Information processor, information processing method, and information processing program

Abstract

To output appropriate warning information based on other vehicles in the vicinity of an own vehicle.SOLUTION: An information processor 10 includes a vehicle determination unit 20A and an output control unit 20E. The vehicle determination unit 20A determines whether other vehicles appearing in captured images around an own vehicle 1 are two-wheeled vehicles or four-wheeled vehicles. The output control unit 20E outputs warning information based on output conditions corresponding to the result of the determination.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, an information processing method, and an information processing program. [Background technology]

[0002] Conventionally, warning functions that notify the driver of approaching vehicles have been increasingly introduced. For example, a function that determines whether a warning is necessary by determining whether the distance to the detected vehicle is equal to or less than a warning threshold, and a function that changes the distance threshold for issuing a warning depending on whether the detected vehicle is a motorcycle or not have been disclosed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-151314 [Patent Document 2] International Publication No. 2016 / 147584 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the prior art, warning information may be output even in situations where a warning is not necessary, and appropriate warning information may not be output in accordance with other vehicles around the vehicle.

[0005] The problem to be solved by the present disclosure is to provide an information processing device, an information processing method, and an information processing program that are capable of outputting appropriate warning information according to other vehicles around the host vehicle. [Means for solving the problem]

[0006] The information processing device according to the present disclosure includes a vehicle determination unit and an output control unit. The vehicle determination unit determines whether a vehicle captured in a captured image of the vicinity of the host vehicle is a two-wheeled vehicle or a four-wheeled vehicle. The output control unit outputs warning information based on an output condition corresponding to the result of the determination. [Effects of the Invention]

[0007] According to the information processing device, the information processing method, and the information processing program disclosed herein, it is possible to output appropriate warning information according to other vehicles around the subject vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of a usage pattern of an information processing apparatus according to an embodiment. [Figure 2] FIG. 2 is a block diagram of an example of a functional configuration of the host vehicle. [Figure 3] FIG. 3 is a diagram illustrating a hardware configuration of an example of an information processing device. [Figure 4] FIG. 4 is a schematic diagram showing an example of the positional relationship between the host vehicle and other vehicles. [Figure 5A] FIG. 5A is a schematic diagram of an example of warning information related to a motorcycle displayed on a display unit. [Figure 5B] FIG. 5B is a schematic diagram of an example of warning information related to a motorcycle displayed on the display unit. [Figure 6A] FIG. 6A is a schematic diagram of an example of warning information related to a four-wheeled vehicle displayed on the display unit. [Figure 6B] FIG. 6B is a schematic diagram of an example of warning information related to a four-wheeled vehicle displayed on the display unit. [Figure 6C] FIG. 6C is a schematic diagram of an example of warning information related to a four-wheeled vehicle displayed on the display unit. [Figure 7] FIG. 7 is a flowchart illustrating an example of the flow of information processing executed by the information processing apparatus according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of an information processing device, an information processing method, and an information processing program according to the present disclosure will be described with reference to the accompanying drawings.

[0010] FIG. 1 is a schematic diagram showing an example of a usage pattern of an information processing device 10 according to the present embodiment.

[0011] The information processing device 10 is a device for warning a passenger of the host vehicle 1 of the presence of another vehicle 2 around the host vehicle 1. In this embodiment, a form in which the information processing device 10 is mounted on the host vehicle 1 will be described as an example.

[0012] The subject vehicle 1 is a vehicle equipped with an information processing device 10. The other vehicle 2 is a vehicle other than the vehicle equipped with the information processing device 10.

[0013] In this embodiment, the information processing device 10 outputs warning information regarding the determined other vehicle 2 to the occupants of the vehicle 1 based on output conditions according to the result of determining whether the other vehicle 2 in the vicinity of the vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B (details will be described later).

[0014] The two-wheeled vehicle 2A is a vehicle having two wheels. Examples of the two-wheeled vehicle 2A include a motorcycle, a scooter, a motorized bicycle, a bicycle, and an electric kick scooter. The four-wheeled vehicle 2B is a vehicle having four or more wheels. Examples of the four-wheeled vehicle 2B include a standard-sized automobile, a compact automobile, a medium-sized automobile, a large automobile, a light automobile, and a special-purpose automobile.

[0015] Next, the functional configuration of the host vehicle 1 will be described in detail.

[0016] FIG. 2 is a block diagram showing an example of the functional configuration of the host vehicle 1. As shown in FIG.

[0017] The vehicle 1 includes a communication unit 12, an imaging device 13, an external sensor 14, an internal sensor 15, a driving control unit 16, an operation unit 17, a meter computer 18, a memory unit 19, and an information processing device 10.

[0018] The communication unit 12, the image capturing device 13, the external sensor 14, the internal sensor 15, the driving control unit 16, the operation unit 17, the meter computer 18, the storage unit 19, and the information processing device 10 are communicatively connected via a bus 11 or the like. The bus 11 may be, for example, a local area network such as a CAN (Controller Area Network).

[0019] The communication unit 12 is a communication interface that communicates with an external device. The communication unit 12 communicates with an external information processing device, for example, via a network or the like. The communication unit 12 may also communicate with other vehicles 2 through vehicle-to-vehicle communication or the like. For example, V2V (Vehicle to Vehicle) or the like is used for vehicle-to-vehicle communication.

[0020] The photographing device 13 photographs the surroundings of the vehicle 1 and obtains photographed video data. Hereinafter, the photographed video data will be simply referred to as photographed video. In this embodiment, the photographing device 13 continuously photographs the surroundings of the vehicle 1 and outputs the photographed videos to the information processing device 10 in sequence.

[0021] In this embodiment, a configuration will be described in which the host vehicle 1 is provided with a photographing device 13 whose photographing area is at least the rear side (rear side) of the host vehicle 1. For example, as shown in FIG. 1 , the photographing angle of view, installation position, etc. of the photographing device 13 are adjusted in advance so that the photographing device 13 can photograph another vehicle 2 present at least on the rear side in the periphery of the host vehicle 1. The photographing device 13 then outputs photographed video of the rear side of the periphery of the host vehicle 1 to the information processing device 10. Note that the photographing device 13 only needs to be adjusted in advance so that it can photograph at least the rear side of the host vehicle 1, and the number and placement positions of the photographing devices 13 provided in the host vehicle 1 are not limited.

[0022] Returning to Figure 2, we continue the explanation.

[0023] The external sensor 14 is mounted on the host vehicle 1 and detects the situation outside the host vehicle 1. In this embodiment, the external sensor 14 detects the presence or absence of another vehicle 2, the distance to the other vehicle 2, etc. The external sensor 14 is, for example, a distance sensor, a sonar sensor that detects objects using sound waves, an ultrasonic sensor, etc. The distance sensor is, for example, a millimeter-wave radar, a laser sensor, etc. The laser sensor is, for example, a two-dimensional LiDAR (Laser Imaging Detection and Ranging) sensor or a three-dimensional LiDAR sensor installed parallel to a horizontal plane. As shown in FIG. 1 , in this embodiment, the external sensor 14 is disposed at a position where it can detect another vehicle 2 present at least on the rear side of the host vehicle 1. Note that the external sensor 14 only needs to be adjusted in advance so as to be able to detect another vehicle 2 at least on the rear side of the host vehicle 1, and the number and arrangement positions of the external sensors 14 provided on the host vehicle 1 are not limited.

[0024] Returning to Figure 2, we continue the explanation.

[0025] The internal sensor 15 is a sensor that detects the state of the host vehicle 1. The internal sensor 15 detects the position, speed, acceleration, accelerator opening, steering angle of the steering device, brake pedal depression amount, etc. of the host vehicle 1. The internal sensor 15 includes, for example, a GPS (Global Positioning System), a speed sensor, an acceleration sensor such as an IMU (Inertial Measurement Unit) that detects at least acceleration acting in the longitudinal direction of the host vehicle 1, an accelerator opening sensor that detects accelerator opening amount, a steering angle sensor that detects the steering angle of the steering device, a sensor that detects brake pedal depression amount, etc.

[0026] The driving control unit 16 is an ECU (Engine Control Unit) that controls the driving of the vehicle 1. The driving control unit 16 controls the driving devices of the vehicle 1, such as the engine and motor, and the transmission of the vehicle 1, in accordance with operation information by the passenger received from the operation unit 17 and the detection results of the internal sensor 15.

[0027] The operating unit 17 is operated by a passenger in the vehicle 1. The operating unit 17 includes, for example, an ignition switch, a shift lever, a steering wheel, a turn signal, an accelerator pedal, and a brake pedal. The turn signal is an indicator for notifying the surrounding area of ​​a change in the direction of travel of the vehicle 1. Note that the operating unit 17 mounted on the vehicle 1 is not limited to these.

[0028] The driving control unit 16 controls the drive device and transmission system of the vehicle 1 in accordance with operation information of the ignition switch, shift position information of the shift lever, operation information of the turn signal lamp, steering angle represented by the steering operation amount, accelerator pedal operation information of the accelerator pedal, brake pedal information of the brake pedal, etc. In this embodiment, the driving control unit 16 also outputs operation information of the turn signal lamp, etc. to the information processing device 10.

[0029] The meter computer 18 has a function of notifying passengers such as the driver. The meter computer 18 is, for example, an HMI (human machine interface). The information notification function includes a display function that displays information, a sound output function that outputs a sound representing the information, and a light output function that flashes or lights up a light representing the information. The display function is, for example, a combination meter device that notifies the driver by display. The sound output function is, for example, an alarm sound generating device such as a buzzer or a speaker that notifies by voice.

[0030] In this embodiment, a configuration in which the meter computer 18 includes at least a display unit 18A and a side mirror 18B will be described as an example.

[0031] The display unit 18A is a device that displays information. In this embodiment, an example will be described in which the display unit 18A is an electronic mirror. An electronic mirror is a device that displays a captured image of the area behind the vehicle 1 on the mirror surface. The electronic mirror may be called a smart rear view mirror (SRVM), a smart room mirror, an intelligent room mirror, an electronic inner mirror, or the like, depending on the manufacturer of the vehicle 1, etc.

[0032] The side mirror 18B is provided with an indicator, and the indicator of the side mirror 18B functions as a device that outputs various types of information. The side mirror 18B may be configured as an electronic side mirror that displays captured images of the sides of the vehicle 1. In this case, the side mirror 18B functions as a device that outputs information. In this embodiment, a form in which the indicator of the side mirror 18B functions as a device that outputs various types of information will be described as an example.

[0033] The storage unit 19 stores various types of data. At least a part of the data contained in the storage unit 19 may be stored in an external storage device communicably connected to the information processing device 10.

[0034] Next, the information processing device 10 will be described in detail.

[0035] FIG. 3 is a diagram illustrating an example of a hardware configuration of the information processing device 10. As shown in FIG.

[0036] The information processing device 10 has a hardware configuration that utilizes a normal computer, with a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, and an I / F (Interface) 11D, etc., interconnected by a bus 11E.

[0037] The CPU 11A is a computing device that controls the information processing device 10 of this embodiment. The ROM 11B stores programs and the like that realize various processes by the CPU 11A. The RAM 11C stores data necessary for various processes by the CPU 11A. The I / F 11D is an interface for transmitting and receiving data.

[0038] A program for executing information processing executed by the information processing device 10 of this embodiment is provided by being pre-installed in the ROM 11B etc. Note that the program executed by the information processing device 10 of this embodiment may be provided by being recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disc) in a format that can be installed on the information processing device 10 or in a format that can be executed.

[0039] Returning to Figure 2, we continue the explanation.

[0040] The information processing device 10 includes a processing unit 20. The processing unit 20 executes various types of information processing. For example, the CPU 11A reads a program from the ROM 11B onto the RAM 11C and executes it, thereby realizing each of the later-described functional units of the processing unit 20 on the computer.

[0041] The processing unit 20 includes a vehicle determination unit 20A, a driving situation derivation unit 20B, a first setting unit 20C, a second setting unit 20D, and an output control unit 20E. Some or all of the vehicle determination unit 20A, the driving situation derivation unit 20B, the first setting unit 20C, the second setting unit 20D, and the output control unit 20E may be implemented, for example, by a processing device such as a CPU 11A executing a program, i.e., by software, or by hardware such as an integrated circuit (IC), or by a combination of software and hardware. Furthermore, at least one of the vehicle determination unit 20A, the driving situation derivation unit 20B, the first setting unit 20C, the second setting unit 20D, and the output control unit 20E may be mounted on an external information processing device communicatively connected to the information processing device 10 via a network or the like.

[0042] The vehicle determination unit 20A determines whether another vehicle 2 captured in a captured image of the vicinity of the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. The vehicle determination unit 20A identifies the other vehicle 2 captured in the captured image by analyzing the captured image captured by the image capture device 13 using a known method that uses pattern matching, AI (Artificial Intelligence) learned by deep learning, or the like, and determines whether the identified other vehicle 2 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. Note that if the vehicle determination unit 20A detects an object other than the two-wheeled vehicle 2A or the four-wheeled vehicle 2B captured in the captured image, it does not perform a determination on that object. That is, in this embodiment, the vehicle determination unit 20A determines only at least one of the two-wheeled vehicle 2A and the four-wheeled vehicle 2B captured in the captured image.

[0043] The driving situation derivation unit 20B derives driving situation information relating to the driving situation of at least one of the host vehicle 1 and the other vehicle 2 determined by the vehicle determination unit 20A. The driving situation information includes first driving situation information, second driving situation information, and relative driving situation information.

[0044] For example, assume that the vehicle determination unit 20A determines that the other vehicle 2 captured in the captured video is a two-wheeled vehicle 2A. In this case, the traveling situation derivation unit 20B derives the first traveling situation information. Also, assume that the vehicle determination unit 20A determines that the other vehicle 2 captured in the captured video is a four-wheeled vehicle 2B. In this case, the traveling situation derivation unit 20B derives the second traveling situation information.

[0045] First, the first driving condition information will be described. The first driving condition information is information relating to the driving conditions of at least one of the host vehicle 1 and the determined two-wheeled vehicle 2A. In other words, the first driving condition information includes information representing the driving conditions of the host vehicle 1 and the two-wheeled vehicle 2A located to the rear of the host vehicle 1, as well as the relative driving conditions between the host vehicle 1 and the two-wheeled vehicle 2A.

