Driving support device, driving support method, and program

Abstract

To provide a driving support device, a driving support method, and a program that can perform a notification for a monitoring target which exists around a moving object in a mode that is easy for a driver to understand.SOLUTION: A driving support device 1 comprises: a monitoring target recognition unit that recognizes a monitoring target which exists around a moving object 100; and an attention-call notification unit that displays a character image 50 having a face portion in front of a driver seat of the moving object 100 by a display device 31 provided in the moving object 100, and executes an attention-call notification to change from a traveling direction gaze image 50a which has a face directed in the traveling direction of the character image 50 and the moving object 100, to monitoring target gaze images 50b, 50c which have the face directed in the monitoring target direction, when the monitoring target is recognized by the monitoring target recognition unit.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. Toward this goal, efforts are being made to further improve traffic safety and convenience through research and development of driving assistance technologies. For example, Patent Document 1 discloses a vehicle information display device that projects a character onto the windshield as a display image to notify the vehicle user of the presence of an object that may obstruct the vehicle's progress. The vehicle information display device changes the character's size, projection position, shape, color, and facial expression according to at least one of the object's level of danger and urgency. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-9446 Summary of the Invention [Problem to be solved by the invention]

[0004] In driving assistance technology, it is effective to notify the driver of a vehicle of the presence of an object that may impede the vehicle's progress. However, as in the above-mentioned conventional vehicle information display device, if the size, position, shape, color, and expression of a character displayed on the windshield are changed depending on the object's level of danger and urgency, it is difficult for the driver to grasp the object's level of danger and urgency. Therefore, it is an object of the present invention to notify the driver of monitored objects present around a moving object such as a vehicle in a manner that is easy for the driver to grasp. The present application aims to solve the above-mentioned problems by notifying a driver of monitored objects present around a moving object in a manner that is easy for the driver to understand, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0005] As a first aspect for achieving the above object, there is a driving assistance device that includes a monitored object recognition unit that recognizes monitored objects present in the vicinity of a moving body, and an attention warning notification unit that displays a character image having a face in front of the driver's seat of the moving body using a display device provided on the moving body, and when the monitored object is recognized by the monitored object recognition unit, executes an attention warning notification by changing the character image from a forward direction gaze image with the face facing in the forward direction of the moving body to a monitored object gaze image with the face facing in the direction of the monitored object.

[0006] In the above driving assistance device, the character image may have a gaze identification portion for identifying the direction of the character image's gaze, the traveling direction gaze image may be configured so that the gaze identification portion makes it possible to recognize that the gaze of the character image is directed in the traveling direction of the moving body, and the monitored object gaze image may be configured so that the gaze identification portion makes it possible to recognize that the gaze of the character image is directed toward the monitored object.

[0007] In the above driving assistance device, the display device may be a head-up display that projects an image onto a predetermined location on the front window of the moving body in front of the driver's seat of the moving body, and the attention warning notification unit may be configured to project and display the character image onto the predetermined location on the front window of the moving body using the display device.

[0008] The driving assistance device may be configured to include a risk level determination unit that determines the degree of risk to the moving body of the monitored object recognized by the monitored object recognition unit, and the warning notification unit may be configured to change the display mode of the character image depending on the degree of risk to the monitored object.

[0009] In the driving assistance device, the attention alert notification unit may be configured to change at least one of a size, a color, and an action of the character image according to the degree of risk of the monitored object.

[0010] In the driving assistance device, the attention alert notification unit may be configured to shorten the time it takes to change from the travel direction gaze image to the monitored object gaze image as the risk level of the monitored object increases.

[0011] In the driving assistance device, the warning notification may be executed multiple times when the angle difference between the facial orientation of the character image in the traveling direction gaze image and the monitored object gaze image is equal to or less than a predetermined value.

[0012] The driving assistance device may be further provided with a risk level determination unit that determines the level of risk to the moving body of the monitored object recognized by the monitored object recognition unit, and the warning notification unit may be configured to issue the warning notification for the monitored object with the highest risk level when multiple monitored objects are recognized by the monitored object recognition unit.

