling process according to the third embodiment may omit part of the attention calling process of Fig. 8. Fig. 10 is a flowchart showing a modified example of the attention calling process according to the third embodiment. In the flowchart shown in Fig. 10, the processes of steps S304 to S307 shown in Fig. 8 are omitted.

[0127] The third embodiment may be applied in combination with the first embodiment and the second embodiment. For example, the vehicle-mounted device 1 may be capable of executing the attention-calling process according to the first embodiment and the attention-calling process according to the third embodiment.

[0128] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0129] 1 Onboard device 10 Storage section 11 Controller 20 Camera 20a 1st Camera 20b Second Camera 20c Third Camera 23 Position Sensor C1 Vehicle C2 Other vehicles

Claims

1. A controller is provided to alert the driver of the vehicle; The controller If another vehicle is present in the traveling direction of the host vehicle, the line of sight direction of the driver of the other vehicle is detected; A driving assistance device that alerts the driver of the host vehicle when the host vehicle starts moving and the driver of the other vehicle is not looking at the host vehicle.

2. The driving assistance device according to claim 1 , wherein the controller detects that the host vehicle has started moving when an operation position of an operation unit that sets a traveling direction of the host vehicle is a traveling position.

3. The controller The driving assistance device according to claim 1 , wherein when the other vehicle present in the traveling direction of the host vehicle is moving toward the host vehicle, the driving assistance device issues a warning to the driver of the host vehicle.

4. The controller 4. The driving assistance device according to claim 3, wherein when the other vehicle present in the traveling direction of the host vehicle has not moved toward the host vehicle and a stop determination time has elapsed since an operating unit that sets the traveling direction of the host vehicle was operated to a traveling position, the driving assistance device notifies the driver of the host vehicle that it is possible to start moving.

5. a step of detecting a line of sight direction of a driver of another vehicle when the other vehicle is present in the traveling direction of the own vehicle; a step of issuing a warning to the driver of the other vehicle when the other vehicle starts moving and the driver's line of sight is not directed toward the other vehicle; A program that causes a computer to execute the following.

6. A controller is provided to alert the driver of the vehicle; The controller When another vehicle is present in the traveling direction of the subject vehicle, the direction of the line of sight of the driver of the subject vehicle is detected; A driving assistance device that alerts a driver of the host vehicle when the host vehicle starts moving and the driver's line of sight is not directed toward the other vehicle.

7. 7. The driving assistance device according to claim 6, wherein the controller issues a warning to the driver of the host vehicle when the host vehicle starts moving, detects that the backup lamps of the other vehicle are on, and the driver's line of sight is not directed toward the other vehicle.

8. 7. The driving assistance device according to claim 6, wherein the controller issues a warning to the driver of the host vehicle when the host vehicle starts moving, the other vehicle moves toward the host vehicle, and the driver's line of sight is not directed toward the other vehicle.

9. The controller 7. The driving assistance device according to claim 6, wherein when the host vehicle starts moving, the distance between the host vehicle and the other vehicle is equal to or less than a contact danger distance, and the driver of the host vehicle is not looking in the direction of the other vehicle, the driving assistance device issues a warning to the driver of the host vehicle.

10. a step of detecting a line of sight direction of a driver of the own vehicle when another vehicle is present in the traveling direction of the own vehicle; a step of issuing a warning to the driver of the vehicle when the vehicle starts moving and the driver's line of sight is not directed toward the other vehicle; A program that causes a computer to execute the following.

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