Mobile body notification device and mobile body notification method

Abstract

To provide a mobile body notification device and a mobile body notification method for enabling a driver of a mobile body to reliably recognize that a danger approaches.SOLUTION: A mobile body notification device 1 issues a notification to a driver D of a mobile body 100. The mobile body notification device 1 includes: an approach object recognition section 11 for recognizing an object approaching the mobile body 100; and a notification sound control section 13 for outputting a first notification sound from a first speaker 52 positioned in front of a driver's seat 5 of the mobile body 100 when the approach object recognition section 11 recognizes the object, and outputting a second notification sound from second speakers 54L, 54R positioned behind a seated position of the driver D in the driver's seat 5.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a moving object notification device and a moving object notification method. [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. To achieve this, efforts are being made to further improve traffic safety and convenience through research and development of preventive safety technologies. For example, Patent Document 1 discloses a warning device that notifies the driver of the direction of approaching danger by emitting a warning sound from multiple speakers installed in different positions inside the vehicle, corresponding to the direction of the danger. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-8020 Summary of the Invention [Problem to be solved by the invention]

[0004] In preventive safety technology, it is desirable to more reliably make the driver aware of impending danger. However, in the above-described conventional warning device, which selects a speaker corresponding to the direction of the approaching danger to emit a warning sound, there is a disadvantage that the warning sound is not emitted if the speaker corresponding to the direction of the approaching danger malfunctions. Furthermore, if the warning sound is output only from the speaker corresponding to the direction of the approaching danger, the driver may have difficulty hearing the warning sound. Therefore, it is an object of the present invention to more reliably make the driver aware of impending danger in a moving object such as a vehicle. The present application aims to solve the above-mentioned problems by making drivers of mobile vehicles more reliably aware of approaching danger, thereby contributing to the development of sustainable transportation systems. [Means for solving the problem]

[0005] A first aspect for achieving the above object is a mobile body notification device that provides a notification to a driver of a mobile body, the mobile body notification device including an approaching object recognition unit that recognizes an object approaching the mobile body, and a notification sound control unit that, when the object is recognized by the approaching object recognition unit, outputs a first notification sound from a first speaker located in front of the driver's seat of the mobile body, and outputs a second notification sound from a second speaker located behind the driver's seat position in the driver's seat.

[0006] In the above-mentioned moving body alarm device, the approaching object recognition unit may recognize the approaching direction of the object relative to the moving body, and the notification sound control unit may be configured to output the second notification sound from one of the second speakers located on the right and left side of the driver's seat that is located on the side that includes the approaching direction of the object relative to the moving body.

[0007] In the above-mentioned moving object alarm device, the notification sound control unit may be configured to prohibit output of the second notification sound from the second speaker and only output the first notification sound from the first speaker when the approaching direction of the object recognized by the approaching object recognition unit toward the moving object is in front of the moving object.

[0008] In the above moving object alarm device, the notification sound control unit may be configured to output the first notification sound from the first speaker provided in front of and facing the driver's seat.

[0009] In the above-mentioned moving body alarm device, the approaching object recognition unit may recognize the degree of proximity of the object to the moving body, and the notification sound control unit may be configured to change the frequency component of the second notification sound depending on the degree of proximity of the object to the moving body.

[0010] The above-mentioned mobile object alarm device may be configured to include a driving operation recognition unit that recognizes the driving operation status of the mobile object, and the notification sound control unit may be configured to stop outputting the first notification sound from the first speaker and the second notification sound from the second speaker after starting to output the first notification sound from the first speaker and the second notification sound from the second speaker when the driving operation recognition unit recognizes that an operation has been performed to avoid the risk posed by the object.

[0011] In the above-mentioned moving object alarm device, the notification sound control unit may be configured to output the first notification sound and the second notification sound by setting the second notification sound to include a first frequency component that is not included in the first notification sound.

[0012] In the above-mentioned moving object alarm device, the notification sound control unit may be configured to output the first notification sound and the second notification sound by setting the first notification sound to include a component of a second frequency and the second notification sound to include a component of the first frequency and a component of the second frequency.

[0013] The above-mentioned mobile object alarm device may be configured to include a communication unit that communicates with a portable device, and when the approaching object recognition unit recognizes the object and recognizes that the driver is wearing the portable device, the notification sound control unit may be configured to send a signal of the second notification sound to the portable device via the communication unit and output the second notification sound from a speaker provided on the portable device.