[0013] The driving assistance device may further include a risk level determination unit that determines the level of risk to the moving body of the monitored object recognized by the monitored object recognition unit, and the attention warning notification unit may be configured to execute a process in which, when multiple monitored objects are recognized by the monitored object recognition unit, the direction of the face of the character image is sequentially changed and displayed from the traveling direction gaze image to the monitored object with the highest risk level to the monitored object with the lowest risk level as the attention warning notification.

[0014] The driving assistance device may include a driving operation recognition unit that recognizes the driving operation of the moving body, and the attention warning notification unit may be configured to issue the attention warning again if, after issuing the attention warning, the driving operation recognition unit does not recognize a driving operation to avoid the risk posed by the monitored object.

[0015] The driving assistance device may be configured to include a gaze direction recognition unit that recognizes the gaze direction of the driver of the moving body, and the attention warning notification unit may be configured to issue the attention warning again if, after issuing the attention warning notification, the gaze direction recognition unit does not recognize that the driver's gaze direction has changed toward the monitored object.

[0016] As a second aspect for achieving the above object, there is mentioned a driving assistance method executed by a computer, which includes: a monitored object recognition step for recognizing monitored objects present in the vicinity of a moving body; and an attention warning notification step for displaying a character image having a face in front of the driver's seat of the moving body by a display device provided on the moving body, and when the monitored object is recognized by the monitored object recognition step, executing an attention warning notification by changing the character image from a forward direction gaze image in which the character image faces in the forward direction of the moving body to a monitored object gaze image in which the character image faces in the direction of the monitored object.

[0017] As a third aspect for achieving the above object, there is provided a program for causing a computer to function as a monitored object recognition unit that recognizes monitored objects present in the vicinity of a mobile body, and an attention warning notification unit that displays a character image having a face in front of the driver's seat of the mobile body using a display device provided on the mobile body, and when the monitored object is recognized by the monitored object recognition unit, executes an attention warning notification by changing the character image from a forward direction gaze image with the face facing in the direction of travel of the mobile body to a monitored object gaze image with the face facing in the direction of the monitored object. [Effects of the Invention]

[0018] According to the driving assistance device, the driving assistance method, and the program, it is possible to notify the driver of a monitored object present in the vicinity of the mobile body in a manner that is easy for the driver to understand. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a configuration diagram of a driving assistance device. [Figure 2] FIG. 2 is an explanatory diagram of a display mode of a character image by the driving assistance device. [Figure 3] FIG. 3 is a flowchart of the attention notification process. [Figure 4] FIG. 4 is an explanatory diagram of a manner in which the face direction of a character image is changed. DETAILED DESCRIPTION OF THE INVENTION

[0020] [1. Configuration of driving assistance device] The configuration of a driving assistance device 1 according to the present disclosure will be described with reference to Figures 1 and 2. Referring to Figure 1, the driving assistance device 1 is mounted on a vehicle 100 and is connected to a communication unit 30, a HUD (Head-Up Display) 31, a display 32 such as a DA (Display Audio), a front camera 40, a front radar 41, a rear camera 42, a rear radar 43, a driver monitor camera 44, a speed sensor 45, a steering angle sensor 46, an accelerator pedal sensor 47, a brake pedal sensor 48, and the like, all of which are provided in the vehicle 100. The vehicle 100 corresponds to a moving body according to the present disclosure. The HUD 31 corresponds to a display device according to the present disclosure.

[0021] The communication unit 30 communicates with the traffic information server 210, other vehicles 110, etc. via the communication network 200. Note that communication with other vehicles 110, etc. may be performed directly between vehicles without going through the communication network 200. The front camera 40 captures an image of the area ahead of the vehicle 100 and inputs the image of the area ahead to the driving assistance device 1. The front radar 41 detects the position of an object ahead of the vehicle 100 and inputs the position detection data to the driving assistance device 1.

[0022] The rear camera 42 captures an image of the rear of the vehicle 100 and inputs the rear image to the driving assistance device 1. The rear radar 43 detects the position of an object behind the vehicle 100 and inputs the position detection data to the driving assistance device 1. Note that, instead of radar, LiDAR may be used as a means for recognizing the position of an object around the vehicle 100. The driver monitor camera 44 captures an image of the driver D of the vehicle 100 and inputs an image of the driver D (mainly an image of the driver D's face) to the driving assistance device 1.