[0046] Specifically, the first driving condition information is information that represents at least one of the following: the speed of the host vehicle 1, the number of times the two-wheeled vehicle 2A changes direction of travel, the illuminance of the driving environment of the host vehicle 1 and the two-wheeled vehicle 2A, the driving skill of the driver of the host vehicle 1, the estimated size of the two-wheeled vehicle 2A, the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling, the type of road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling, the estimated degree of collision impact if the two-wheeled vehicle 2A collides with another object, whether the current driving location of the host vehicle 1 and the two-wheeled vehicle 2A is within a warning area, whether the environment of the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined risk environment for falling, the steering angle of the host vehicle 1, the acceleration / deceleration status of the host vehicle 1, the area including the driving area on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling, the vehicle type of the two-wheeled vehicle 2A, and the behavior of the occupant of the two-wheeled vehicle 2A.

[0047] The vehicle speed of the host vehicle 1 means the current vehicle speed of the host vehicle 1. The driving condition derivation unit 20B identifies the vehicle speed of the host vehicle 1 by acquiring the vehicle speed of the host vehicle 1 detected by the internal sensor 15. The driving condition derivation unit 20B may also identify the vehicle speed of the host vehicle 1 by acquiring the vehicle speed of the host vehicle 1 from the driving control unit 16 via a CAN or the like.

[0048] The number of driving changes refers to the number of times the two-wheeled vehicle 2A determined by the vehicle determination unit 20A changes from being visible to the rider of the host vehicle 1 to being hidden by another vehicle 2 present between the two-wheeled vehicle 2A and the host vehicle 1. The driving situation derivation unit 20B analyzes the video of the rear side of the host vehicle 1 captured by the imaging device 13, counting a series of states, from a state in which at least a part of the two-wheeled vehicle 2A is exposed from the other vehicle 2 included in the captured video, to a state in which the entire two-wheeled vehicle 2A is captured in the captured video, as one state, and counts the number of times this state is repeated. The driving situation derivation unit 20B then identifies the count value of the number of repetitions as the number of driving changes of the two-wheeled vehicle 2A.

[0049] The number of driving changes may also represent the number of driving changes per unit time of the two-wheeled vehicle 2A in a direction intersecting the traveling direction of the host vehicle 1. In this case, the driving situation derivation unit 20B analyzes the rear side image captured by the image capture device 13 to identify the number of driving changes per unit time of the two-wheeled vehicle 2A determined by the vehicle determination unit 20A and included in the captured image. In this case, the number of driving changes represents, for example, the number of times that the two-wheeled vehicle 2A moves in one direction relative to the traveling direction of the host vehicle 1 and then moves in the other direction, counted as one round trip. The round trip movement of the two-wheeled vehicle 2A relative to the host vehicle 1 is sometimes referred to as zigzag driving, etc.

[0050] The illuminance of the traveling environment of the host vehicle 1 and the motorcycle 2A refers to the illuminance of the environment while the host vehicle 1 and the motorcycle 2A are traveling. The illuminance of the environment is, for example, lower at night than during the day, and lower on rainy or cloudy days than on sunny days. The traveling situation derivation unit 20B may, for example, be configured to further provide an illuminance sensor in addition to the external sensor 14, and identify the illuminance of the traveling environment by acquiring the illuminance detected by the illuminance sensor. The traveling situation derivation unit 20B may also estimate the illuminance of the traveling environment by inferring scenes such as daytime, twilight, and night from captured video using AI or the like trained by deep learning or the like.

[0051] The driving situation derivation unit 20B may also acquire the illuminance represented by the weather by acquiring the weather information of the environment where the vehicle 1 and the motorcycle 2A are traveling from an external server device that distributes weather information via the communication unit 12. For example, the driving situation derivation unit 20B may register weather information and illuminance information in advance in the storage unit 19 in association with each other, and acquire the illuminance by reading the illuminance information corresponding to the weather information received from the server device. The driving situation derivation unit 20B may also identify the illuminance of the driving environment by specifying the current time. For example, the driving situation derivation unit 20B may store time information and illuminance information representing the illuminance of the driving environment in association with each other in the storage unit 19 in advance. The storage unit 19 may store illuminance information representing a nighttime period in association with illuminance information representing an illuminance lower than the illuminance corresponding to time information representing a daytime period in advance. The traveling condition deriving unit 20B then reads from the storage unit 19 illuminance information corresponding to the time information of the current time, thereby identifying the illuminance of the traveling environment of the host vehicle 1 and the two-wheeled vehicle 2A.

[0052] The driving skill of the driver of the host vehicle 1 is information representing the driving skill of the driver who drives the host vehicle 1. The driving skill is represented, for example, by the driver's driving experience, the driver's age, etc. For example, the memory unit 19 stores driving skill information representing a numerical value of the driving skill, where the numerical value is higher the longer the driver's driving experience and lower the older the driver is, in advance, for example, by the driver's operation instruction via the operation unit 17. The driving situation derivation unit 20B identifies the driving skill of the driver of the host vehicle 1 by reading the driving skill information from the memory unit 19. The driving situation derivation unit 20B may also estimate the driver's driving skill using a known method, using a captured image obtained by a camera device that captures an image of the driver provided in the host vehicle 1, and information representing the driver's accelerator work obtained by the internal sensor 15 and the driving control unit 16.

[0053] The estimated size of the two-wheeled vehicle 2A is estimated information about the size of the two-wheeled vehicle 2A in real space. The traveling condition derivation unit 20B estimates the size of the two-wheeled vehicle 2A in real space by analyzing the two-wheeled vehicle 2A captured in the captured video using a known method, and specifies the estimated size. For example, the traveling condition derivation unit 20B estimates the size of the two-wheeled vehicle 2A using the area of ​​the two-wheeled vehicle 2A captured in the captured video and the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A. The traveling condition derivation unit 20B may also specify the model of the two-wheeled vehicle 2A captured in the captured video and obtain size information corresponding to the specified model from the storage unit 19 or an external information processing device, thereby specifying the estimated size of the two-wheeled vehicle 2A.

[0054] The color difference between the two-wheeled vehicle 2A and the road surface on which the two-wheeled vehicle 2A is traveling is the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling. The traveling condition derivation unit 20B analyzes, for example, the captured image captured by the imaging device 13, and identifies, as the color difference, the difference between the average pixel value of the image area in which the two-wheeled vehicle 2A is captured and the average pixel value of the traveling road surface area that includes at least the area in contact with the wheels of the two-wheeled vehicle 2A.

[0055] The type of road on which the vehicle 1 and the two-wheeled vehicle 2A are traveling refers to whether the road on which the vehicle 1 and the two-wheeled vehicle 2A are traveling is an expressway or an ordinary road. An expressway is a road on which high-speed travel above a predetermined speed is permitted. The traveling condition deriving unit 20B identifies the type of road on which the vehicle 1 and the two-wheeled vehicle 2A are traveling, for example, by identifying the type of road present at the current position of the vehicle 1 in map data used by a car navigation system installed in the vehicle 1. The traveling condition deriving unit 20B may also identify the type of road by analyzing captured video.

[0056] The estimated collision impact level when the two-wheeled vehicle 2A collides with another object is information that represents an estimated value of the impact level when the traveling two-wheeled vehicle 2A collides with another object. The estimated collision impact level is expressed, for example, by kinetic energy. The traveling condition deriving unit 20B identifies the type of two-wheeled vehicle 2A, for example, by analyzing the captured video. The type of two-wheeled vehicle 2A is represented by the model, manufacturer name, model, etc. of the two-wheeled vehicle 2A. The traveling condition deriving unit 20B then acquires the mass of the identified type of two-wheeled vehicle 2A from the storage unit 19 or an external information processing device, and calculates the kinetic energy by multiplying the mass by the square of the current speed of the two-wheeled vehicle 2A by 1 / 2, thereby calculating the estimated collision impact level of the two-wheeled vehicle 2A. The traveling condition deriving unit 20B may acquire the speed of the two-wheeled vehicle 2A by analyzing the captured video using a known method. The traveling condition derivation unit 20B may also acquire the speed and mass of the two-wheeled vehicle 2A from the two-wheeled vehicle 2A by vehicle-to-vehicle communication (V2V) via the communication unit 12 or the like.

[0057] The warning target area is a predetermined area in real space where warning information is to be output to a passenger of the host vehicle 1. Examples of the warning target area include intersections, highway merging points, etc. For example, the warning target area may be registered in advance in the map data by a user's operation instruction via the operation unit 17. The driving situation deriving unit 20B may determine whether the current traveling positions of the host vehicle 1 and the two-wheeled vehicle 2A are within the warning target area registered in the map data. The driving situation deriving unit 20B may use the position of the host vehicle 1 detected by the internal sensor 15 as the current traveling positions of the host vehicle 1 and the two-wheeled vehicle 2A.

[0058] The information representing the fall-risk environment is information representing that the road surface on which the host vehicle 1 and the motorcycle 2A are traveling is an environment in which the motorcycle 2A is likely to fall. Specifically, the information representing the fall-risk environment is represented by information representing road surface conditions, such as icy conditions, rainy weather, and snow accumulation. The information representing the fall-risk environment may be set in advance and stored in the storage unit 19 or the like. The traveling situation derivation unit 20B acquires information representing the road surface conditions of the traveling road surface at the current position of the host vehicle 1 from, for example, a weather server or an information processing device that provides road surface conditions, and determines whether the information matches the fall-risk environment, thereby identifying whether the environment on the traveling road surface on which the host vehicle 1 and the motorcycle 2A are traveling is a predetermined fall-risk environment. The traveling situation derivation unit 20B may also identify the information representing the road surface conditions of the traveling road surface by analyzing an image area of ​​the traveling road surface included in the captured video in a known direction. The driving condition derivation unit 20B may then determine whether the information corresponds to a fall-risk environment, thereby determining whether the environment of the road surface on which the vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined fall-risk environment.

[0059] The steering angle of the host vehicle 1 is the current steering angle of the host vehicle 1. The traveling condition derivation unit 20B acquires the steering angle of the steering device detected by the internal sensor 15, thereby identifying the steering angle of the host vehicle 1.

[0060] The acceleration / deceleration status of the host vehicle 1 is information indicating whether the host vehicle 1 is accelerating or decelerating, and the acceleration in that case. The traveling situation derivation unit 20B acquires the acceleration detected by the internal sensor 15, and if the acquired acceleration indicates a negative value, determines that the host vehicle 1 is decelerating. Furthermore, the traveling situation derivation unit 20B identifies the acceleration at this time as the acceleration during deceleration. Furthermore, the traveling situation derivation unit 20B may determine the acceleration in the deceleration direction of the host vehicle 1 from the amount of depression of the brake pedal detected by the internal sensor 15.

[0061] The region including the travel area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is the country or region in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling. The traveling condition derivation unit 20B identifies the position in the map data of the host vehicle 1 detected by the internal sensor 15, thereby identifying the region including the travel area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling.

[0062] The vehicle type of the motorcycle 2A is a label for each classification of the motorcycle 2A when the motorcycle 2A is classified according to predetermined rules. In this embodiment, the vehicle type of the motorcycle 2A indicates whether or not the motorcycle 2A is a vehicle subject to a warning. A vehicle subject to a warning for the motorcycle 2A is a vehicle of a vehicle type that is subject to a warning for the host vehicle 1. A vehicle subject to a warning is, for example, a vehicle designated and permitted to have priority passage or use of a road. A specific example of a vehicle subject to a warning for the motorcycle 2A is, but is not limited to, a motorcycle equipped with various devices necessary for traffic enforcement by the police. The vehicle type of the vehicle subject to a warning may be registered in advance in the storage unit 19 or the like by, for example, an operation instruction on the operation unit 17 by a rider of the host vehicle 1 or the like. The traveling condition derivation unit 20B may identify the vehicle type of the motorcycle 2A captured in the captured video and determine whether or not the motorcycle 2A is a vehicle subject to a warning by performing image analysis on the captured video.

[0063] The behavior of the rider of the two-wheeled vehicle 2A refers to gestures and other behaviors of at least one of the driver riding the two-wheeled vehicle 2A and the passenger riding with the driver. The traveling condition derivation unit 20B identifies the behavior of the rider of the two-wheeled vehicle 2A captured in the captured video by performing image analysis of the captured video using a known method.

[0064] Next, the second traveling situation information will be described. As described above, it is assumed that the vehicle determination unit 20A determines that the other vehicle 2 captured in the captured video is a four-wheeled vehicle 2B. In this case, the traveling situation derivation unit 20B derives the second traveling situation information.

[0065] The second driving condition information is information relating to the driving conditions of at least one of the host vehicle 1 and the determined four-wheeled vehicle 2B. In other words, the second driving condition information includes information representing the driving conditions of the host vehicle 1 and the four-wheeled vehicle 2B present on the rear side of the host vehicle 1, as well as the relative driving conditions between the host vehicle 1 and the four-wheeled vehicle 2B.

[0066] Specifically, the second driving condition information is information that represents at least one of the following: the vehicle speed of the host vehicle 1, the estimated size of the four-wheeled vehicle 2B, the type of road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling, the estimated degree of collision impact if the four-wheeled vehicle 2B collides with another object, whether the current driving location of the host vehicle 1 and the four-wheeled vehicle 2B is within a warning area, the vehicle registration number of the four-wheeled vehicle 2B, the area that includes the driving area on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling, and the vehicle type of the four-wheeled vehicle 2B.

[0067] The speed of the host vehicle 1 is the current speed of the host vehicle 1 as described above.

[0068] The estimated size of the four-wheeled vehicle 2B is estimated information about the size of the four-wheeled vehicle 2B in real space. The traveling situation derivation unit 20B estimates the size of the four-wheeled vehicle 2B in real space by analyzing the four-wheeled vehicle 2B captured in the captured video using a known method, and specifies the estimated size. For example, the traveling situation derivation unit 20B estimates the size of the four-wheeled vehicle 2B using the area of ​​the four-wheeled vehicle 2B captured in the captured video and the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B. The traveling situation derivation unit 20B may also specify the estimated size of the four-wheeled vehicle 2B by specifying the model of the four-wheeled vehicle 2B captured in the captured video and acquiring size information corresponding to the specified model from the storage unit 19 or an external information processing device.

[0069] The type of road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling refers to whether the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is an expressway or an ordinary road. The traveling condition derivation unit 20B may identify the type of road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling in the same manner as the method for identifying the type of road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling.