[0014] A second aspect for achieving the above object is a mobile object notification device that provides a notification to a driver of a mobile object, the mobile object notification device comprising: an approaching object recognition unit that recognizes an object approaching the mobile object; a communication unit that communicates with a portable device; and a notification sound control unit that, when the approaching object recognition unit recognizes the object and recognizes that the driver sitting in the driver's seat of the mobile object is wearing the portable device, outputs a first notification sound from a speaker located in front of the driver's seat, and transmits a second notification sound signal to the portable device via the communication unit, and outputs the second notification sound from a speaker provided on the portable device.

[0015] A third aspect for achieving the above object is a mobile body notification method executed by a computer to notify the driver of a mobile body, the mobile body notification method including: an approaching object recognition step for recognizing an object approaching the mobile body; and a notification sound control step for outputting a first notification sound from a first speaker located in front of the driver's seat of the mobile body and a second notification sound from a second speaker located behind the driver's seating position in the driver's seat when the object is recognized by the approaching object recognition step. [Effects of the Invention]

[0016] According to the above-described moving body warning device and moving body warning method, the driver of the moving body can be made to more reliably recognize that danger is approaching. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is an explanatory diagram of a vehicle equipped with a moving object notification device. [Figure 2] FIG. 2 is a configuration diagram of the moving object notification device. [Figure 3] FIG. 3 is a first flowchart of the notification process for the driver. [Figure 4] FIG. 4 is a second flowchart of the notification process for the driver. DETAILED DESCRIPTION OF THE INVENTION

[0018] [1. Vehicle configuration] The configuration of a vehicle 100 equipped with a moving object notification device 1 according to the present disclosure will be described with reference to Fig. 1. The moving object notification device 1 is installed in the vehicle 100 and issues a notification by communication sound to a driver D seated in a driver's seat 5. The vehicle 100 corresponds to the moving object according to the present disclosure.

[0019] The vehicle 100 is equipped with a front camera 40 that takes an image in front of the vehicle 100, a front radar 41 that detects the position of an object present in front of the vehicle 100, a rear camera 42 that takes an image behind the vehicle 100, and a rear radar 43 that detects the position of an object present behind the vehicle 100. In front of the driver's seat 5 and facing the driver's seat 5, a meter 50 that displays speed, mileage, etc., and a meter speaker 52 are provided. Note that a LiDAR may also be used as a means for detecting the position of an object.

[0020] A center speaker 53 and a display 51 such as a DA (Display Audio) are provided in the center of the dashboard. A headrest 5a of the driver's seat 5 is provided with a headrest left speaker 54L and a headrest right speaker 54R. The headrest left speaker 54L and the headrest right speaker 54R are located behind the seating position (position of the seat surface) of the driver D in the driver's seat 5. A left front door speaker 55L is provided in the left front door 2L, and a right front door speaker 55R is provided in the right front door 2R. A left rear door speaker 56L is provided in the left rear door 3L, and a right rear door speaker 56R is provided in the right rear door 3R.

[0021] The moving object alarm device 1 has a function of performing wireless communication with a portable device, and FIG. 1 illustrates a neck speaker 90 worn by the driver D as an example of the portable device. The neck speaker 90 receives sound signals transmitted from the moving object alarm device 1 and outputs the signals from a left speaker 91L and a right speaker 91R. The moving object alarm device 1 and the neck speaker 90 perform wireless communication according to a standard such as Bluetooth (registered trademark). The portable device may also be a bone conduction earphone or the like.

[0022] [2. Configuration of the moving object notification device] The configuration of the moving object notification device 1 will be described with reference to Fig. 2. The moving object notification device 1 is a control unit including a processor 10, a memory 20, a communication unit 30, etc. The moving object notification device 1 is connected to a front camera 40, a rear camera 42, and a driver monitor camera 44, and images captured by each camera are input to the moving object notification device 1. The moving object notification device 1 is connected to a front radar 41 and a rear radar 43, and position detection signals from each radar are input to the moving object notification device 1.