[0023] The speed sensor 45 detects the traveling speed of the vehicle 100 and inputs the speed detection data to the driving assistance device 1. The steering angle sensor 46 detects the steering angle of the steering wheel 3 (see FIG. 2) and inputs the steering angle detection data to the driving assistance device 1. The accelerator pedal sensor 47 detects the operation amount of the accelerator pedal 4 (see FIG. 2) and inputs the operation amount detection data to the driving assistance device 1. The brake pedal sensor 48 detects the operation amount of the brake pedal 5 (see FIG. 2) and inputs the operation amount detection data to the driving assistance device 1.

[0024] As shown in Fig. 2, the HUD 31 projects an image onto a predetermined location 2a on the front windshield 2 of the vehicle 100. The predetermined location 2a is located in front of the driver's seat 6. Fig. 2 illustrates a state in which character images 50 (50a, 50b, 50c) resembling people are projected by the HUD 31. The display 32 displays route guidance information, traffic information, etc.

[0025] The driving assistance device 1 is a control unit including a processor 10, a memory 20, and the like. The processor 10 may be a single processor or a multiprocessor. A program 21 for controlling the driving assistance device 1 is stored in the memory 20. The program 21 may be read from a recording medium (such as a magnetic disk, an optical disk, or a flash memory) and stored in the memory 20, or may be downloaded from a vehicle management server or the like via a communication network 200 and stored in the memory 20.

[0026] By reading and executing the program 21, the processor 10 functions as a monitored object recognition unit 11, a risk degree determination unit 12, a driving operation recognition unit 13, a gaze direction recognition unit 14, and an attention alert notification unit 15. The processing executed by the monitored object recognition unit 11 corresponds to the monitored object recognition step in the driving assistance method of the present disclosure, and the processing executed by the attention alert notification unit 15 corresponds to the attention alert notification step in the driving assistance method of the present disclosure.

[0027] The monitored object recognition unit 11 recognizes monitored objects present in front of the vehicle 100 based on a forward image of the vehicle 100 captured by the front camera 40 and position detection data of objects in front of the vehicle 100 detected by the front radar 41. Of the objects present in front of the vehicle 100, the monitored object recognition unit 11 calculates a predicted time until the object comes into contact with the vehicle 100 based on the traveling direction and speed of the vehicle 100 and the traveling direction and moving speed of the object. Then, the monitored object recognition unit 11 recognizes an object whose predicted time until it comes into contact with the vehicle 100 is equal to or shorter than a predetermined time as a monitored object.

[0028] Similarly, the monitored object recognition unit 11 recognizes the situation behind the vehicle 100 based on a rear image of the vehicle 100 captured by the rear camera 42 and position detection data of objects behind the vehicle 100 detected by the rear radar 43. Of the objects present behind the vehicle 100, the monitored object recognition unit 11 calculates a predicted time until the object will come into contact with the vehicle 100 based on the traveling direction and speed of the vehicle 100 and the traveling direction and moving speed of the object. Then, the monitored object recognition unit 11 recognizes an object whose predicted time until it will come into contact with the vehicle 100 is equal to or shorter than a predetermined time as a monitored object. Note that the monitored object recognition unit 11 may recognize a monitored object by receiving position information, traveling speed information, etc. of other vehicles present in the vicinity of the vehicle 100 transmitted from the traffic information server 210 or other vehicles 110.

[0029] The risk degree determination unit 12 determines the degree of risk to the vehicle 100 for the monitored object recognized by the monitored object recognition unit 11. The shorter the predicted time until the monitored object comes into contact with the vehicle 100, the higher the risk degree determined by the risk degree determination unit 12. Note that the risk degree determination unit 12 may determine the risk degree according to the type of monitored object, for example, pedestrian > other vehicle > fixed object (wall, house, guardrail, etc.). Furthermore, the greater the degree of damage that would occur if the vehicle 100 were to come into contact with the monitored object, the higher the risk degree of the monitored object may be determined to be.