[0070] The estimated collision impact level when the four-wheeled vehicle 2B collides with another object is information representing an estimated value of the impact level when the traveling four-wheeled vehicle 2B collides with another object. As described above, the estimated collision impact level is expressed, for example, by kinetic energy. The traveling situation derivation unit 20B identifies the type of four-wheeled vehicle 2B, for example, by analyzing the captured video. The type of four-wheeled vehicle 2B is represented by a vehicle classification such as a small vehicle, a standard vehicle, or a large vehicle, the manufacturer's name, the model, and the like. The traveling situation derivation unit 20B then acquires the mass of the identified type of four-wheeled vehicle 2B from the storage unit 19 or an external information processing device, and calculates the kinetic energy calculated by multiplying the mass by the square of the current speed of the four-wheeled vehicle 2B by 1 / 2, thereby obtaining the estimated collision impact level of the four-wheeled vehicle 2B. The traveling situation derivation unit 20B may acquire the speed of the four-wheeled vehicle 2B by analyzing the captured video using a known method. The traveling condition derivation unit 20B may also acquire the speed and mass of the four-wheeled vehicle 2B from the four-wheeled vehicle 2B through the communication unit 12 by vehicle-to-vehicle communication (V2V) or the like.

[0071] The warning target area is the same as that described for the two-wheeled vehicle 2A. The traveling condition deriving unit 20B simply determines whether the current traveling positions of the host vehicle 1 and the four-wheeled vehicle 2B are within the warning target area registered in the map data. The traveling condition deriving unit 20B simply uses the position of the host vehicle 1 detected by the internal sensor 15 as the current traveling positions of the host vehicle 1 and the four-wheeled vehicle 2B.

[0072] The vehicle registration number is a number for uniquely identifying the four-wheeled vehicle 2B. The vehicle registration number is represented by characters such as numbers attached to the license plate of the four-wheeled vehicle 2B. The driving condition derivation unit 20B can identify the vehicle registration number of the four-wheeled vehicle 2B by analyzing the characters shown in the area of ​​the license plate of the four-wheeled vehicle 2B included in the captured video using a known character recognition method or the like.

[0073] The region including the travel area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is the country or region in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling. The traveling condition derivation unit 20B identifies the position in the map data of the position of the host vehicle 1 detected by the internal sensor 15, thereby identifying the region including the travel area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling.

[0074] The vehicle type of the four-wheeled vehicle 2B is a label for each classification when the four-wheeled vehicle 2B is classified according to predetermined rules. In this embodiment, the vehicle type of the four-wheeled vehicle 2B indicates whether or not the vehicle is a warning target vehicle. The warning target vehicle of the four-wheeled vehicle 2B is a vehicle of a vehicle type that is a target for warning the host vehicle 1. The warning target vehicle of the four-wheeled vehicle 2B is, for example, a vehicle designated and permitted to be given priority on a road or to be given priority for use of a road. Specific examples of the warning target vehicle of the four-wheeled vehicle 2B include large vehicles and special vehicles such as police vehicles, ambulances, fire engines, buses, taxis, and trucks. The vehicle type of the warning target vehicle of the four-wheeled vehicle 2B may be registered in advance in the storage unit 19 or the like by, for example, an operation instruction of the operation unit 17 by a passenger of the host vehicle 1 or the like. The traveling condition derivation unit 20B may identify the vehicle type of the four-wheeled vehicle 2B captured in the photographed video and determine whether or not the vehicle is a warning target vehicle by performing image analysis on the photographed video.

[0075] Next, the relative traveling situation information will be described.

[0076] The relative traveling situation information is information that indicates the relative traveling situation between the host vehicle 1 and the other vehicle 2 that is determined by the vehicle determination unit 20A. Specifically, the relative traveling situation information is information that indicates the inter-vehicle distance between the host vehicle 1 and the other vehicle 2, the lanes in which the host vehicle 1 and the other vehicle 2 are traveling, other lanes around the host vehicle 1 that are permitted to travel in the same direction as the current traveling direction, the relative speed between the host vehicle 1 and the other vehicle 2, whether the other vehicle 2 is moving away from or approaching the host vehicle 1, etc.

[0077] The inter-vehicle distance is the distance between the host vehicle 1 and the other vehicle 2. The driving situation derivation unit 20B specifies the distance between the host vehicle 1 and the other vehicle 2 detected by the external sensor 14 as the inter-vehicle distance from the host vehicle 1 to the other vehicle 2. Alternatively, for example, the driving situation derivation unit 20B may calculate the distance from the host vehicle 1 to the other vehicle 2 as the inter-vehicle distance by estimating the distance pseudo-wise using a known method from the foot position, width, etc. of the object by combining a captured video with object detection using AI trained by deep learning or the like. Alternatively, for example, the driving situation derivation unit 20B may calculate the inter-vehicle distance between the host vehicle 1 and the other vehicle 2 as the difference between the position of the host vehicle 1 detected by the internal sensor 15 and the position of the other vehicle 2 received from the other vehicle 2 via vehicle-to-vehicle communication or the like.

[0078] A lane is a strip-shaped area provided on a travel route for vehicles traveling in a single file. The travel situation derivation unit 20B analyzes the captured video using a known method to identify the lanes in which the host vehicle 1 and the other vehicle 2 are traveling, as well as other lanes around the host vehicle 1 that are permitted for travel in the same direction as the current travel direction.

[0079] The relative speed represents the speed of the other vehicle 2 relative to the host vehicle 1. The traveling situation derivation unit 20B determines the relative speed of the other vehicle 2 relative to the host vehicle 1, for example, from a change in the position of the other vehicle 2 in the captured image. For example, if the image capture device 13 is a stereo camera, the traveling situation derivation unit 20B determines the relative speed of the other vehicle 2 from the time change in the distance indicated by the parallax using parallax information obtained from the stereo camera. The traveling situation derivation unit 20B may calculate the distance indicated by this parallax as the inter-vehicle distance between the host vehicle 1 and the other vehicle 2. Alternatively, the traveling situation derivation unit 20B may calculate the relative speed using the speed of the host vehicle 1 detected by the internal sensor 15 of the host vehicle 1 and the speed of the other vehicle 2 obtained from the other vehicle 2 through vehicle-to-vehicle communication.

[0080] Furthermore, by analyzing time-series changes in the calculated inter-vehicle distance between the subject vehicle 1 and the other vehicle 2, the traveling condition deriving unit 20B determines that the other vehicle 2 is moving away from the subject vehicle 1 when the inter-vehicle distance increases over time. Furthermore, the traveling condition deriving unit 20B may determine that the other vehicle 2 is approaching the subject vehicle 1 when the inter-vehicle distance decreases over time.

[0081] Next, the first setting unit 20C and the second setting unit 20D will be described.

[0082] When it is determined that the other vehicle 2 is a two-wheeled vehicle 2A, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance in accordance with the first traveling condition information.

[0083] When it is determined that the other vehicle 2 is a four-wheeled vehicle 2B, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance in accordance with the second traveling condition information.

[0084] The first inter-vehicle distance is a threshold value of the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A for determining whether or not to output warning information about the two-wheeled vehicle 2A to a passenger in the host vehicle 1. When the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A becomes equal to or less than the first inter-vehicle distance, the output control unit 20E (described in detail later) outputs warning information about the two-wheeled vehicle 2A.

[0085] The second inter-vehicle distance is a threshold value of the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B for determining whether or not to output warning information about the four-wheeled vehicle 2B to the passengers of the host vehicle 1. When the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes equal to or less than the second inter-vehicle distance, the output control unit 20E (described in detail later) outputs warning information about the four-wheeled vehicle 2B.

[0086] That is, in this embodiment, when the inter-vehicle distance between the host vehicle 1 and another vehicle 2 becomes equal to or less than a first inter-vehicle distance, if the other vehicle 2 is a two-wheeled vehicle 2A, warning information regarding the two-wheeled vehicle 2A is output. Also, in this embodiment, when the inter-vehicle distance between the host vehicle 1 and another vehicle 2 becomes equal to or less than a second inter-vehicle distance, if the other vehicle 2 is a four-wheeled vehicle 2B, warning information regarding the four-wheeled vehicle 2B is output. Therefore, in this embodiment, warning information regarding the other vehicle 2 can be output using a threshold value for the inter-vehicle distance depending on whether the other vehicle 2 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B (described in detail later).

[0087] The first initial inter-vehicle distance is the initial value of the threshold value of the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A before it is changed in accordance with the first traveling condition information. The second initial inter-vehicle distance is the initial value of the threshold value of the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B before it is changed in accordance with the second traveling condition information. The first initial inter-vehicle distance is, for example, a distance longer than the second initial inter-vehicle distance.

[0088] The storage unit 19 pre-stores information representing a first initial inter-vehicle distance and a second initial inter-vehicle distance. The first setting unit 20C and the second setting unit 20D set a first inter-vehicle distance and a second inter-vehicle distance, respectively, for each other vehicle 2 that is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B determined by the vehicle determination unit 20A. For example, assume that the vehicle determination unit 20A determines a two-wheeled vehicle 2A and a four-wheeled vehicle 2B from the captured video. In this case, the first setting unit 20C sets a first inter-vehicle distance for the two-wheeled vehicle 2A using first traveling situation information for the two-wheeled vehicle 2A. The second setting unit 20D sets a second inter-vehicle distance for the four-wheeled vehicle 2B using second traveling situation information for the four-wheeled vehicle 2B. Also, assume that the vehicle determination unit 20A determines a plurality of two-wheeled vehicles 2A and a plurality of four-wheeled vehicles 2B from the captured video. In this case, the first setting unit 20C sets a first inter-vehicle distance for each of the plurality of two-wheeled vehicles 2A using the first traveling condition information for each of the plurality of two-wheeled vehicles 2A. The first setting unit 20C also sets a second inter-vehicle distance for each of the plurality of four-wheeled vehicles 2B using the second traveling condition information for each of the plurality of four-wheeled vehicles 2B.

[0089] First, the first setting unit 20C will be described in detail.

[0090] The first setting unit 20C determines whether the first traveling condition information derived by the traveling condition derivation unit 20B matches at least one of the following first conditions. Then, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance in accordance with the matched first condition.

[0091] The first condition is that the speed of the host vehicle 1 is equal to or greater than a predetermined speed, the number of times that the motorcycle 2A changes direction of travel is equal to or greater than a predetermined number, the vehicle 1 is traveling in a traveling environment with a predetermined illuminance or less, the driving skill of the driver of the host vehicle 1 is equal to or less than a predetermined skill, the driving skill of the driver of the motorcycle 2A is equal to or less than a predetermined skill, the estimated size of the motorcycle 2A is equal to or less than a predetermined size, the color difference between the motorcycle 2A and the traveling road surface is equal to or less than a predetermined color difference, the road on which the host vehicle 1 and the motorcycle 2A are traveling is a road on which high-speed traveling at a predetermined speed or more is permitted, and the The first condition represents at least one of the following conditions: the estimated collision impact level is equal to or greater than a predetermined impact level; the traveling location of the host vehicle 1 and the two-wheeled vehicle 2A is within a predetermined warning area; the environment of the road surface on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined risk environment for tipping over; the steering angle of the host vehicle 1 is equal to or greater than a predetermined angle; deceleration of the host vehicle 1; the traveling area on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is within a predetermined area; the vehicle type of the two-wheeled vehicle 2A is a predetermined vehicle subject to warning; and a predetermined action by the rider of the two-wheeled vehicle 2A. In this embodiment, a case where the first condition represents each of these conditions will be described as an example, but the first condition may represent at least one of these conditions.

[0092] The first setting unit 20C determines whether the vehicle speed of the host vehicle 1 included in the first traveling situation information is equal to or greater than a predetermined speed. The predetermined speed may be set in advance by a user's operation instruction on the operation unit 17 or the like, and may be stored in advance in the storage unit 19. The predetermined speed may be set in advance to a speed that serves as a threshold for changing the first initial inter-vehicle distance to a longer first inter-vehicle distance, for example. The predetermined speed may be changeable by a user's operation instruction on the operation unit 17 or the like.

[0093] When the vehicle speed of the host vehicle 1 included in the first traveling condition information is equal to or greater than a predetermined speed, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. Furthermore, when the vehicle speed of the host vehicle 1 is equal to or greater than a predetermined speed, the first setting unit 20C may set the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance the faster the vehicle speed is. Through these setting processes, the first setting unit 20C can increase the output sensitivity of the warning information regarding the two-wheeled vehicle 2A the faster the vehicle speed of the host vehicle 1. Furthermore, when the vehicle speed of the host vehicle 1 included in the first traveling condition information derived by the traveling condition derivation unit 20B is less than a predetermined speed, the first setting unit 20C uses the first initial inter-vehicle distance as the first inter-vehicle distance. The two-wheeled vehicle 2A may pass through the vicinity of the host vehicle 1 traveling at a low speed due to traffic congestion, waiting at a traffic light, or the like. Therefore, through this processing, the first setting unit 20C can set the first inter-vehicle distance so that, regardless of the vehicle speed of the vehicle 1, warning information is output for the two-wheeled vehicle 2A when the inter-vehicle distance from the two-wheeled vehicle 2A becomes less than the first initial inter-vehicle distance.

[0094] The first setting unit 20C also determines whether the number of times the two-wheeled vehicle 2A has changed its traveling direction, which is included in the first traveling situation information, is equal to or greater than a predetermined number. The predetermined number of times of changing the traveling direction may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in advance in the storage unit 19. For example, the predetermined number may be set in advance to a number that serves as a threshold for changing the first initial inter-vehicle distance to a longer first inter-vehicle distance. The predetermined number may be changeable by a user's operation instruction via the operation unit 17, etc.

[0095] The first setting unit 20C reads the number of times the two-wheeled vehicle 2A has changed its traveling direction, which is included in the first traveling condition information. If the number of times the two-wheeled vehicle 2A has changed its traveling direction is equal to or greater than a predetermined number, the first setting unit 20C sets a first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance. Furthermore, if the number of times the two-wheeled vehicle 2A has changed its traveling direction is equal to or greater than a predetermined number, the first setting unit 20C may set a first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance the greater the number of times the two-wheeled vehicle 2A has changed its traveling direction. These setting processes can increase the output sensitivity of warning information for a two-wheeled vehicle 2A that has changed its traveling direction equal to or greater than a predetermined number.

[0096] The first setting unit 20C also determines whether the vehicle 1 and the motorcycle 2A are traveling in a traveling environment with a predetermined illuminance or less by determining whether the illuminance of the traveling environment of the vehicle 1 and the motorcycle 2A, which is included in the first traveling situation information, is a predetermined illuminance or less. The predetermined illuminance may be set in advance by a user's operation instruction on the operation unit 17, and may be stored in advance in the storage unit 19. The predetermined illuminance may be set in advance to an illuminance that serves as a threshold for changing the first initial inter-vehicle distance to a longer first inter-vehicle distance, for example. The predetermined illuminance may be changeable by a user's operation instruction on the operation unit 17, etc.