[0023] The moving object warning device 1 is connected to a steering angle sensor 45, an accelerator pedal sensor 46, and a brake pedal sensor 47, and a detection signal of the steering angle of the steering wheel 6 by the steering angle sensor 45, a detection signal of the operation amount of the accelerator pedal (not shown) by the accelerator pedal sensor 46, and a detection signal of the operation amount of the brake pedal (not shown) by the brake pedal sensor 47 are input to the moving object warning device 1.

[0024] The moving object alarm device 1 is connected to a meter 50 and a display 51, and the screen display of the meter 50 and the display 51 is controlled by an image signal output from the moving object alarm device 1. The moving object alarm device 1 is connected to a meter speaker 52, a center speaker 53, a headrest left speaker 54L, a headrest right speaker 54R, a left front door speaker 55L, a right front door speaker 55R, a left rear door speaker 56L, and a right rear door speaker 56R, and the sound signal output from the moving object alarm device 1 is amplified and output by these speakers. In addition, the moving object alarm device 1 performs wireless communication with the neck speaker 90 via the communication unit 30, and transmits a sound signal to the neck speaker 90, thereby outputting sound from the left speaker 91L and right speaker 91R of the neck speaker 90.

[0025] The memory 20 stores a program 21 for controlling the moving object alarm device 1. The processor 10 reads and executes the program 21 to function as an approaching object recognition unit 11, a driving operation recognition unit 12, and a notification sound control unit 13. The approaching object recognition unit 11 recognizes an object (another vehicle, etc.) approaching the vehicle 100 based on an image captured by the front camera 40, a position detection signal from the front radar 41, an image captured by the rear camera 42, and a position detection signal from the rear radar 43. The approaching object recognition unit 11 calculates a predicted time TTC (Time To Collision) until the object reaches the vehicle 100 as a measure of the object's proximity to the vehicle 100. The approaching object recognition unit 11 also recognizes the direction in which the object is approaching the vehicle 100.

[0026] The driving operation recognition unit 12 recognizes the operation status of the steering wheel 6, accelerator pedal, and brake pedal by the driver D based on detection signals from the steering angle sensor 45, accelerator pedal sensor 46, and brake pedal sensor 47. The driving operation recognition unit 12 may also recognize the operation status of the steering wheel 6 by the driver D from an image of the driver D captured by the driver monitor camera 44.

[0027] When the approaching object recognition unit 11 recognizes an object approaching the vehicle 100, the notification sound control unit 13 outputs a first notification sound from the meter speaker 52, and also outputs a second notification sound from the headrest left speaker 54L when the object is approaching from the left side of the vehicle 100, and outputs the second notification sound from the headrest right speaker 54R when the object is approaching from the right side of the vehicle 100. Here, the first notification sound and the second notification sound have the following frequency components.

[0028] First notification sound: A dull sound (a sound with one specific frequency component (e.g., 500 to 1.4 kHz)). Second notification sound: A sound that includes a dull sound and directional sound components (multiple low frequency components (e.g., 300 to 1 kHz) that induce a sense of direction). The directional sound components may be sounds that have multiple frequencies lower than the dull sound. In this way, by including a directional sound component in the second notification sound, the driver D can be made aware of the direction in which the object is approaching the vehicle 100. Furthermore, by including a dull frequency component that is common to the first notification sound and the second notification sound, the driver D can be given a sense of unity between the first notification sound and the second notification sound. This prevents the driver D from feeling that danger from separate objects is approaching in front of the vehicle 100 and on the left or right side of the vehicle 100, and makes the driver D aware that danger from a single object is approaching. Furthermore, even if a malfunction occurs in the headrest left speaker 54L or the headrest right speaker 54R, the output of the first notification sound from the meter speaker 52 is ensured, so that the driver D can be reliably notified.

[0029] Furthermore, the notification sound control unit 13 increases the frequencies of the first notification sound and the second notification sound as the TTC becomes shorter, according to the TTC of the object recognized by the approaching object recognition unit 11. This allows the driver D to recognize that the object is approaching the vehicle 100 or that the object is moving away from the vehicle 100.

[0030] [3. Notification process for the driver] The procedure of the notification process for the driver D executed by the moving body notification device 1 will be described with reference to the flowcharts shown in FIGS.