[0030] The driving operation recognition unit 13 recognizes the operation status of the steering wheel 3, accelerator pedal 4, and brake pedal 5 by the driver D based on detection signals from the steering angle sensor 46, accelerator pedal sensor 47, and brake pedal sensor 48. The gaze direction recognition unit 14 recognizes the gaze direction of the driver D from an image of the driver D's face captured by the driver monitor camera 44.

[0031] When the monitored object is recognized by the monitored object recognition unit 11, the attention alert notification unit 15 issues an attention alert by switching the facial orientation of the character image 50 shown in Fig. 2 toward the monitored object. The character image 50 has a face, and has a directional hairstyle, collared clothing, and arm parts as gaze identification parts for easily identifying the gaze direction of the character image 50. Note that the character image 50 may also have image parts such as a brimmed hat, clothing design, etc. as gaze identification parts.

[0032] For example, when the monitored object recognition unit 11 recognizes a pedestrian 90 present in the front left of the vehicle 100 as a monitored object, the attention warning notification unit 15 executes an attention warning notification by changing the character image 50 from a character image (image gazing at the direction of travel) 50a with the face facing the direction of travel of the vehicle 100 to a character image (image gazing at the monitored object) 50b with the face facing in the direction of the pedestrian 90, as shown in speech bubble B1 (rotating the character image 50 around the body axis).

[0033] Similarly, when the monitored object recognition unit 11 recognizes a monitored object present in the right front of the vehicle 100, the attention alert notification unit 15 changes the character image 50 from the traveling direction gazing image 50a to a character image 50c with its face facing the right front of the vehicle 100, as shown in speech bubble B2. Furthermore, when the monitored object recognition unit 11 recognizes a monitored object present behind the vehicle 100, the attention alert notification unit 15 changes the character image 50 from the traveling direction gazing image 50a to a character image with its face facing the rear of the vehicle 100 (monitored object gazing image).

[0034] [2. Processing of warning notifications] The procedure of the process of issuing an attention-call notification for a monitored object, which is executed by the driving support device 1, will be described with reference to the flowchart shown in FIG.

[0035] 3, the attention alert notification unit 15 determines whether the traveling speed of the vehicle 100 recognized from the speed detection signal of the speed sensor 45 exceeds a predetermined speed (for example, several km / h). Then, when the traveling speed of the vehicle 100 is changing from the predetermined speed, the attention alert notification unit 15 proceeds to step S2. In step S2, the attention alert notification unit 15 displays, on a predetermined position 2a of the front window 2, a character image (traveling direction gazing image) 50a, which faces in the traveling direction of the vehicle 100, by the HUD 31, as shown in FIG.

[0036] In the following step S3, the monitored object recognition unit 11 searches for a monitored object in the vicinity of the vehicle 100. In the next step S4, if the monitored object recognition unit 11 recognizes a monitored object, the process proceeds to step S5, and if the monitored object recognition unit 11 does not recognize a monitored object, the process proceeds to step S9. In step S5, the attention warning notification unit 15 changes the character image 50 from a traveling direction gazing image 50a with the face facing the traveling direction A1 of the vehicle 100 to a monitored object gazing image 50b with the face facing the direction A2 of the monitored object (rotates the character image 50 around the body axis), as shown by arrow C in FIG.

[0037] In the following step S6, the attention alert notification unit 15 determines whether the position of the monitored object is in front of the vehicle 100. If the position of the monitored object is in front of the vehicle 100, the attention alert notification unit 15 proceeds to step S7, and if the position of the monitored object is not in front of the vehicle 100, the attention alert notification unit 15 proceeds to step S9. In step S7, the attention alert notification unit 15 determines whether the angle difference θ (see FIG. 4) between the facial orientations of the traveling direction gaze image 50a and the monitored object gaze image 50b is equal to or less than a predetermined value.