[0097] When the illuminance of the traveling environment is equal to or lower than a predetermined illuminance, the first setting unit 20C changes the first initial inter-vehicle distance to a longer distance and sets the first inter-vehicle distance. Specifically, it is assumed that the first initial inter-vehicle distance is 20 m. When the traveling environment is dark, such as when the illuminance is equal to or lower than the predetermined illuminance, the first setting unit 20C sets the first initial inter-vehicle distance to a longer distance, such as 30 m. Furthermore, when the illuminance of the traveling environment is equal to or lower than the predetermined illuminance, the first setting unit 20C may change the first initial inter-vehicle distance to a longer distance as the illuminance becomes lower (darker). Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the traveling environment of the host vehicle 1 and the two-wheeled vehicle 2A is dark, such as when the illuminance is equal to or lower than the predetermined illuminance.

[0098] Furthermore, the first setting unit 20C reads the driving skill of the driver of the vehicle 1 included in the first traveling situation information. Then, the first setting unit 20C determines whether the driving skill of the driver of the vehicle 1 is equal to or lower than a predetermined skill. The predetermined skill may be set in advance by a user's operation instruction on the operation unit 17 or the like, and may be stored in the storage unit 19 in advance. The predetermined skill may be set in advance to a driving skill that serves as a threshold for changing the first initial inter-vehicle distance to a longer first inter-vehicle distance, for example. The predetermined skill may be changeable by a user's operation instruction on the operation unit 17 or the like.

[0099] When the driving skill of the driver of the host vehicle 1 is equal to or lower than a predetermined skill level, the first setting unit 20C sets a first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance. Specifically, when the driving skill of the driver of the host vehicle 1 is equal to or lower than a predetermined skill level, the first setting unit 20C sets a first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance. Furthermore, the first setting unit 20C may set a first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance the lower the driving skill of the driver of the host vehicle 1 is equal to or lower than a predetermined skill level. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the driving skill of the driver of the host vehicle 1 is low, such as equal to or lower than a predetermined skill level.

[0100] Furthermore, if the driving skill of the driver of the two-wheeled vehicle 2A is below a predetermined skill level, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance. Specifically, if the driving skill of the driver of the two-wheeled vehicle 2A is below a predetermined skill level, the first inter-vehicle distance is set by changing the first initial inter-vehicle distance to a farther distance. Furthermore, the first setting unit 20C may set the first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance the lower the driving skill of the driver of the two-wheeled vehicle 2A is below a predetermined skill level. For example, if the two-wheeled vehicle 2A suddenly approaches the host vehicle 1, the driver of the host vehicle 1 may suddenly change the speed or traveling position of the host vehicle 1 to avoid the two-wheeled vehicle 2A. If the driver of the two-wheeled vehicle 2A has low driving skill, such as below a predetermined skill level, it is predicted that the driver of the two-wheeled vehicle 2A will have difficulty responding to sudden changes in the speed or traveling position of the host vehicle 1. In order to avoid such an event, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A by performing these setting processes.

[0101] The first setting unit 20C may acquire the driving skill of the driver of the motorcycle 2A by receiving the driving skill of the driver identified by the motorcycle 2A from the motorcycle 2A via V2V (vehicle-to-vehicle communication) or the like, and use the acquired driving skill in the setting process. The motorcycle 2A may identify the driving skill by, for example, calculating the driving skill of the driver from the driving operation of the driver of the motorcycle 2A using a known method or the like. Furthermore, the driver's identification information and the driver's driving skill may be associated and stored in advance in a mobile device such as a smartphone carried by the driver of the motorcycle 2A. When the mobile device is used as a key to unlock the motorcycle 2A, the identification information and the driving skill are transmitted from the mobile device to the motorcycle 2A. The motorcycle 2A may then identify the driving skill of the driver of the motorcycle 2A by receiving the identification information and the driving skill from the mobile device. The first setting unit 20C may also acquire the driving skill of the driver of the two-wheeled vehicle 2A by analyzing the two-wheeled vehicle 2A included in the captured video using a known method and estimating the braking operation of the two-wheeled vehicle 2A, etc.

[0102] The first setting unit 20C also reads the estimated size of the two-wheeled vehicle 2A included in the first traveling condition information. The first setting unit 20C then determines whether the estimated size of the two-wheeled vehicle 2A is equal to or smaller than a predetermined size. The predetermined size of the two-wheeled vehicle 2A may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in advance in the storage unit 19. The predetermined size of the two-wheeled vehicle 2A may be set in advance to a size of the two-wheeled vehicle 2A that serves as a threshold for changing the first initial inter-vehicle distance to a longer first inter-vehicle distance, for example. The predetermined size of the two-wheeled vehicle 2A may be changeable as needed by a user's operation instruction via the operation unit 17, etc.

[0103] When the estimated size of the two-wheeled vehicle 2A is equal to or smaller than a predetermined size, the first setting unit 20C sets a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance. Furthermore, the first setting unit 20C may set a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance when the estimated size of the two-wheeled vehicle 2A is equal to or smaller than a predetermined size and the smaller the estimated size is. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information for two-wheeled vehicles 2A whose estimated size is equal to or smaller than a predetermined size, that is, small two-wheeled vehicles 2A that are unlikely to be noticed by drivers.

[0104] The first setting unit 20C also reads the color difference between the color of the two-wheeled vehicle 2A included in the first traveling condition information and the color of the road surface on which the two-wheeled vehicle 2A is traveling. The first setting unit 20C then determines whether the color difference is equal to or less than a predetermined color difference. The predetermined color difference may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in advance in the storage unit 19. The predetermined color difference may be set in advance as a color difference that serves as a threshold for changing the first initial inter-vehicle distance to a longer first inter-vehicle distance. The predetermined color difference may be changeable by a user's operation instruction via the operation unit 17, etc.

[0105] When the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling is equal to or smaller than a predetermined color difference, the first setting unit 20C sets a first inter-vehicle distance by changing the first initial inter-vehicle distance to a greater distance. Furthermore, the first setting unit 20C may set a first inter-vehicle distance by changing the first initial inter-vehicle distance to a greater distance the smaller the color difference is, and the greater the color difference is. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information regarding the two-wheeled vehicle 2A when the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling is equal to or smaller than a predetermined color difference, which makes the two-wheeled vehicle 2A and the road surface more easily blended together, i.e., when the driver finds the two-wheeled vehicle 2A less noticeable.

[0106] The first setting unit 20C also reads the type of road on which the host vehicle 1 and the motorcycle 2A are traveling, which is included in the first traveling condition information. The first setting unit 20C then determines whether the type of road on which the host vehicle 1 and the motorcycle 2A are traveling is a road on which high-speed traveling at or above a predetermined speed is permitted. As described above, the traveling condition derivation unit 20B identifies the type of road on which the host vehicle 1 and the motorcycle 2A are traveling, indicating whether the road is an expressway or an ordinary road. Therefore, the first setting unit 20C reads the identification result to determine whether the type of road on which the host vehicle 1 and the motorcycle 2A are traveling is an expressway.

[0107] When the first setting unit 20C determines that the type of road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an expressway, it sets a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance. Furthermore, the higher the upper speed limit set for the expressway on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling, the greater the first inter-vehicle distance that the first setting unit 20C may set. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the type of road on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an expressway.

[0108] Furthermore, when the type of road on which the host vehicle 1 and the motorcycle 2A are traveling is an expressway and the estimated collision impact level in the event that the motorcycle 2A collides with another object is less than a predetermined impact level, the first setting unit 20C sets the first initial inter-vehicle distance as the first inter-vehicle distance. The first setting unit 20C reads the estimated collision impact level in the event that the motorcycle 2A collides with another object, which is included in the first traveling condition information, and uses this information in the setting process. Through these setting processes, the first setting unit 20C can set the first initial inter-vehicle distance as the first inter-vehicle distance for a motorcycle 2A traveling at high speeds and having a low estimated collision impact level, without increasing the output sensitivity.

[0109] The first setting unit 20C may set the first initial inter-vehicle distance as the first inter-vehicle distance when the estimated collision impact level of the two-wheeled vehicle 2A is less than a predetermined impact level, regardless of the type of road on which the two-wheeled vehicle 2A is traveling. Also, the first setting unit 20C may set a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance when the estimated collision impact level of the two-wheeled vehicle 2A is equal to or greater than a predetermined impact level, regardless of the type of road on which the two-wheeled vehicle 2A is traveling. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the estimated collision impact level of the two-wheeled vehicle 2A is equal to or greater than the predetermined impact level.

[0110] The first setting unit 20C also reads the determination result, included in the first traveling situation information, as to whether the current traveling positions of the host vehicle 1 and the two-wheeled vehicle 2A are within the warning area. If the determination result indicates that the current traveling positions of the host vehicle 1 and the two-wheeled vehicle 2A are within the warning area, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance.

[0111] As described above, the warning target area is, for example, an intersection, a merging point of a highway, etc. Therefore, by performing these setting processes, the first setting unit 20C can increase the output sensitivity of warning information regarding the two-wheeled vehicle 2A when the host vehicle 1 is traveling through a warning target area such as an intersection or a merging point of a highway.

[0112] The traveling condition derivation unit 20B may use the position of the vehicle 1 detected by the GPS included in the internal sensor 15 to determine whether the current traveling location of the vehicle 1 and the two-wheeled vehicle 2A is within the warning area. In this case, it is preferable that the output control unit 20E, which will be described later, forcibly turns off the output of warning information when it becomes impossible to acquire the position of the vehicle 1 by the GPS. This process prevents the output control unit 20E from erroneously outputting warning information.

[0113] The first setting unit 20C also reads the determination result, included in the first traveling condition information, as to whether the environment of the road surface on which the host vehicle 1 and the motorcycle 2A are traveling is a predetermined risk of tipping over. Then, the first setting unit 20C determines whether the determination result indicates that the environment of the road surface on which the host vehicle 1 and the motorcycle 2A are traveling is a predetermined risk of tipping over.

[0114] When the first setting unit 20C determines that the road surface environment on which the host vehicle 1 and the motorcycle 2A are traveling is a predetermined tip-over risk environment, it sets a first inter-vehicle distance that is a longer first initial inter-vehicle distance. As described above, a tip-over risk environment is information that indicates that the road surface on which the host vehicle 1 and the motorcycle 2A are traveling is an environment in which the motorcycle 2A is likely to tip over. Specifically, a tip-over risk environment is indicated by information indicating road surface conditions such as icy conditions, rainy conditions, and snow accumulation. Through these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the motorcycle 2A when the motorcycle 2A is traveling in a tip-over risk environment in which the motorcycle 2A is likely to tip over and has a long braking distance.

[0115] The first setting unit 20C also reads the steering angle of the host vehicle 1 included in the first traveling situation information. The first setting unit 20C then determines whether the steering angle of the host vehicle 1 is equal to or greater than a predetermined angle. The predetermined angle may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in advance in the storage unit 19. For example, the predetermined angle may be set in advance to a steering angle that serves as a threshold for changing the first initial inter-vehicle distance to a longer first inter-vehicle distance. The predetermined angle may be changeable by a user's operation instruction via the operation unit 17, etc.

[0116] When the steering angle of the host vehicle 1 is equal to or greater than a predetermined angle, the first setting unit 20C sets a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance. Furthermore, the first setting unit 20C may set a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance when the steering angle of the host vehicle 1 is equal to or greater than a predetermined angle and the greater the steering angle. When the host vehicle 1 is turning right or left or traveling on a curved road with a high curvature, the risk of an accident involving the two-wheeled vehicle 2A increases. Therefore, by performing these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the steering angle of the host vehicle 1 is equal to or greater than a predetermined angle, thereby reducing the risk.

[0117] Furthermore, the first setting unit 20C reads information representing the acceleration / deceleration status of the host vehicle 1 from the first traveling condition information. Then, when the information representing the acceleration / deceleration status of the host vehicle 1 represents deceleration of the host vehicle 1, the first setting unit 20C sets a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance. The braking distance of the two-wheeled vehicle 2A is longer than that of the four-wheeled vehicle 2B. Therefore, by performing these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when detecting deceleration of the host vehicle 1. Furthermore, the output control unit 20E, which will be described later, may output warning information in an output format that more urges the user to pay attention when detecting deceleration of the host vehicle 1.

[0118] The first setting unit 20C also reads the region including the travel area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling, which is included in the first travel situation information. As described above, the region is information indicating the country or region in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling.

[0119] The first setting unit 20C then determines whether the area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is within a predetermined area. The predetermined area is, for example, an area where the traveling density of the two-wheeled vehicle 2A is high, or an area where the traveling density of the two-wheeled vehicle 2A is low. The predetermined area may be set by a user's operation instruction via the operation unit 17, and may be stored in the storage unit 19 in advance.

[0120] When the area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an area with a high density of two-wheeled vehicles 2A, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a closer distance. Furthermore, when the area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an area with a low density of two-wheeled vehicles 2A, the first setting unit 20C may set the first inter-vehicle distance by changing the first initial inter-vehicle distance to a farther distance. Through these setting processes, when the area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an area with a high density of two-wheeled vehicles 2A, the first setting unit 20C can reduce the output sensitivity of warning information related to the two-wheeled vehicle 2A, thereby preventing the warning information from being output frequently. Furthermore, when the area in which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is an area with a low density of two-wheeled vehicles 2A, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A.

[0121] The first setting unit 20C also reads the identification result of the vehicle type of the two-wheeled vehicle 2A included in the first traveling condition information. The first setting unit 20C then determines whether the read vehicle type of the two-wheeled vehicle 2A is a vehicle to be warned about. As described above, a vehicle to be warned about is a vehicle of a vehicle type that is the target of a warning issued to the host vehicle 1, such as a motorcycle equipped with various devices necessary for traffic enforcement by the police. As described above, in this embodiment, the traveling condition deriving unit 20B also identifies whether the vehicle type of the two-wheeled vehicle 2A is a vehicle to be warned about. Therefore, the first setting unit 20C determines whether the vehicle type of the two-wheeled vehicle 2A is a vehicle to be warned about by reading the identification result included in the first traveling condition information.

[0122] When the vehicle type of the two-wheeled vehicle 2A is a vehicle to be warned, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. Through this setting process, the first setting unit 20C can increase the output sensitivity of warning information regarding the two-wheeled vehicle 2A that is a vehicle to be warned.

[0123] The first setting unit 20C also reads the movement of the rider of the two-wheeled vehicle 2A included in the first traveling condition information. The first setting unit 20C then determines whether the movement of the rider of the two-wheeled vehicle 2A is a predetermined movement. The predetermined movement is, for example, a movement by the rider of the two-wheeled vehicle 2A that prompts the rider to look at at least one of the two-wheeled vehicle 2A and the rider of the two-wheeled vehicle 2A. Specifically, the predetermined movement is, for example, a movement such as the rider of the two-wheeled vehicle 2A waving their arms. The predetermined movement may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in the storage unit 19 in advance. The predetermined movement may be changeable by a user's operation instruction via the operation unit 17, for example.