[0031] 3, the approaching object recognition unit 11 searches for objects present in the vicinity of the vehicle 100 in step S1, and proceeds to step S3 when it recognizes an object approaching the vehicle 100. In step S3, if the approaching object recognition unit 11 recognizes that an object is approaching from the front of the vehicle 100, the notification sound control unit 13 proceeds to step S30 in FIG. 4, and if the approaching object recognition unit 11 recognizes that an object is approaching from a direction other than the front of the vehicle 100, the notification sound control unit 13 proceeds to step S4.

[0032] In step S4, if the approaching object recognition unit 11 recognizes that an object is approaching from the left side of the vehicle 100, the notification sound control unit 13 proceeds to step S10, and if the approaching object recognition unit 11 recognizes that an object is approaching from the right side of the vehicle 100, the notification sound control unit 13 proceeds to step S5.

[0033] In step S10, the notification sound control unit 13 starts outputting a first notification sound from the meter speaker 52. In the following step S11, the notification sound control unit 13 starts outputting a second notification sound from the headrest left speaker 54L, and the process proceeds to step S7. Through the processes of steps S10 and S11, the driver D is notified that an object is approaching from the left side of the vehicle 100.

[0034] Furthermore, in step S5, the notification sound control unit 13 starts outputting a first notification sound from the meter speaker 52. Subsequently, in step S6, the notification sound control unit 13 starts outputting a second notification sound from the headrest right speaker 54R. Through the processing of steps S5 and S6, the driver D is notified that an object is approaching from the right side of the vehicle 100.

[0035] In step S7, the notification sound control unit 13 determines whether the driving operation recognition unit 12 has recognized that the driver D has performed an operation to avoid contact with an object. If a contact avoidance operation is recognized, the notification sound control unit 13 proceeds to step S8, and if a contact avoidance operation is not recognized, the notification sound control unit 13 proceeds to step S20. Contact avoidance operations include operating the steering wheel in a direction away from the object, decelerating by reducing the amount of accelerator pedal operation, decelerating by increasing the amount of brake pedal operation, etc.

[0036] In step S8, the notification sound control unit 13 ends the output of the first notification sound and the second notification sound. This prevents the output of the first notification sound and the second notification sound from continuing even after the driver D has performed an operation to avoid contact with the object, which may annoy the driver D. In addition, in step S20, the notification sound control unit 13 determines whether the approaching object recognition unit 11 has recognized that the situation in which the object is approaching the vehicle 100 has been resolved due to a change in the traveling direction of the object, etc.

[0037] Then, the notification sound control unit 13 proceeds to step S8 if the situation in which the object is approaching the vehicle 100 has been resolved, and proceeds to step S21 if the situation in which the object is approaching the vehicle 100 continues. In step S21, the notification sound control unit 13 changes the frequencies of the first notification sound and the second notification sound according to the degree of approach of the object recognized by the approaching object recognition unit 11, as described above, and proceeds to step S7. The change in the frequencies of the first notification sound and the second notification sound allows the driver D to intuitively recognize a situation in which the object is approaching the vehicle 100 or a situation in which the object is moving away from the vehicle 100.

[0038] In step S30 of Fig. 4, the notification sound control unit 13 prohibits output of the second notification sound from the headrest left speaker 54L and the headrest right speaker 54R, and starts output of only the first notification sound from the meter speaker 52. By the processing of step S30, the driver D is notified that an object is approaching from the front of the vehicle 100. In the following step S31, the notification sound control unit 13 determines whether or not the driving operation recognition unit 12 has recognized that the driver D has performed an operation to avoid contact with the object. Then, if a contact avoidance operation is recognized, the notification sound control unit 13 proceeds to step S32, and if a contact avoidance operation is not recognized, the notification sound control unit 13 proceeds to step S40.

[0039] In step S32, the notification sound control unit 13 ends the output of the first notification sound, and proceeds to step S9 in Fig. 3. This prevents the output of the first notification sound from continuing even after the driver D has performed an operation to avoid contact with the object, which may annoy the driver D. In addition, in step S40, the notification sound control unit 13 determines whether the approaching object recognition unit 11 has recognized that the situation in which the object is approaching the vehicle 100 has been resolved due to a change in the traveling direction of the object, etc.