[0038] If the angular difference θ is equal to or smaller than the predetermined value, the attention alert notification unit 15 proceeds to step S8, and if the angular difference θ is greater than the predetermined value, the attention alert notification unit 15 proceeds to step S9. In step S8, the attention alert notification unit 15 again executes an attention alert notification by changing the character image 80 from the traveling direction gazing image 80a to the monitored object gazing image 50b.

[0039] In this way, when the monitored object is located in front of the vehicle 100 and the angle difference in the facial orientation between the forward gaze image and the monitored object gaze image is small, it is assumed that the driver D will have difficulty noticing the change from the forward gaze image to the monitored object gaze image, and the effectiveness of the warning to the driver D can be increased by issuing a warning notification multiple times.

[0040] 3. Other Embodiments In the alert notification by the alert notification unit 15, the display mode of the character image 50 may be changed, for example, as shown in the following risk display examples 1 to 4, depending on the risk level of the monitored object determined by the risk level determination unit 12. Also, any of the following risk display examples 1 to 4 may be displayed in combination. Risk display example 1: As the risk level of the monitored object increases, the color of the character image 50 changes, for example, from green to yellow to red. Risk display example 2: As the risk level of the monitored object increases, the size of the character image 50 increases. Risk display example 3: As the risk level of the monitored object increases, the time taken for the character image 50 to change from a traveling direction gaze image to a monitored object gaze image is shortened. Risk display example 4: As the risk level of the monitored object increases, the blinking cycle of the character image 50 is shortened.

[0041] When a plurality of monitoring objects are recognized by the monitoring object recognition unit 11, the attention alert notification unit 15 may execute the attention alert notification in step S5 shown in Fig. 3 for the monitoring object with the highest risk level determined by the risk level determination unit 12. Alternatively, the facial direction of the character image 50 may be changed sequentially from the monitoring object with the highest risk level to the monitoring object with the lowest risk level. For example, when the risk level is set to 10 levels from level 1 (lowest) to level 10 (highest), if a pedestrian with a risk level of level 9, an oncoming vehicle with a risk level of level 7, and a guardrail with a risk level of level 3 are recognized as monitoring objects, the attention alert notification unit 15 changes the facial direction of the character image 50 in the following order: Direction of travel of vehicle 100 → direction of pedestrian → direction of oncoming vehicle → direction of guardrail.

[0042] After the attention alert notification unit 15 issues an attention alert notification, if the driving operation recognition unit 13 does not recognize an operation by the driver D to avoid contact with the monitored object, the attention alert notification unit 15 may issue an attention alert notification again. The operation to avoid contact with the monitored object includes operating the steering wheel 3 to move the traveling direction of the vehicle 100 away from the direction of the monitored object, reducing the operation amount of the accelerator pedal 4 or operating the brake pedal 5 to decelerate the vehicle 100, etc.

[0043] After the attention warning notification unit 15 issues an attention warning, if the gaze direction recognition unit 14 does not recognize that the gaze direction of the driver D has turned toward the monitored object, the attention warning notification unit 15 may issue an attention warning notification again.

[0044] In the above embodiment, a character image 50 resembling a human was shown as the character image of the present disclosure, but the character image of the present disclosure only needs to have a face, and may also be a character resembling an animal, a character resembling a robot, etc.

[0045] In the above embodiment, a vehicle 100 is shown as a moving body of the present disclosure, but the moving body of the present disclosure may be any moving body that can effectively recognize monitored objects in the surrounding area and warn the driver, and may also be an aircraft, a ship, etc.

[0046] In the above embodiment, the attention alert notification unit 15 projects and displays the character image 50 on the windshield using the HUD 31. In another embodiment, the attention alert notification unit 15 may display the character image on a display device arranged in front of the driver's seat 6, such as the display 32. Alternatively, the character image may be displayed in front of the driver's seat 6 using a hologram.

[0047] 1 is a schematic diagram showing the configuration of the driving assistance device 1 divided by main processing content to facilitate understanding of the present invention, but the configuration of the driving assistance device 1 may be divided in other ways. Furthermore, the processing of each component may be executed by one hardware unit or multiple hardware units. Furthermore, the processing of each component shown in FIG. 3 may be executed by one program or multiple programs.