[0124] When the first setting unit 20C determines that the action of the rider of the two-wheeled vehicle 2A is a predetermined action, it sets a first inter-vehicle distance that is a greater distance than the first initial inter-vehicle distance. When the rider of the two-wheeled vehicle 2A performs a predetermined action, it is presumed that the rider wishes to communicate some kind of action to the host vehicle 1. Therefore, by performing these setting processes, the first setting unit 20C can increase the output sensitivity of warning information related to the two-wheeled vehicle 2A when the rider of the two-wheeled vehicle 2A performs a predetermined operation.

[0125] Note that the first traveling situation information may match two or more of the plurality of first conditions. In this case, the first setting unit 20C may set the first inter-vehicle distance by changing the first initial inter-vehicle distance in accordance with the plurality of matching first conditions. For example, assume that the first traveling situation information matches a plurality of first conditions that change the first initial inter-vehicle distance to a longer distance. In this case, the first setting unit 20C may set the first inter-vehicle distance by changing the first initial inter-vehicle distance so that the greater the number of matching first conditions. Furthermore, the plurality of first conditions that match the first traveling situation information may include a first condition that changes the first initial inter-vehicle distance to a shorter distance. In this case, the first setting unit 20C may set the first inter-vehicle distance by adding together the first initial inter-vehicle distance, where the longer distances are determined as positive distances and the shorter distances are determined as negative distances, to the total distance.

[0126] Next, the second setting unit 20D will be described in detail.

[0127] The second setting unit 20D determines whether the second traveling condition information derived by the traveling condition derivation unit 20B matches at least one of the following second conditions. Then, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance in accordance with the matched second condition.

[0128] The second condition represents at least one of the following conditions: the speed of the host vehicle 1 is equal to or greater than a predetermined speed; the estimated size of the four-wheeled vehicle 2B is equal to or greater than a predetermined size; the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is a road on which high-speed traveling at a predetermined speed or greater is permitted and the estimated collision impact of the four-wheeled vehicle 2B while traveling on the road is equal to or greater than a predetermined impact; the estimated collision impact of the four-wheeled vehicle 2B is equal to or greater than a predetermined impact; the traveling location of the host vehicle 1 and the four-wheeled vehicle 2B is a predetermined warning target area; the automobile registration number of the four-wheeled vehicle 2B is a predetermined set number; the traveling area of ​​the host vehicle 1 and the four-wheeled vehicle 2B is within a predetermined area; and the vehicle type of the four-wheeled vehicle 2B is a predetermined warning target vehicle. In this embodiment, a case where the second condition represents each of these conditions will be described as an example, but it may represent at least one of these conditions.

[0129] The second setting unit 20D determines whether the vehicle speed of the host vehicle 1 included in the second traveling situation information is equal to or greater than a predetermined speed. The predetermined speed may be set in advance by a user's operation instruction via the operation unit 17 or the like and may be stored in the storage unit 19 in advance. The predetermined speed may be set in advance to a speed that serves as a threshold for changing the second initial inter-vehicle distance to a longer second inter-vehicle distance, for example. The predetermined speed may be changeable by a user's operation instruction via the operation unit 17 or the like. The predetermined speed used by the second setting unit 20D to determine the vehicle speed included in the second traveling situation information may be the same as or different from the predetermined speed used by the first setting unit 20C to determine the vehicle speed included in the first traveling situation information.

[0130] When the vehicle speed of the host vehicle 1 included in the second traveling condition information is equal to or greater than the predetermined speed, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance. Furthermore, when the vehicle speed of the host vehicle 1 is equal to or greater than the predetermined speed, the second setting unit 20D may set the second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance, the higher the vehicle speed. Through these setting processes, the second setting unit 20D can increase the output sensitivity of warning information related to the four-wheeled vehicle 2B the faster the vehicle speed of the host vehicle 1 is.

[0131] As described above, when the vehicle speed of the host vehicle 1 included in the first traveling condition information is equal to or greater than a predetermined speed, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. Therefore, in the information processing device 10 of this embodiment, when the vehicle speed of the host vehicle 1 is equal to or greater than a predetermined speed, the output sensitivity of warning information regarding each of the two-wheeled vehicle 2A and the four-wheeled vehicle 2B can be increased in both cases where the other vehicle 2 captured in the captured video is the two-wheeled vehicle 2A and the four-wheeled vehicle 2B.

[0132] The second setting unit 20D also reads the estimated size of the four-wheeled vehicle 2B included in the second traveling condition information. Then, the second setting unit 20D determines whether the estimated size of the four-wheeled vehicle 2B is equal to or larger than a predetermined size. The predetermined size of the four-wheeled vehicle 2B may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in the storage unit 19 in advance. The predetermined size of the four-wheeled vehicle 2B may be set in advance to a size that serves as a threshold for determining whether damage to the host vehicle 1 will be greater if the four-wheeled vehicle 2B collides with the host vehicle 1. The predetermined size of the four-wheeled vehicle 2B may be changeable as needed by a user's operation instruction via the operation unit 17, etc.

[0133] When the estimated size of the four-wheeled vehicle 2B is equal to or larger than the predetermined size, the second setting unit 20D sets a second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance. Furthermore, the second setting unit 20D may set a second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance when the estimated size of the four-wheeled vehicle 2B is equal to or larger than the predetermined size and the larger the estimated size is. Through these setting processes, the second setting unit 20D can increase the output sensitivity of warning information regarding a large four-wheeled vehicle 2B that would cause greater damage to the host vehicle 1 in the event of a collision, such as a four-wheeled vehicle 2B whose estimated size is equal to or larger than the predetermined size.

[0134] As described above, when the estimated size of the two-wheeled vehicle 2A is equal to or smaller than the predetermined size, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. The reason for this setting process is that the two-wheeled vehicle 2A is smaller in size than the four-wheeled vehicle 2B and is less likely to be recognized by the occupant of the host vehicle 1, so the smaller the size, the more likely it is that warning information for the two-wheeled vehicle 2A will be output. On the other hand, for the four-wheeled vehicle 2B, when the estimated size of the four-wheeled vehicle 2B is equal to or larger than the predetermined size, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance. This is because the four-wheeled vehicle 2B is larger in size than the two-wheeled vehicle 2A and is more likely to be recognized by the occupant of the host vehicle 1, so warning information for the four-wheeled vehicle 2B is not output until the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes closer.

[0135] The second setting unit 20D also reads the type of road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling and the estimated collision impact level in the event that the four-wheeled vehicle 2B collides with another object, both of which are included in the second traveling condition information. The second setting unit 20D then determines whether the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is a road on which high-speed traveling at or above a predetermined speed is permitted and whether the estimated collision impact level of the four-wheeled vehicle 2B while traveling on this road is equal to or greater than the predetermined impact level. As described above, the traveling condition deriving unit 20B identifies the type of road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling, indicating whether the road is an expressway or an ordinary road. Therefore, the second setting unit 20D determines whether the type of road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is an expressway by reading the identification result by the traveling condition deriving unit 20B.

[0136] When the second setting unit 20D determines that the type of road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is an expressway, it reads an estimated collision impact level of the four-wheeled vehicle 2B traveling on the expressway from the second traveling situation information. Then, the second setting unit 20D determines whether the read estimated collision impact level is equal to or greater than a predetermined impact level. The predetermined impact level may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in the storage unit 19 in advance. The predetermined impact level may be set in advance as a threshold impact level for determining whether damage to the host vehicle 1 will be significant if the four-wheeled vehicle 2B traveling on the expressway collides with the host vehicle 1. The predetermined impact level may be changeable as needed by a user's operation instruction via the operation unit 17, etc.

[0137] The first setting unit 20C sets a second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance when the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is a road on which high-speed traveling at or above a predetermined speed is permitted and the estimated collision impact level of the four-wheeled vehicle 2B while traveling on this road is equal to or above a predetermined impact level. The second setting unit 20D may also set a second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance when the road on which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is a road on which high-speed traveling at or above a predetermined speed is permitted and the estimated collision impact level of the four-wheeled vehicle 2B while traveling on this road is equal to or above a predetermined impact level, and the higher the estimated collision impact level is. Through these setting processes, the second setting unit 20D can increase the output sensitivity of warning information regarding the four-wheeled vehicle 2B that would cause greater damage to the host vehicle 1 in the event of a collision.

[0138] As described above, if it is determined that the type of road on which the two-wheeled vehicle 2A shown in the captured video is traveling is an expressway, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. On the other hand, if the type of road on which the four-wheeled vehicle 2B shown in the captured video is traveling is simply an expressway, the second setting unit 20D does not change the second inter-vehicle distance. This is because it is predicted that automated driving of the two-wheeled vehicle 2A is technically difficult even on certain roads such as expressways, so warning information is output early or with priority for the two-wheeled vehicle 2A. For the four-wheeled vehicle 2B, it is not technically difficult to automated driving, especially on certain roads such as expressways, so priority warning information is not output when the type of road on which the four-wheeled vehicle 2B is traveling is simply an expressway.

[0139] As described above, if the road on which the two-wheeled vehicle 2A shown in the captured video is traveling is an expressway and the estimated collision impact of the two-wheeled vehicle 2A is less than a predetermined impact, the first setting unit 20C sets the first initial inter-vehicle distance as the first inter-vehicle distance. This is to prevent priority output of warning information for the two-wheeled vehicle 2A, which has a small estimated collision impact when traveling on an expressway. On the other hand, if the road on which the four-wheeled vehicle 2B shown in the captured video is traveling is an expressway and the estimated collision impact of the four-wheeled vehicle 2B is equal to or greater than a predetermined impact, the second setting unit 20D sets a second inter-vehicle distance that is a greater distance than the second initial inter-vehicle distance. This is to enable priority output of warning information for the four-wheeled vehicle 2B, which has a larger mass and is therefore more likely to experience a collision impact when traveling on an expressway.

[0140] Furthermore, the second setting unit 20D sets the second initial inter-vehicle distance as the second inter-vehicle distance when the estimated collision impact level of the four-wheeled vehicle 2B is less than a predetermined impact level, regardless of the type of road on which the four-wheeled vehicle 2B is traveling. Furthermore, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance, regardless of the type of road on which the four-wheeled vehicle 2B is traveling, when the estimated collision impact level of the four-wheeled vehicle 2B is equal to or greater than a predetermined impact level. Through these setting processes, the second setting unit 20D can increase the output sensitivity of warning information related to the four-wheeled vehicle 2B when the estimated collision impact level of the four-wheeled vehicle 2B is equal to or greater than the predetermined impact level.

[0141] The second setting unit 20D also reads the determination result, included in the second traveling situation information, as to whether the current traveling locations of the host vehicle 1 and the four-wheeled vehicle 2B are within the warning area. If the determination result indicates that the current traveling locations of the host vehicle 1 and the four-wheeled vehicle 2B are within the warning area, the second setting unit 20D sets a second inter-vehicle distance that is a greater distance than the second initial inter-vehicle distance. In the case of the four-wheeled vehicle 2B, the warning area may be a predetermined danger area. In the case of the four-wheeled vehicle 2B, because the four-wheeled vehicle 2B is more easily recognized by the occupant of the host vehicle 1 than the two-wheeled vehicle 2A, the warning area may be configured not to include intersections or merging points onto expressways.

[0142] By performing these setting processes, the second setting unit 20D can increase the output sensitivity of the warning information regarding the four-wheeled vehicle 2B when the host vehicle 1 is traveling in a warning area.

[0143] There are cases where the driving situation derivation unit 20B derives driving situation information using the position of the vehicle 1 detected by the GPS included in the internal sensor 15. In this case, it is preferable that the output control unit 20E, which will be described later, forcibly turns off the output of warning information when it becomes impossible to acquire the position of the vehicle 1 by the GPS. This process can prevent the warning information from being erroneously output.

[0144] The second setting unit 20D also reads the vehicle registration number of the four-wheeled vehicle 2B included in the second traveling condition information. The second setting unit 20D then determines whether the vehicle registration number of the four-wheeled vehicle 2B is a preset set number. The set number may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in advance in the storage unit 19. The set number may be changeable by a user's operation instruction via the operation unit 17, etc.

[0145] If the vehicle registration number of the four-wheeled vehicle 2B is a preset set number, the second setting unit 20D sets a second inter-vehicle distance that is a longer second initial inter-vehicle distance. Through these setting processes, the second setting unit 20D can increase the output sensitivity of warning information regarding a four-wheeled vehicle 2B having a vehicle registration number that is a specific set number.

[0146] On the other hand, the first setting unit 20C does not determine the vehicle registration number of the two-wheeled vehicle 2A that appears in the captured image. This is because the two-wheeled vehicle 2A does not have a vehicle registration number attached to the front of the body, and there is a high possibility that the vehicle registration number will not appear in the captured image.

[0147] The second setting unit 20D also reads the region that includes the traveling area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling, which is included in the second traveling situation information. As described above, the region is information that indicates the country or region in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling.

[0148] The second setting unit 20D then determines whether the area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is within a predetermined area. The predetermined area is, for example, an area where the traveling density of the two-wheeled vehicle 2A is high or an area where the traveling density of the two-wheeled vehicle 2A is low. The predetermined area may be set in advance by a user's operation instruction via the operation unit 17, and may be stored in the storage unit 19 in advance.

[0149] When the area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is an area with a low density of two-wheeled vehicles 2A, the second setting unit 20D sets a second inter-vehicle distance that is a closer second initial inter-vehicle distance. Furthermore, when the area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is an area with a high density of two-wheeled vehicles 2A, the second setting unit 20D may set the second initial inter-vehicle distance as the second inter-vehicle distance. Through these setting processes, when the area in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling is an area with a low density of two-wheeled vehicles 2A, in other words, an area with a high density of four-wheeled vehicles 2B, the second setting unit 20D can reduce the output sensitivity of warning information regarding the four-wheeled vehicle 2B and suppress frequent output of warning information.

[0150] As described above, when the area in which the two-wheeled vehicle 2A is traveling is an area with a high density of two-wheeled vehicles 2A, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a shorter distance. This is to prevent the host vehicle 1 traveling in an area with a high density of two-wheeled vehicles 2A from frequently detecting the two-wheeled vehicle 2A and thereby preventing warning information from being frequently output. On the other hand, when the area in which the four-wheeled vehicle 2B is traveling is an area with a low density of two-wheeled vehicles 2A, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance to a shorter distance. This is to reduce the output sensitivity of warning information related to the four-wheeled vehicle 2B, since the density of four-wheeled vehicles 2B is relatively high in areas with a low density of two-wheeled vehicles 2A.