[0040] Then, the notification sound control unit 13 proceeds to step S32 when the situation in which the object is approaching the vehicle 100 has been resolved, and proceeds to step S41 when the situation in which the object is approaching the vehicle 100 continues. In step S41, the notification sound control unit 13 changes the frequency of the first notification sound in accordance with the degree of approach of the object recognized by the approaching object recognition unit 11, as described above, and proceeds to step S31. The change in the frequency of the first notification sound allows the driver D to intuitively recognize a situation in which the object is approaching the vehicle 100 or a situation in which the object is moving away from the vehicle 100.

[0041] 4. Other Embodiments In the above embodiment, the notification sound control unit 13 outputs the second notification sound from the headrest left speaker 54L or the headrest right speaker 54R. In another embodiment, if the vehicle 100 is not equipped with the headrest left speaker 54L or the headrest right speaker 54R, the second notification sound may be output from a speaker equipped in the portable device, such as the neck speaker 90 shown in FIG. 1 .

[0042] In this case, the notification sound control unit 13 recognizes that the driver D is wearing the portable device by recognizing the establishment of communication between the communication unit 30 and the portable device, or by recognizing the image portion of the portable device from an image of the driver D captured by the driver monitor camera 44. Then, when the approaching object recognition unit 11 recognizes an object approaching the vehicle 100 from the left side of the vehicle 100, the notification sound control unit 13 outputs a first notification sound from the meter speaker 52 and a second notification sound from the left speaker 91L of the neck speaker 90. Furthermore, when the approaching object recognition unit 11 recognizes an object approaching the vehicle 100 from the right side of the vehicle 100, the notification sound control unit 13 outputs the first notification sound from the meter speaker 52 and a second notification sound from the right speaker 91R of the neck speaker 90.

[0043] Alternatively, the second notification sound may be output from speakers that are located behind the seating position of the driver D in the driver's seat 5, such as the left rear door speaker 56L and the right door speaker 56R.

[0044] In the above embodiment, the notification sound control unit 13 outputs the first notification sound from the meter speaker 52, but the first notification sound may also be output from another speaker located in front of the driver's seat 5, such as the center speaker 53.

[0045] In the above embodiment, the 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 is driven and operated by a driver, and may be an aircraft, a ship, or the like in addition to a vehicle.

[0046] In the above embodiment, the second speakers of the present disclosure are exemplified as speakers 55L, 55R, 56L, and 56R attached to doors 2L, 2R, 3L, and 3R, respectively, of vehicle 100. In another embodiment, the second speaker of the present disclosure may be attached to the ceiling (roof) of vehicle 100.

[0047] 2 is a schematic diagram showing the configuration of the moving object alarm device 1 divided by main processing content to facilitate understanding of the present invention, but the configuration of the moving object alarm 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] 5. Configurations supported by the above embodiments The above embodiment is a specific example of the following configuration.

[0049] (Configuration 1) A mobile body notification device that provides notification to a driver of a mobile body, comprising: an approaching object recognition unit that recognizes an object approaching the mobile body; and a notification sound control unit that, when the object is recognized by the approaching object recognition unit, outputs a first notification sound from a first speaker located in front of the driver's seat of the mobile body, and outputs a second notification sound from a second speaker located behind the driver's seat position in the driver's seat. According to the mobile body warning device of configuration 1, by providing a warning that combines the output of a first notification sound from a first speaker located in front of the driver's seat and the output of a second notification sound from a second speaker located behind the driver's seating position, the driver of the mobile body can be made more reliably aware of impending danger.

[0050] (Configuration 2) The approaching object recognition unit recognizes the approaching direction of the object relative to the moving object, and the notification sound control unit outputs the second notification sound from one of the second speakers located on the right and left side of the driver's seat that is located on the side that includes the approaching direction of the object relative to the moving object. This is a moving object warning device described in Configuration 1. According to the moving body notification device of configuration 2, it is possible to notify the driver of the moving body of the direction of an object approaching the moving body.

[0051] (Configuration 3) The moving body alarm device described in Configuration 2, wherein the notification sound control unit prohibits output of the second notification sound from the second speaker and only outputs the first notification sound from the first speaker when the approaching direction of the object recognized by the approaching object recognition unit toward the moving body is in front of the moving body. According to the moving body notification device of configuration 3, the driver of the moving body can be made aware of the presence of an object approaching from the front of the moving body by outputting a first notification sound from a first speaker located in front of the driver.