[0048] 4. Configurations supported by the above embodiments The above embodiment is a specific example of the following configuration.

[0049] (Configuration 1) A driving assistance device comprising: a monitored object recognition unit that recognizes monitored objects present in the vicinity of a moving body; and an attention warning notification unit that displays a character image having a face in front of the driver's seat of the moving body using a display device provided on the moving body, and that executes an attention warning notification by changing the character image from a forward direction gaze image with the face facing in the forward direction of the moving body to a monitored object gaze image with the face facing in the direction of the monitored object when the monitored object is recognized by the monitored object recognition unit. According to the driving assistance device of configuration 1, it is possible to notify the driver of the monitored object existing around the moving body in a manner that is easy for the driver to understand.

[0050] (Configuration 2) A driving assistance device as described in Configuration 1, wherein the character image has a gaze identification portion for identifying the direction of gaze of the character image, the traveling direction gaze image is recognizable by the gaze identification portion as having the gaze of the character image directed in the traveling direction of the moving body, and the monitored object gaze image is recognizable by the gaze identification portion as having the gaze of the character image directed toward the monitored object. According to the driving assistance device of configuration 2, it is possible to make it easier for the driver to recognize that the line of sight of the character image is directed at the monitored object, thereby improving the effectiveness of the attention-call notification.

[0051] (Configuration 3) A driving assistance device according to configuration 1 or 2, wherein the display device is a head-up display that projects an image onto a predetermined location on the front window of the moving body in front of the driver's seat of the moving body, and the attention alert notification unit projects and displays the character image onto the predetermined location on the front window of the moving body by the display device. According to the driving assistance device of configuration 3, by displaying a character image at a predetermined location in front of the driver's seat using a head-up display, the driver can easily recognize changes in the direction of the character image's face without having to move their line of sight significantly, thereby improving the visibility of the attention-calling notification.

[0052] (Configuration 4) A driving assistance device according to any one of configurations 1 to 3, further comprising a risk level determination unit that determines the degree of risk of the monitored object recognized by the monitored object recognition unit to the moving body, and the attention warning notification unit that changes the display mode of the character image depending on the degree of risk of the monitored object. According to the driving assistance device of configuration 4, the driver can be made aware of the degree of risk posed by the monitored object by changing the display mode of the character image.

[0053] (Configuration 5) The driving assistance device according to Configuration 4, wherein the attention warning unit changes at least one of the size, color, and movement of the character image depending on the degree of risk of the monitored object. According to the driving assistance device of configuration 5, the driver can be made aware of the degree of risk of the monitored object by changing at least one of the size, color, and movement of the character image depending on the degree of risk of the monitored object.

[0054] (Configuration 6) The driving assistance device according to Configuration 4, wherein the attention warning unit shortens the time it takes to change from the travel direction gaze image to the monitored object gaze image as the risk level of the monitored object increases. According to the driving support device of configuration 6, the driver can be made to recognize the degree of risk posed by the monitored object based on the length of time it takes for the image to switch from the traveling direction monitoring image to the monitored object monitoring image.

[0055] (Configuration 7) A driving assistance device described in any one of configurations 1 to 6, wherein the warning notification is executed multiple times when the angle difference between the facial direction of the character image in the traveling direction gaze image and the monitored object gaze image is less than a predetermined value. According to the driving assistance device of configuration 7, when the angle difference between the facial orientation of the character image in the forward gaze image and the monitored object gaze image is small and the driver has difficulty noticing the difference between the forward gaze image and the monitored object gaze image, the effectiveness of the driver's attention can be enhanced by issuing a warning notification multiple times.

[0056] (Configuration 8) A driving assistance device as described in any one of configurations 1 to 7, which includes a risk level determination unit that determines the level of risk to the moving body of the monitored object recognized by the monitored object recognition unit, and wherein the attention warning notification unit executes the attention warning notification for the monitored object with the highest risk level when multiple monitored objects are recognized by the monitored object recognition unit. According to the driving assistance device of configuration 8, when there are multiple monitored objects, the monitored object with the highest risk level can be given priority in calling the driver's attention.