[0151] Furthermore, the second setting unit 20D reads the identification result of the vehicle type of the four-wheeled vehicle 2B included in the second traveling condition information. Then, the second setting unit 20D determines whether the read vehicle type of the four-wheeled vehicle 2B is a vehicle to be warned about. As described above, a vehicle to be warned about of the four-wheeled vehicle 2B is a vehicle of a vehicle type that is a target for issuing a warning to the host vehicle 1, and is, for example, a police vehicle, an ambulance, a fire engine, a large vehicle such as a bus, a taxi, or a truck, or a special vehicle. Also, as described above, in this embodiment, the traveling condition deriving unit 20B identifies whether the vehicle type of the four-wheeled vehicle 2B is a vehicle to be warned about. Therefore, the second setting unit 20D determines whether the vehicle type of the four-wheeled vehicle 2B is a vehicle to be warned about by reading the identification result included in the second traveling condition information.

[0152] When the vehicle type of the four-wheeled vehicle 2B is a vehicle to be warned, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance. By this setting process, the second setting unit 20D can increase the output sensitivity of the warning information regarding the four-wheeled vehicle 2B that is a vehicle to be warned.

[0153] As described above, when the vehicle type of the two-wheeled vehicle 2A is a vehicle to be warned, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. Also, when the vehicle type of the four-wheeled vehicle 2B is a vehicle to be warned, the second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance to a longer distance. This is to improve the output sensitivity of warning information regarding other vehicles 2 to be warned, regardless of whether the vehicle is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B.

[0154] As described above, when the number of times that the two-wheeled vehicle 2A has changed its traveling direction is equal to or greater than a predetermined number, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. On the other hand, the second setting unit 20D does not use the number of times that the four-wheeled vehicle 2B has changed its traveling direction in the process of setting the second inter-vehicle distance. This is because the four-wheeled vehicle 2B is less likely to change its traveling direction as frequently as the two-wheeled vehicle 2A.

[0155] Furthermore, as described above, when the illuminance of the traveling environment of the two-wheeled vehicle 2A is equal to or lower than a predetermined illuminance, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. On the other hand, the second setting unit 20D does not use the illuminance of the traveling environment of the four-wheeled vehicle 2B in the process of setting the second inter-vehicle distance. This is because the two-wheeled vehicle 2A is smaller in size than the four-wheeled vehicle 2B and is less likely to be recognized by the occupant of the host vehicle 1, whereas the four-wheeled vehicle 2B is larger in size than the two-wheeled vehicle 2A and is more likely to be recognized by the occupant of the host vehicle 1 regardless of the illuminance.

[0156] As described above, when the driving skill of the driver of the host vehicle 1 is equal to or lower than a predetermined skill level, the first setting unit 20C sets a first inter-vehicle distance that changes the first initial inter-vehicle distance from the two-wheeled vehicle 2A to a longer distance. On the other hand, the second setting unit 20D does not use the driving skill of the driver of the host vehicle 1 in setting the second inter-vehicle distance. This is because the two-wheeled vehicle 2A is smaller in size than the four-wheeled vehicle 2B and is less likely to be recognized by the occupants of the host vehicle 1, and therefore it is preferable to increase the output sensitivity of warning information for the two-wheeled vehicle 2A when the driver's driving skill is low. Also, the four-wheeled vehicle 2B is larger in size than the two-wheeled vehicle 2A and is more likely to be recognized by the occupants of the host vehicle 1 regardless of the driver's driving skill.

[0157] As described above, when the color difference between the color of the two-wheeled vehicle 2A and the color of the road surface on which the two-wheeled vehicle 2A is traveling is equal to or smaller than a predetermined color difference, the first setting unit 20C changes the first initial inter-vehicle distance to a greater distance and sets the first inter-vehicle distance. On the other hand, the second setting unit 20D does not use the color difference between the color of the four-wheeled vehicle 2B and the color of the road surface on which the four-wheeled vehicle 2B is traveling when setting the second inter-vehicle distance. This is because the color difference between the two-wheeled vehicle 2A and the road surface on which the four-wheeled vehicle 2B is traveling is often smaller than that of the four-wheeled vehicle 2B, making it difficult for the rider of the vehicle 1 to recognize the two-wheeled vehicle 2A. Furthermore, the four-wheeled vehicle 2B has a greater variety of vehicle body colors than the two-wheeled vehicle 2A and often has a larger color difference from the road surface on which the two-wheeled vehicle 2A is traveling, making it easier for the rider of the vehicle 1 to recognize the two-wheeled vehicle 2B.

[0158] As described above, when the first setting unit 20C determines that the road surface environment on which the host vehicle 1 and the two-wheeled vehicle 2A are traveling is a predetermined risk of tipping over, it sets a first inter-vehicle distance that is a longer first initial inter-vehicle distance. On the other hand, the second setting unit 20D does not use whether the road surface environment on which the four-wheeled vehicle 2B is traveling is a risk of tipping over when setting the second inter-vehicle distance. This is because the two-wheeled vehicle 2A is more likely to tip over than the four-wheeled vehicle 2B, and therefore it is preferable to increase the output sensitivity of the warning information for the two-wheeled vehicle 2A depending on whether the environment is a risk of tipping over. Furthermore, the four-wheeled vehicle 2B is less affected by the road surface environment than the two-wheeled vehicle 2A, and therefore there is little need to use the road surface environment to adjust the output sensitivity of the warning information for the four-wheeled vehicle 2B.

[0159] As described above, when the steering angle of the host vehicle 1 is equal to or greater than a predetermined angle, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. On the other hand, the second setting unit 20D does not use the steering angle of the host vehicle 1 to set the second inter-vehicle distance for the four-wheeled vehicle 2B. The two-wheeled vehicle 2A is more likely to be involved in an entrapment accident when the host vehicle 1 makes a right or left turn or travels on a curved road than the four-wheeled vehicle 2B. Therefore, for the two-wheeled vehicle 2A, it is necessary to increase the output sensitivity of the warning information for the two-wheeled vehicle 2A in accordance with the steering angle of the host vehicle 1. Furthermore, the four-wheeled vehicle 2B is less likely to be involved in an entrapment accident when the host vehicle 1 makes a right or left turn or travels on a curved road than the two-wheeled vehicle 2A. Therefore, for the four-wheeled vehicle 2B, it is less necessary to change the output sensitivity of the warning information for the four-wheeled vehicle 2B in accordance with the steering angle of the host vehicle 1.

[0160] Furthermore, as described above, when the information indicating the acceleration / deceleration status of the host vehicle 1 indicates deceleration of the host vehicle 1, the first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. On the other hand, the first setting unit 20C does not use the deceleration of the host vehicle 1 in setting the second inter-vehicle distance. This is because the braking distance of the two-wheeled vehicle 2A is longer than that of the four-wheeled vehicle 2B, and it is necessary to increase the output sensitivity of the warning information regarding the two-wheeled vehicle 2A when the host vehicle 1 decelerates. Also, the braking distance of the four-wheeled vehicle 2B is shorter than that of the two-wheeled vehicle 2A, and therefore there is little need to increase the output sensitivity of the warning information regarding the four-wheeled vehicle 2B even when the host vehicle 1 decelerates.

[0161] Furthermore, as described above, when the first setting unit 20C determines that the movement of the rider of the two-wheeled vehicle 2A is a predetermined movement, it sets the first inter-vehicle distance by changing the first initial inter-vehicle distance to a longer distance. On the other hand, the second setting unit 20D does not use the movement of the rider of the four-wheeled vehicle 2B when setting the second inter-vehicle distance. This is because the movement of the rider of the two-wheeled vehicle 2A is likely to be intended to transmit some kind of signal to another external vehicle, such as the vehicle 1. On the other hand, the movement of the rider of the four-wheeled vehicle 2B is likely not intended to transmit a signal to another external vehicle.

[0162] Next, the output control unit 20E will be described.

[0163] The output control unit 20E outputs warning information based on an output condition according to the result of the determination made by the vehicle determination unit 20A as to whether the other vehicle 2 captured in the captured video is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. That is, the output control unit 20E outputs warning information about the other vehicle 2 to the passenger of the host vehicle 1 based on an output condition according to whether the other vehicle 2 captured in the captured video around the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. The warning information may be information that can alert the passenger to the presence of the other vehicle 2.

[0164] FIG. 4 is a schematic diagram of an example of the positional relationship between the host vehicle 1 and the other vehicle 2 when the output control unit 20E outputs warning information.

[0165] The output control unit 20E outputs warning information when the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1 determined by the vehicle determination unit 20A becomes equal to or less than the first inter-vehicle distance L1. In detail, the output control unit 20E outputs warning information about the two-wheeled vehicle 2A to the passenger of the host vehicle 1 when the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1 determined by the vehicle determination unit 20A becomes equal to or less than the first inter-vehicle distance L1.

[0166] Furthermore, the output control unit 20E outputs warning information when the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1 determined by the vehicle determination unit 20A becomes equal to or less than the second inter-vehicle distance L2. In detail, when the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1 determined by the vehicle determination unit 20A becomes equal to or less than the second inter-vehicle distance L2, the output control unit 20E outputs warning information about the four-wheeled vehicle 2B to the passengers of the host vehicle 1.

[0167] As described above, the first inter-vehicle distance L1 is the distance obtained by changing the first initial inter-vehicle distance LB1 in accordance with the first traveling situation information, and the second inter-vehicle distance L2 is the distance obtained by changing the second initial inter-vehicle distance LB2 in accordance with the second traveling situation information. Furthermore, the first initial inter-vehicle distance LB1 is longer than the second initial inter-vehicle distance LB2 (first initial inter-vehicle distance LB1 > second initial inter-vehicle distance LB2). The first inter-vehicle distance L1 and the second inter-vehicle distance L2, which are distances obtained by changing the first initial inter-vehicle distance LB1 and the second initial inter-vehicle distance LB2, respectively, may ultimately satisfy the relationship first inter-vehicle distance L1 ≦ second inter-vehicle distance L2 depending on the first traveling situation information and second traveling situation information of each of the other vehicles 2.

[0168] That is, the output control unit 20E adjusts the output timing of the warning information for each of the two-wheeled vehicle 2A and the four-wheeled vehicle 2B using the first inter-vehicle distance and the second inter-vehicle distance set depending on whether the other vehicle 2 captured in the captured video is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. Through these processes, the output control unit 20E outputs warning information based on the output conditions according to the result of determining whether the other vehicle 2 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B.

[0169] The output control unit 20E reads the relative driving condition information derived by the driving condition derivation unit 20B to determine the inter-vehicle distance between the vehicle 1 and the two-wheeled vehicle 2A and the inter-vehicle distance between the vehicle 1 and the four-wheeled vehicle 2B, and uses this information to determine whether to output warning information.

[0170] Furthermore, when the output control unit 20E determines that the other vehicle 2 determined by the vehicle determination unit 20A is a two-wheeled vehicle 2A and that the two-wheeled vehicle 2A is moving away from the host vehicle 1, it is preferable that the output control unit 20E excludes the two-wheeled vehicle 2A from the output target of warning information. The output control unit 20E can determine whether the two-wheeled vehicle 2A is moving away from the host vehicle 1 by reading information indicating whether the other vehicle 2 is moving away from or approaching the host vehicle 1, which information is included in the relative traveling situation information derived by the vehicle determination unit 20A. In this case, even if the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1 is equal to or less than the first inter-vehicle distance, the output control unit 20E can avoid outputting warning information related to the two-wheeled vehicle 2A when the two-wheeled vehicle 2A is traveling in a direction moving away from the host vehicle 1. In addition, when the distance between the host vehicle 1 and the two-wheeled vehicle 2A increases as the host vehicle 1 increases its speed, the output control unit 20E can avoid outputting warning information about the two-wheeled vehicle 2A even if the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1 is less than the first inter-vehicle distance.Furthermore, when either the host vehicle 1 or the two-wheeled vehicle 2A is stopped and the other vehicle 2 is moving away from the host vehicle 1, the output control unit 20E can avoid outputting warning information about the two-wheeled vehicle 2A even if the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A is less than the first inter-vehicle distance.

[0171] Furthermore, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and the vehicle speed of the host vehicle 1 included in the second traveling situation information derived by the traveling situation derivation unit 20B is less than a predetermined speed, the output control unit 20E preferably disables the output of warning information related to the four-wheeled vehicle 2B. The predetermined speed may be set in advance by a user's operation instruction on the operation unit 17 or the like, and may be stored in advance in the storage unit 19. Furthermore, the predetermined speed may be changeable by a user's operation instruction on the operation unit 17 or the like.

[0172] Unlike the two-wheeled vehicle 2A, the four-wheeled vehicle 2B is less likely to pass through the vicinity of the host vehicle 1. For this reason, it is preferable to disable the output of warning information when the speed of the host vehicle 1 is low, such as when the host vehicle 1 is in a traffic jam or waiting at a traffic light, and the speed is below a predetermined speed. This processing makes it possible to prevent the warning information from being output frequently or continuously for a predetermined period of time or longer, which may cause annoyance to the passenger of the host vehicle 1. On the other hand, the two-wheeled vehicle 2A is more likely to pass through the vicinity of the host vehicle 1. For this reason, it is preferable to keep the output of warning information enabled rather than disable it, even when the speed of the host vehicle 1 is low, and the speed of the host vehicle 1 is low, and the output of warning information is therefore enabled. This processing makes it possible to output warning information to the two-wheeled vehicle 2A that is passing through the vicinity of the host vehicle 1 when the inter-vehicle distance is equal to or less than the first inter-vehicle distance, even when the speed of the host vehicle 1 is low.

[0173] Furthermore, when the output control unit 20E determines that the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and that the four-wheeled vehicle 2B is moving away from the host vehicle 1, it is preferable that the output control unit 20E excludes the four-wheeled vehicle 2B from the output target of warning information. The output control unit 20E can determine whether the four-wheeled vehicle 2B is moving away from the host vehicle 1 by reading information indicating whether the other vehicle 2 is moving away from or approaching the host vehicle 1, which information is included in the relative traveling situation information derived by the vehicle determination unit 20A. In this case, when the four-wheeled vehicle 2B is moving away from the host vehicle 1, the output control unit 20E can avoid outputting warning information related to the four-wheeled vehicle 2B even if the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1 is equal to or less than the second inter-vehicle distance.