[0052] (Configuration 4) A moving object alarm device described in any one of configurations 1 to 3, wherein the notification sound control unit outputs the first notification sound from the first speaker provided in front of and opposite the driver's seat. According to the moving body warning device of configuration 3, since the moving body warning device is located in the forward direction where the driver of the moving body is looking, the first notification sound is output from the first speaker, which is easy for the driver to hear, thereby enhancing the warning effect of objects approaching the moving body.

[0053] (Configuration 5) A moving body alarm device described in any one of configurations 1 to 4, wherein the approaching object recognition unit recognizes the degree of proximity of the object to the moving body, and the notification sound control unit changes the frequency component of the second notification sound depending on the degree of proximity of the object to the moving body. According to the moving object notification device of configuration 5, the difference in frequency components of the second notification sound can make the driver aware of the degree of proximity of the object to the moving object.

[0054] (Configuration 6) A mobile object warning device described in any one of configurations 1 to 5, which includes a driving operation recognition unit that recognizes the driving operation status of the mobile object, and wherein the notification sound control unit stops outputting the first notification sound from the first speaker and the second notification sound from the second speaker when the driving operation recognition unit recognizes that an operation has been performed to avoid a risk posed by the object after starting output of the first notification sound from the first speaker and output of the second notification sound from the second speaker. According to the moving object notification device of configuration 6, when an evasive maneuver by the driver is recognized, the output of the first notification sound and the second notification sound is stopped, thereby preventing the driver from feeling annoyed by the continuation of the first notification sound and the second notification sound.

[0055] (Configuration 7) A moving object alarm device described in any one of configurations 1 to 6, wherein the notification sound control unit outputs the first notification sound and the second notification sound by a setting in which the second notification sound includes a first frequency component that is not included in the first notification sound. According to the moving object notification device of configuration 7, by outputting a second notification sound that includes a first frequency component that is not included in the first notification sound, the driver can be made to feel a sense of direction in the direction in which the second notification sound is output, thereby notifying the driver of the target object.

[0056] (Configuration 8) The moving object alarm device described in Configuration 7, wherein the notification sound control unit outputs the first notification sound and the second notification sound with a setting such that the first notification sound includes a component of a second frequency and the second notification sound includes a component of the first frequency and a component of the second frequency. According to the moving object notification device of configuration 8, by including a second frequency component that is common to the first notification sound and the second notification sound, the driver can be made aware that the first notification sound and the second notification sound are notifications for the same object.

[0057] (Configuration 9) A mobile object warning device according to any one of configurations 1 to 8, comprising a communication unit that communicates with a portable device, and wherein the notification sound control unit, when recognizing that the driver is wearing the portable device when the approaching object recognition unit recognizes the object, transmits a signal of the second notification sound to the portable device via the communication unit and outputs the second notification sound from a speaker provided on the portable device. According to the moving object notification device of configuration 9, it is possible to make a notification of an object by utilizing a portable device carried by a driver.

[0058] (Configuration 10) A mobile object notification device that provides notification to a driver of a mobile object, the mobile object notification device comprising: an approaching object recognition unit that recognizes an object approaching a mobile object; a communication unit that communicates with a portable device; and a notification sound control unit that, when the approaching object recognition unit recognizes the object and recognizes that the driver sitting in the driver's seat of the mobile object is wearing the portable device, outputs a first notification sound from a speaker located in front of the driver's seat, and sends a second notification sound signal to the portable device via the communication unit, and outputs the second notification sound from a speaker provided on the portable device. According to the mobile object warning device of configuration 10, by utilizing a portable device worn by the driver, a warning is given by combining the output of a first notification sound from a first speaker located in front of the driver's seat and the output of a second notification sound from a second speaker provided on the portable device, thereby making it possible to more reliably make the driver of the mobile object aware of impending danger.