[0057] (Configuration 9) A driving assistance device as described in any one of configurations 1 to 7, comprising a risk level determination unit that determines the level of risk to the moving body of the monitored object recognized by the monitored object recognition unit, and wherein the attention warning notification unit, when multiple monitored objects are recognized by the monitored object recognition unit, executes a process of sequentially changing and displaying the face direction of the character image from the traveling direction gaze image, from the monitored object with the highest risk level to the monitored object with the lowest risk level, as the attention warning notification. According to the driving assistance device of configuration 9, when there are multiple monitored objects, the facial direction of the character image is switched in order of increasing risk level, thereby encouraging the driver to recognize all monitored objects while prioritizing attention to monitored objects with a high risk level.

[0058] (Configuration 10) A driving assistance device as described in any one of configurations 1 to 9, comprising a driving operation recognition unit that recognizes the driving operation of the moving body, and the attention warning notification unit, after issuing the attention warning notification, executes the attention warning notification again if the driving operation recognition unit does not recognize a driving operation to avoid the risk posed by the monitored object. According to the driving assistance device of configuration 10, if the driving operation to avoid the risk posed by the monitored object is not recognized and there is a possibility that the driver does not recognize the monitored object, the warning notification can be issued again to prompt the driver to recognize the monitored object.

[0059] (Configuration 11) A driving assistance device described in any one of configurations 1 to 10, comprising a gaze direction recognition unit that recognizes the gaze direction of the driver of the moving body, and the attention warning notification unit executes the attention warning notification again if, after issuing the attention warning notification, the gaze direction recognition unit does not recognize that the driver's gaze direction has changed toward the monitored object. According to the driving assistance device of configuration 11, if it is not recognized that the driver's line of sight has turned toward the monitored object, and there is a possibility that the driver does not recognize the monitored object, the driver can be prompted to recognize the monitored object by issuing a warning notification again.

[0060] (Configuration 12) A driving assistance method executed by a computer, comprising: a monitored object recognition step for recognizing monitored objects present in the vicinity of a moving body; and an attention warning notification step for displaying a character image having a face in front of the driver's seat of the moving body by a display device provided on the moving body, and when the monitored object is recognized by the monitored object recognition step, executing an attention warning notification by changing the character image from a forward direction gaze image with the face facing in the forward direction of the moving body to a monitored object gaze image with the face facing in the direction of the monitored object. By executing the driving assistance method of the twelfth aspect by a computer, the same effects as those of the driving assistance method of the first aspect can be obtained.

[0061] (Configuration 13) A program for causing a computer to function as a monitored object recognition unit that recognizes monitored objects present in the vicinity of a moving body, and an attention warning notification unit that displays a character image having a face in front of the driver's seat of the moving body using a display device provided on the moving body, and when the monitored object is recognized by the monitored object recognition unit, executes an attention warning notification by changing the character image from a forward direction gaze image with the face facing in the direction of travel of the moving body to a monitored object gaze image with the face facing in the direction of the monitored object. The configuration of the driving assistance device of configuration 1 can be realized by executing the program of configuration 13 by a computer. [Explanation of symbols]

[0062] 1...driving assistance device, 2...front window, 3...steering wheel, 4...accelerator pedal, 5...brake pedal, 10...processor, 11...monitored object recognition unit, 12...risk level determination unit, 13...driving operation recognition unit, 14...gaze direction recognition unit, 15...attention warning notification unit, 20...memory, 21...program, 30...communication unit, 31...HUD, 32...display, 40...front camera, 41...front radar, 42...rear camera, 43...rear radar, 44...driver monitor camera, 45...speed sensor, 46...steering angle sensor, 47...accelerator pedal sensor, 48...brake pedal sensor, 50...character image (image gazing at direction of travel), 51, 52...character image (image gazing at monitored object), 90...pedestrian, 100...vehicle (moving object), 110...other vehicle, 200...communication network, 210...traffic information server, D...driver