[0174] Furthermore, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B is equal to or greater than a predetermined relative speed, it is preferable that the output control unit 20E outputs warning information regarding the four-wheeled vehicle 2B. Furthermore, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B is less than the predetermined relative speed, it is preferable that the output control unit 20E excludes the four-wheeled vehicle 2B from the list of vehicles to which warning information is to be output, even if the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B is equal to or less than a first inter-vehicle distance.

[0175] The predetermined relative speed may be set in advance by a user's operation instruction on the operation unit 17, and may be stored in the storage unit 19. For example, the predetermined relative speed may be set in advance to a relative speed that serves as a threshold for determining whether the risk level is increasing. The predetermined relative speed may be, for example, 40 km / h, but is not limited to this value. The predetermined relative speed may also be changeable by a user's operation instruction on the operation unit 17, etc.

[0176] By not outputting warning information regarding the four-wheeled vehicle 2B when the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B is less than a predetermined relative speed even if the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B is less than a second inter-vehicle distance, the output control unit 20E can prevent warning information regarding the four-wheeled vehicle 2B from being output in situations where the risk to the host vehicle 1 for the four-wheeled vehicle 2B is low.

[0177] In this way, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B is equal to or greater than a predetermined relative speed, the output control unit 20E outputs warning information about the four-wheeled vehicle 2B. On the other hand, when the other vehicle 2 determined by the vehicle determination unit 20A is a two-wheeled vehicle 2A, the output control unit 20E outputs warning information about the two-wheeled vehicle 2A when it determines that the inter-vehicle distance is equal to or less than the first inter-vehicle distance and that the two-wheeled vehicle 2A is not moving away, regardless of the relative speed between the host vehicle 1 and the two-wheeled vehicle 2A. This is because the two-wheeled vehicle 2A is smaller in size than the four-wheeled vehicle 2B and is less likely to be recognized by the occupant of the host vehicle 1, so it is preferable to output warning information about the two-wheeled vehicle 2A regardless of the relative speed. On the other hand, the four-wheeled vehicle 2B is larger in size than the two-wheeled vehicle 2A and is more likely to be recognized by the occupant of the host vehicle 1, so it is preferable to output warning information about the four-wheeled vehicle 2B when the relative speed is equal to or greater than a predetermined relative speed.

[0178] In addition, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and the first lane in which the host vehicle 1 is traveling is the same as the second lane in which the four-wheeled vehicle 2B is traveling, it is preferable that the output control unit 20E outputs warning information when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance.

[0179] The first lane is the lane in which the host vehicle 1 is traveling. The second lane is the lane in which the four-wheeled vehicle 2B is traveling. The output control unit 20E identifies the first lane in which the host vehicle 1 is traveling and the second lane in which the four-wheeled vehicle 2B is traveling by reading the lanes in which the host vehicle 1 and the other vehicle 2 are traveling, which are included in the relative traveling situation information derived by the traveling situation derivation unit 20B. Then, when the first lane in which the host vehicle 1 is traveling and the second lane in which the other vehicle 2 is traveling are the same lane, the output control unit 20E may output warning information when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B becomes equal to or less than the second inter-vehicle distance.

[0180] When the four-wheeled vehicle 2B is traveling in a different lane from the host vehicle 1, the risk of the traveling four-wheeled vehicle 2B to the host vehicle 1 is low. Therefore, when the other vehicle 2 determined by the vehicle determination unit 20A is the four-wheeled vehicle 2B and the first lane in which the host vehicle 1 is traveling and the second lane in which the four-wheeled vehicle 2B is traveling coincide with each other, the output control unit 20E outputs warning information when the inter-vehicle distance to the four-wheeled vehicle 2B becomes equal to or less than the second inter-vehicle distance, thereby making it possible to output warning information according to the relative traveling situation between the host vehicle 1 and the four-wheeled vehicle 2B.

[0181] Furthermore, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B, the first lane in which the host vehicle 1 is traveling does not match the second lane in which the four-wheeled vehicle 2B is traveling, and a lane in the planned direction of travel of the host vehicle 1 matches the second lane, the output control unit 20E preferably outputs warning information when the inter-vehicle distance from the four-wheeled vehicle 2B becomes equal to or less than the second inter-vehicle distance. The output control unit 20E reads the lanes in which the host vehicle 1 and the other vehicle 2 are traveling, and other lanes around the host vehicle 1 that are permitted to travel in the same direction as the current traveling direction, which are included in the relative traveling situation information. The output control unit 20E also identifies the planned direction of travel of the host vehicle 1, which is indicated by the direction indicator included in the operation unit 17. Then, when the second lane coincides with another lane in the identified planned driving change direction, the output control unit 20E outputs warning information when the inter-vehicle distance with the four-wheeled vehicle 2B becomes less than the second inter-vehicle distance.

[0182] Through these processes, the output control unit 20E is able to output warning information regarding the four-wheeled vehicle 2B to the occupants of the vehicle 1 when the distance between the vehicle and the four-wheeled vehicle 2B in the lane in which the vehicle 1 is intended to change direction, as indicated by the occupant's operation of the turn signal, becomes less than the second distance.

[0183] In this way, when the other vehicle 2 determined by the vehicle determination unit 20A is a four-wheeled vehicle 2B and the first lane in which the host vehicle 1 is traveling and the second lane in which the four-wheeled vehicle 2B is traveling match, the output control unit 20E outputs warning information when the inter-vehicle distance from the four-wheeled vehicle 2B is equal to or less than the second inter-vehicle distance. On the other hand, when the other vehicle 2 is a two-wheeled vehicle 2A, the output control unit 20E outputs warning information about the two-wheeled vehicle 2A when it determines that the inter-vehicle distance is equal to or less than the first inter-vehicle distance and that the two-wheeled vehicle 2A is not moving away, regardless of which lane the two-wheeled vehicle 2A is traveling in. This is because even if the two-wheeled vehicle 2A is traveling in a different lane from the host vehicle 1, there is a possibility that the two-wheeled vehicle 2A will pass around the host vehicle 1 and it is therefore preferable to output warning information about the two-wheeled vehicle 2A regardless of whether the lanes match. On the other hand, since the four-wheeled vehicle 2B is unlikely to pass around the host vehicle 1, it is preferable to output warning information regarding the four-wheeled vehicle 2B when the four-wheeled vehicle 2B is traveling in the same lane as the host vehicle 1.

[0184] Furthermore, when the other vehicle 2 is a four-wheeled vehicle 2B, the first lane in which the host vehicle 1 is traveling does not match the second lane in which the four-wheeled vehicle 2B is traveling, and a lane in the planned direction of travel of the host vehicle 1 matches the second lane, the output control unit 20E outputs warning information when the inter-vehicle distance from the four-wheeled vehicle 2B is equal to or less than the second inter-vehicle distance. On the other hand, when the other vehicle 2 is a two-wheeled vehicle 2A, the output control unit 20E outputs warning information about the two-wheeled vehicle 2A when it determines that the inter-vehicle distance is equal to or less than the first inter-vehicle distance and the two-wheeled vehicle 2A is not moving away, regardless of whether the lane in the planned direction of travel of the host vehicle 1 matches the lane in which the two-wheeled vehicle 2A is traveling. This is because the two-wheeled vehicle 2A may pass around the host vehicle 1 regardless of whether it is traveling in a lane in the planned direction of travel of the host vehicle 1. Therefore, it is preferable to output warning information about the two-wheeled vehicle 2A regardless of the lane. On the other hand, since the four-wheeled vehicle 2B is unlikely to pass through the vicinity of the host vehicle 1, it is preferable to output warning information regarding the four-wheeled vehicle 2B when there is a possibility that the four-wheeled vehicle 2B will travel in the same lane as the host vehicle 1. Also, by setting the four-wheeled vehicle 2B traveling in the same lane as the lane in which the host vehicle 1 is scheduled to change direction as the target for outputting warning information, it is possible to prevent warning information regarding other four-wheeled vehicles 2B traveling in lanes different from the lane in which the host vehicle 1 is scheduled to change direction from being constantly output.

[0185] In this embodiment, the output control unit 20E outputs warning information related to the other vehicle 2 to a passenger in the host vehicle 1. For example, the output control unit 20E outputs the warning information to at least one of the display unit 18A and the side mirror 18B.

[0186] In this embodiment, a configuration will be described in which the output control unit 20E outputs warning information to the display unit 18A, which is an electronic mirror provided on the vehicle 1. The output control unit 20E outputting warning information to the display unit 18A means that the output control unit 20E controls the display unit 18A to display the warning information on the display unit 18A. The output control unit 20E may also output the warning information to a speaker included in the meter computer 18. The output control unit 20E outputting warning information to a speaker means that the output control unit 20E controls the speaker to output a sound representing the warning information. The output control unit 20E may also output the warning information to an indicator on the side mirror 18B.

[0187] For example, the output control unit 20E outputs warning information by superimposing an image, such as a frame image, on an area in which the other vehicle 2 appears in the captured image acquired from the image capturing device 13, the image emphasizing the area.

[0188] 5A and 5B are schematic diagrams showing an example of warning information 30 related to the two-wheeled vehicle 2A displayed on the display unit 18A.

[0189] 5A is a schematic diagram of an example of warning information 30A for a two-wheeled vehicle 2A1 displayed on the display unit 18A. The two-wheeled vehicle 2A1 is an example of a two-wheeled vehicle 2A. The warning information 30A is an example of the warning information 30.

[0190] For example, assume that the vehicle determination unit 20A determines a two-wheeled vehicle 2A1 captured in the captured video V. The two-wheeled vehicle 2A1 is an example of a two-wheeled vehicle 2A. Then, assume that the first setting unit 20C sets a first inter-vehicle distance L1a based on first traveling condition information related to the two-wheeled vehicle 2A1. The first inter-vehicle distance L1a is an example of the first inter-vehicle distance L1. In this case, the output control unit 20E outputs warning information 30A to the display unit 18A when the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A1 becomes equal to or less than the first inter-vehicle distance L1a. FIG. 5A shows an example in which the warning information 30A is a frame image surrounding the two-wheeled vehicle 2A1 captured in the captured video V.

[0191] 5B is a schematic diagram of an example of warning information 30B for the two-wheeled vehicle 2A2 displayed on the display unit 18A. The two-wheeled vehicle 2A2 is an example of the two-wheeled vehicle 2A. The warning information 30B is an example of the warning information 30.

[0192] For example, assume that the vehicle determination unit 20A has determined a two-wheeled vehicle 2A2 captured in the captured video V. Then, assume that the first setting unit 20C has set a first inter-vehicle distance L1b based on the first traveling situation information related to the two-wheeled vehicle 2A2. Also assume that this first inter-vehicle distance L1b is shorter than the first inter-vehicle distance L1a. In this case, the output control unit 20E outputs warning information 30B to the display unit 18A when the inter-vehicle distance between the host vehicle 1 and the two-wheeled vehicle 2A2 becomes equal to or shorter than the first inter-vehicle distance L1b. FIG. 5B shows an example in which the warning information 30B is a frame image surrounding the two-wheeled vehicle 2A2 captured in the captured video V.

[0193] Furthermore, the output control unit 20E may output the warning information 30 in an output format that calls the rider's attention more as the set first inter-vehicle distance L1 becomes shorter. For example, the output control unit 20E outputs warning information 30B for a two-wheeled vehicle 2A2 that is located at a first inter-vehicle distance L1b or less, which is shorter than the first inter-vehicle distance L1a, in an output format that calls for greater attention, compared to warning information 30A for a two-wheeled vehicle 2A1 that is located at a first inter-vehicle distance L1a or less, as shown in Fig. 5A. Figs. 5A and 5B show, as an example, a format in which the warning information 30A is an image framed by dotted lines, and the warning information 30B is an image framed by solid lines.

[0194] In addition, when the two-wheeled vehicle 2A determined by the vehicle determination unit 20A enters a range of inter-vehicle distances that are less than the first inter-vehicle distance L1, the output control unit 20E may output warning information 30 in an output form that calls more attention to the occupants of the vehicle 1, the shorter the inter-vehicle distance from the two-wheeled vehicle 2A.

[0195] 6A to 6C are schematic diagrams showing an example of warning information 30 related to the four-wheeled vehicle 2B displayed on the display unit 18A.

[0196] 6A is a schematic diagram of an example of warning information 30C for a four-wheeled vehicle 2B1 displayed on the display unit 18A. The four-wheeled vehicle 2B1 is an example of a four-wheeled vehicle 2B. The warning information 30C is an example of the warning information 30.

[0197] For example, assume that the vehicle determination unit 20A determines a four-wheeled vehicle 2B1 that appears in the captured video V. The four-wheeled vehicle 2B1 is an example of a four-wheeled vehicle 2B. Then, assume that the second setting unit 20D sets a second inter-vehicle distance L2a based on second traveling situation information related to the four-wheeled vehicle 2B1. The second inter-vehicle distance L2a is an example of the second inter-vehicle distance L2. In this case, the output control unit 20E outputs warning information 30C to the display unit 18A when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B1 becomes equal to or less than the second inter-vehicle distance L2a. FIG. 5A shows an example in which the warning information 30C is a frame image that surrounds the four-wheeled vehicle 2B1 that appears in the captured video V.

[0198] 6B is a schematic diagram of an example of warning information 30D for a four-wheeled vehicle 2B2 displayed on the display unit 18A. The four-wheeled vehicle 2B2 is an example of a four-wheeled vehicle 2B. The warning information 30D is an example of the warning information 30.

[0199] For example, assume that the vehicle determination unit 20A determines a four-wheeled vehicle 2B2 captured in the captured video V. Then, assume that the second setting unit 20D sets a second inter-vehicle distance L2b based on the second traveling situation information related to the four-wheeled vehicle 2B2. Also assume that the second inter-vehicle distance L2b is shorter than the second inter-vehicle distance L2a. In this case, the output control unit 20E outputs warning information 30D to the display unit 18A when the inter-vehicle distance between the host vehicle 1 and the four-wheeled vehicle 2B2 becomes equal to or shorter than the second inter-vehicle distance L2b. FIG. 6B shows an example in which the warning information 30D is a frame image surrounding the four-wheeled vehicle 2B2 captured in the captured video V. Furthermore, the output control unit 20E may output warning information 30 in an output form that calls the occupant's attention more as the set second inter-vehicle distance L2 becomes shorter. For example, the output control unit 20E outputs warning information 30D for a four-wheeled vehicle 2B2 that is present at a distance equal to or shorter than a second inter-vehicle distance L2b, which is shorter than the second inter-vehicle distance L2a, in an output format that encourages greater attention than warning information 30C for a four-wheeled vehicle 2B1 that is present at a distance equal to or shorter than the second inter-vehicle distance L2a shown in Fig. 6A. Figs. 6A and 6B show, as an example, a format in which the warning information 30C is an image framed by dotted lines, and the warning information 30D is an image framed by solid lines.