[0059] (Configuration 11) A mobile body notification method executed by a computer to notify the driver of a mobile body, the mobile body notification method including: an approaching object recognition step for recognizing an object approaching the mobile body; and a notification sound control step for outputting a first notification sound from a first speaker located in front of the driver's seat of the mobile body and a second notification sound from a second speaker located behind the driver's seating position in the driver's seat when the object is recognized by the approaching object recognition step. By executing the moving object notification method of configuration 11 by a computer, the same effects as those of the moving object notification device of configuration 1 can be obtained. [Explanation of symbols]

[0060] 1...moving object alarm device, 5...driver's seat, 5a...headrest, 10...processor, 11...approaching object recognition unit, 12...driving operation recognition unit, 13...notification sound control unit, 20...memory, 21...program, 30...communication unit, 40...front camera, 41...front radar, 42...rear camera, 43...rear radar, 44...driver monitor camera, 45...steering angle sensor, 46...accelerator pedal sensor, 47...brake pedal sensor, 50...meter, 51...display, 52...meter speaker, 53...center speaker, 54L...headrest left speaker, 54R...headrest right speaker, 55L...left front door speaker, 55R...right front door speaker, 56L...left rear door speaker, 56R...right rear door speaker, 90...neck speaker, 91L...left speaker (of neck speaker), 91R...right speaker (of neck speaker), D...driver

Claims

1. A mobile body notification device that notifies a driver of a mobile body, an approaching object recognition unit that recognizes an object approaching the moving body; a notification sound control unit that, when the object is recognized by the approaching object recognition unit, outputs a first notification sound from a first speaker located in front of a driver's seat of the moving body and outputs a second notification sound from a second speaker located behind a seating position of the driver in the driver's seat; A moving object notification device comprising:

2. the approaching object recognition unit recognizes an approaching direction of the object relative to the moving body, The notification sound control unit outputs the second notification sound from a second speaker located on a side including an approaching direction of the object relative to the moving body, among the plurality of second speakers located on the right and left sides of the driver's seat. The moving object notification device according to claim 1 .

3. When the approaching direction of the object with respect to the moving body recognized by the approaching object recognition unit is in front of the moving body, the notification sound control unit prohibits output of the second notification sound from the second speaker and outputs only the first notification sound from the first speaker. The moving object notification device according to claim 2.

4. The notification sound control unit outputs the first notification sound from the first speaker provided in front of and facing the driver's seat. The moving object notification device according to any one of claims 1 to 3.

5. the approaching object recognition unit recognizes the degree of approach of the object to the moving body, The notification sound control unit changes a frequency component of the second notification sound depending on a proximity of the object to the moving body. The moving object notification device according to any one of claims 1 to 3.

6. a driving operation recognition unit that recognizes a driving operation status of the moving body; The notification sound control unit starts outputting the first notification sound from the first speaker and outputting the second notification sound from the second speaker, and then stops outputting the first notification sound from the first speaker and outputting the second notification sound from the second speaker when the driving operation recognition unit recognizes that an operation has been performed to avoid a risk due to the object. The moving object notification device according to any one of claims 1 to 3.

7. The notification sound control unit outputs the first notification sound and the second notification sound by setting the second notification sound to include a first frequency component that is not included in the first notification sound. The moving object notification device according to any one of claims 1 to 3.

8. the notification sound control unit outputs the first notification sound and the second notification sound in a manner that the first notification sound includes a component of a second frequency and the second notification sound includes a component of the first frequency and a component of the second frequency. The moving object notification device according to claim 7.

9. a communication unit that communicates with a portable device; When the approaching object recognition unit recognizes the object and recognizes that the driver is wearing the portable device, the notification sound control unit transmits a signal of the second notification sound to the portable device using the communication unit and outputs the second notification sound from a speaker provided in the portable device. The moving object notification device according to any one of claims 1 to 3.

10. A mobile body notification device that notifies a driver of a mobile body, an approaching object recognition unit that recognizes an object approaching the moving body; a communication unit that communicates with the mobile device; a notification sound control unit that, when the approaching object recognition unit recognizes the object and recognizes that a driver sitting in the driver's seat of the moving body is wearing the portable device, outputs a first notification sound from a speaker located in front of the driver's seat, and transmits a signal of a second notification sound to the portable device by the communication unit, and outputs the second notification sound from a speaker provided in the portable device; A moving object notification device comprising:

11. A mobile object notification method executed by a computer to notify a driver of a mobile object, comprising: an approaching object recognition step of recognizing an object approaching the moving body; a notification sound control step of outputting a first notification sound from a first speaker located in front of a driver's seat of the mobile body and outputting a second notification sound from a second speaker located behind a seating position of the driver in the driver's seat when the object is recognized by the approaching object recognition step; A moving object notification method including:

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