Claims

1. a monitoring target recognition unit that recognizes monitoring targets present around the mobile object; an attention alert notification unit that displays a character image having a face in front of a driver's seat of the moving body by a display device provided in the moving body, and when the monitored object is recognized by the monitored object recognition unit, executes an attention alert notification by changing the character image from a traveling direction gazing image in which the face is turned in the traveling direction of the moving body to a monitored object gazing image in which the face is turned in the direction of the monitored object; A driving assistance device comprising:

2. The character image has a line of sight specifying portion for specifying the direction of the line of sight of the character image, and the traveling direction gazing image makes it possible to recognize that the line of sight of the character image is directed in the traveling direction of the moving object by the line of sight specifying portion, and the monitored object gazing image makes it possible to recognize that the line of sight of the character image is directed toward the monitored object by the line of sight specifying portion. The driving assistance device according to claim 1 .

3. the display device is a head-up display that projects an image onto a predetermined position on a windshield of the vehicle in front of a driver's seat of the vehicle, The attention-call notification unit projects and displays the character image on the predetermined location on the front window of the moving object using the display device. The driving assistance device according to claim 1 .

4. a risk level determination unit that determines a risk level to the moving body of the monitoring object recognized by the monitoring object recognition unit, The attention alert notification unit changes the display mode of the character image according to the risk level of the monitored object. The driving assistance device according to any one of claims 1 to 3.

5. The attention alert notification unit changes at least one of a size, a color, and an action of the character image according to the risk level of the monitored object. The driving assistance device according to claim 4.

6. The attention alert notification unit is configured to shorten the time required for changing from the traveling direction gaze image to the monitored object gaze image as the risk level of the monitored object increases. The driving assistance device according to claim 4.

7. When an angle difference between the direction of the face of the character image in the traveling direction gaze image and the monitored object gaze image is equal to or less than a predetermined value, the attention alert notification is executed multiple times. The driving assistance device according to any one of claims 1 to 3.

8. a risk level determination unit that determines a risk level to the moving body of the monitoring object recognized by the monitoring object recognition unit, When the monitoring object recognition unit recognizes a plurality of monitoring objects, the attention alert notification unit issues the attention alert for the monitoring object having the highest risk level. The driving assistance device according to any one of claims 1 to 3.

9. a risk level determination unit that determines a risk level to the moving body of the monitoring object recognized by the monitoring object recognition unit, When a plurality of the monitored objects are recognized by the monitored object recognition unit, the attention alert notification unit executes a process of sequentially changing the face direction of the character image from the traveling direction gaze image to the monitored object with the highest risk level to the monitored object with the lowest risk level, as the attention alert notification. The driving assistance device according to any one of claims 1 to 3.

10. a driving operation recognition unit that recognizes a driving operation of the moving body; The attention alert notification unit issues the attention alert notification again when the driving operation recognition unit does not recognize a driving operation for avoiding a risk due to the monitored object after issuing the attention alert notification. The driving assistance device according to any one of claims 1 to 3.

11. a gaze direction recognition unit that recognizes the gaze direction of the driver of the moving body, The attention alert notification unit executes the attention alert notification again when the line of sight direction recognition unit does not recognize that the line of sight direction of the driver has turned toward the monitored object after issuing the attention alert notification. The driving assistance device according to any one of claims 1 to 3.

12. A driving assistance method executed by a computer, comprising: a monitoring object recognition step of recognizing a monitoring object present around the mobile object; an attention-call notification step of displaying a character image having a face portion in front of a driver's seat of the moving body by a display device provided in the moving body, and executing an attention-call notification by changing the character image from a traveling direction gaze image in which the face is turned in the traveling direction of the moving body to a monitored object gaze image in which the face is turned in the direction of the monitored object when the monitored object is recognized by the monitored object recognition step; A driving assistance method including:

13. Computer, a monitoring target recognition unit that recognizes monitoring targets present around the mobile object; an attention alert notification unit that displays a character image having a face in front of a driver's seat of the moving body by a display device provided in the moving body, and when the monitored object is recognized by the monitored object recognition unit, executes an attention alert notification by changing the character image from a traveling direction gazing image in which the face is turned in the traveling direction of the moving body to a monitored object gazing image in which the face is turned in the direction of the monitored object; A program to make it function as such.

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