[0200] In addition, when the four-wheeled vehicle 2B determined by the vehicle determination unit 20A enters a range of inter-vehicle distances that are less than the second inter-vehicle distance L2, the output control unit 20E may output warning information 30 in an output form that calls more attention to the occupants of the vehicle 1, the shorter the inter-vehicle distance from the four-wheeled vehicle 2B.

[0201] 6C is a schematic diagram of an example of warning information 30D for a four-wheeled vehicle 2B3 displayed on the display unit 18A. The four-wheeled vehicle 2B3 is an example of a four-wheeled vehicle 2B. Warning information 30E is an example of warning information 30.

[0202] For example, assume that the vehicle determination unit 20A determines a four-wheeled vehicle 2B3 captured in the captured video V. Then, assume that the second setting unit 20D sets the second inter-vehicle distance L2c based on the second driving situation information about the four-wheeled vehicle 2B3. Also assume that the first lane in which the host vehicle 1 is traveling and the second lane in which the four-wheeled vehicle 2B3 is traveling are different lanes. In this case, when the driver operates the turn signal of the host vehicle 1 and the lane in the planned direction of travel of the host vehicle 1 matches the second lane in which the four-wheeled vehicle 2B3 is traveling, the output control unit 20E outputs warning information 30E when the inter-vehicle distance to the four-wheeled vehicle 2B3 becomes equal to or less than the second inter-vehicle distance L2c. FIG. 6C shows an example in which a frame image surrounding the four-wheeled vehicle 2B3 captured in the captured video V is output as warning information 30E.

[0203] By checking the output warning information 30, the passengers of the vehicle 1 can know that the other vehicle 2 is present in the vicinity of the vehicle 1.

[0204] There are cases where the vehicle determination unit 20A determines multiple two-wheeled vehicles 2A at the same time in the captured image. For example, when multiple two-wheeled vehicles 2A are traveling in a line behind the host vehicle 1, the multiple two-wheeled vehicles 2A appear in the captured image, and the vehicle determination unit 20A determines the multiple two-wheeled vehicles 2A. In this case, multiple two-wheeled vehicles 2A with different inter-vehicle distances from the host vehicle 1 are present behind the host vehicle 1, and the multiple two-wheeled vehicles 2A are positioned relative to each other at or below the first inter-vehicle distance set for each of them, causing the output control unit 20E to output warning information 30 for each of the multiple two-wheeled vehicles 2A in consecutive or partially overlapping periods.

[0205] For this reason, when the number of two-wheeled vehicles 2A determined by the vehicle determination unit 20A to appear in the captured video is equal to or greater than a predetermined number, the output control unit 20E preferably outputs the warning information 30 for each two-wheeled vehicle 2A at predetermined intervals. The predetermined number and the predetermined interval may be set in advance by a user's operation instruction via the operation unit 17 and stored in the storage unit 19 in advance. The predetermined number and the predetermined interval may also be changeable as appropriate by a user's operation instruction via the operation unit 17. On the other hand, the output control unit 20E does not need to use the number of four-wheeled vehicles 2B appearing in the captured video to adjust the output interval of the warning information 30. This is because it is unlikely that multiple four-wheeled vehicles 2B will pass through the vicinity of the host vehicle 1 in succession.

[0206] The output control unit 20E may also set a maximum value for the number of pieces of warning information 30 related to each of the multiple other vehicles 2 to be output at the same time. In this case, the output control unit 20E may output the warning information 30 related to each of the multiple other vehicles 2 by executing the above process for each of the maximum number of other vehicles 2 among the two-wheeled vehicles 2A and four-wheeled vehicles 2B determined by the vehicle determination unit 20A in order of closest inter-vehicle distance to the host vehicle 1. The output control unit 20E may also set a first maximum value for the number of pieces of warning information 30 related to each of the multiple two-wheeled vehicles 2A to be output at the same time, and a second maximum value for the number of pieces of warning information 30 related to each of the multiple four-wheeled vehicles 2B to be output at the same time. In this case, it is preferable that the first maximum value is larger than the second maximum value.

[0207] Next, an example of the flow of information processing executed by the information processing device 10 of this embodiment will be described.

[0208] FIG. 7 is a flowchart showing an example of the flow of information processing executed by the information processing device 10 of this embodiment.

[0209] The vehicle determination unit 20A analyzes the captured image of the surroundings of the host vehicle captured by the photographing device 13 (step S100). Then, the vehicle determination unit 20A determines whether the other vehicle 2 captured in the captured image is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B (step S102). If the other vehicle 2 captured in the captured image is neither a two-wheeled vehicle 2A nor a four-wheeled vehicle 2B (step S102: No), this routine ends. If the other vehicle 2 captured in the captured image is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B, the processing unit 20 executes the processes of steps S104 to S140 for each two-wheeled vehicle 2A and four-wheeled vehicle 2B captured in the captured image.

[0210] If the other vehicle 2 captured in the captured image is the two-wheeled vehicle 2A (step S104: Yes), the process proceeds to step S106. In step S106, the traveling condition derivation unit 20B derives traveling condition information including first traveling condition information and relative traveling condition information relating to the traveling conditions of at least one of the host vehicle 1 and the determined two-wheeled vehicle 2A (step S106).

[0211] The first setting unit 20C sets the first inter-vehicle distance by changing the first initial inter-vehicle distance in accordance with the first traveling condition information included in the traveling condition information derived in step S106 (step S108).

[0212] Then, the output control unit 20E determines whether the inter-vehicle distance between the two-wheeled vehicle 2A and the host vehicle 1 determined in step S102 is equal to or less than the first inter-vehicle distance set in step S108 (step S110). If the determination in step S110 is negative (step S110: No), this routine ends. If the determination in step S110 is positive (step S110: Yes), the process proceeds to step S112.

[0213] In step S112, the output control unit 20E determines whether the two-wheeled vehicle 2A determined in step S102 is moving away from the host vehicle 1 (step S112). The output control unit 20E determines whether the two-wheeled vehicle 2A is moving away from or approaching the host vehicle 1 by reading information that is included in the relative traveling situation information of the traveling situation information derived in step S106. If it is determined in step S112 that the two-wheeled vehicle 2A is moving away (step S112: Yes), this routine ends. If it is determined in step S112 that the two-wheeled vehicle 2A is not moving away (step S112: No), the output control unit 20E proceeds to step S114.

[0214] In step S114, the output control unit 20E starts outputting the warning information 30 related to the two-wheeled vehicle 2A determined in step S102 (step S114). For example, the output control unit 20E displays the warning information 30 related to the two-wheeled vehicle 2A on the display unit 18A.

[0215] Next, the output control unit 20E repeats a negative determination (step S116: No) until it determines that a stop condition for stopping the output of the warning information 30 is met (step S116: Yes). If the output control unit 20E determines a positive determination in step S116 (step S116: Yes), the process proceeds to step S118. The output control unit 20E sets the stop conditions as the inter-vehicle distance from the two-wheeled vehicle 2A exceeding the first inter-vehicle distance and the two-wheeled vehicle 2A moving away from the host vehicle 1, and if at least one of these stop conditions is met, it makes a positive determination in step S116. In step S118, the output control unit 20E stops the output of the warning information 30 related to the two-wheeled vehicle 2A determined in step S102 (step S118), and ends this routine.

[0216] On the other hand, if the other vehicle 2 captured in the captured image is a four-wheeled vehicle 2B (step S104: No), the process proceeds to step S120. In step S120, the driving situation derivation unit 20B derives driving situation information including second driving situation information and relative driving situation information relating to the driving situation of at least one of the host vehicle 1 and the determined four-wheeled vehicle 2B (step S120).

[0217] The second setting unit 20D sets the second inter-vehicle distance by changing the second initial inter-vehicle distance in accordance with the second traveling condition information included in the traveling condition information derived in step S120 (step S122).

[0218] Then, the output control unit 20E determines whether the inter-vehicle distance between the four-wheeled vehicle 2B and the host vehicle 1 determined in step S102 is equal to or less than the second inter-vehicle distance set in step S122 (step S124). If the determination in step S124 is negative (step S124: No), this routine ends. If the determination in step S124 is positive (step S124: Yes), the process proceeds to step S126.

[0219] In step S126, the output control unit 20E determines whether the vehicle speed of the host vehicle 1 included in the second traveling condition information derived in step S120 is equal to or greater than a predetermined speed (step S126). If the output control unit 20E determines that the vehicle speed of the host vehicle 1 is less than the predetermined speed (step S126: No), it ends this routine. If the output control unit 20E determines that the vehicle speed of the host vehicle 1 is equal to or greater than the predetermined speed (step S126: Yes), it proceeds to step S128.

[0220] In step S128, the output control unit 20E determines whether the second lane in which the four-wheeled vehicle 2B is traveling, determined in step S102, matches the first lane in which the host vehicle 1 is traveling (step S128). If the determination in step S128 is affirmative (step S128: Yes), the process proceeds to step S132, which will be described later. If the determination in step S128 is negative (step S128: No), the process proceeds to step S130.

[0221] In step S130, the output control unit 20E determines whether the lane in the planned direction of travel of the host vehicle 1 matches the second lane in which the four-wheeled vehicle 2B is traveling (step S130). If the determination in step S130 is negative (step S130: No), this routine ends. If the determination in step S130 is positive (step S130: Yes), the process proceeds to step S132.

[0222] In step S132, the output control unit 20E determines whether the four-wheeled vehicle 2B determined in step S102 is moving away from the host vehicle 1 (step S132). The output control unit 20E determines whether the four-wheeled vehicle 2B is moving away from the host vehicle 1 by reading information indicating whether the four-wheeled vehicle 2B is moving away from or approaching the host vehicle 1, which information is included in the relative traveling situation information of the traveling situation information derived in step S120. If it is determined in step S132 that the four-wheeled vehicle 2B is moving away (step S132: Yes), this routine ends. If it is determined in step S112 that the four-wheeled vehicle 2B is not moving away (step S132: No), the output control unit 20E proceeds to step S134.

[0223] In step S134, the output control unit 20E determines whether the relative speed between the four-wheeled vehicle 2B and the host vehicle 1 determined in step S102 is equal to or greater than a predetermined relative speed (step S132). The output control unit 20E makes the determination in step S132 by reading the relative speed between the host vehicle 1 and the four-wheeled vehicle 2B included in the relative driving situation information of the driving situation information derived in step S120. If the determination in step S132 is negative (step S132: No), this routine ends. If the determination in step S132 is positive (step S132: Yes), the process proceeds to step S136.

[0224] In step S136, the output control unit 20E starts outputting the warning information 30 related to the four-wheeled vehicle 2B determined in step S102 (step S136). For example, the output control unit 20E displays the warning information 30 related to the four-wheeled vehicle 2B on the display unit 18A.

[0225] Next, the output control unit 20E repeats a negative determination (step S138: No) until it determines that a stop condition for stopping the output of the warning information 30 is met (step S138: Yes). If the output control unit 20E makes a positive determination in step S138 (step S138: Yes), the process proceeds to step S140. The output control unit 20E sets the following stop conditions as stop conditions: the inter-vehicle distance from the four-wheeled vehicle 2B exceeds the second inter-vehicle distance; the vehicle speed of the host vehicle 1 is less than a predetermined speed; the lanes in which the host vehicle 1 and the four-wheeled vehicle 2B are traveling do not match and the lane in which the four-wheeled vehicle 2B is traveling does not match a lane in the planned direction of travel of the host vehicle 1; the four-wheeled vehicle 2B is moving away from the host vehicle 1; and the relative speed between the four-wheeled vehicle 2B and the host vehicle 1 is less than a predetermined speed. If at least one of these stop conditions is met, the output control unit 20E makes a positive determination in step S138. In step S140, the output control unit 20E stops outputting the warning information 30 related to the four-wheeled vehicle 2B determined in step S102 (step S140), and ends this routine.

[0226] As described above, the information processing device 10 of this embodiment includes the vehicle determination unit 20A and the output control unit 20E. The vehicle determination unit 20A determines whether the other vehicle 2 captured in the captured image around the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. The output control unit 20E outputs warning information based on output conditions according to the result of the determination.

[0227] In the prior art, warning information may be output even in a situation where a warning is unnecessary, and appropriate warning information may not be output in response to the other vehicle 2 in the vicinity of the subject vehicle 1.

[0228] On the other hand, the information processing device 10 of this embodiment outputs warning information based on output conditions according to the result of determining whether the other vehicle 2 around the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B. Therefore, in this embodiment, it is possible to output warning information under output conditions according to whether the other vehicle 2 around the host vehicle 1 is a two-wheeled vehicle 2A or a four-wheeled vehicle 2B.

[0229] Therefore, the information processing device 10 of this embodiment can output appropriate warning information according to the other vehicle 2 around the host vehicle 1.

[0230] In the present embodiment, the information processing device 10 is described as being mounted on the vehicle 1 as an example. However, the information processing device 10 may be mounted on the outside of the vehicle 1. The information processing device 10 may be communicably connected to various electronic devices provided on the vehicle 1, such as the imaging device 13, the external sensor 14, the internal sensor 15, the driving control unit 16, the meter computer 18, and the storage unit 19. Therefore, the information processing device 10 may be mounted on an information processing device provided on the vehicle 1. In this case, the information processing device mounted on the information processing device 10 and the various electronic devices may be configured to be communicable via a network or the like. In this case, the vehicle communicably connected to the information processing device 10 corresponds to the vehicle 1.

[0231] The present technology can also be configured as follows. (1) a vehicle determination unit that determines whether another vehicle captured in a captured image of the vicinity of the host vehicle is a two-wheeled vehicle or a four-wheeled vehicle; an output control unit that outputs warning information based on an output condition according to the result of the determination; An information processing device comprising: (2) a first setting unit that sets a first inter-vehicle distance obtained by changing a first initial inter-vehicle distance in accordance with first traveling condition information relating to a traveling condition of at least one of the host vehicle and the two-wheeled vehicle when the other vehicle is determined to be the two-wheeled vehicle; The output control unit outputting the warning information when the inter-vehicle distance between the host vehicle and the two-wheeled vehicle becomes equal to or less than the first inter-vehicle distance; An information processing device according to (1). (3) The first setting unit is The first driving situation information is the vehicle speed is equal to or greater than a predetermined speed, the number of times the two-wheeled vehicle changes direction is equal to or greater than a predetermined number, the vehicle is traveling in a traveling environment with a predetermined illuminance or less, the driving skill of the driver of the vehicle is equal to or less than a predetermined skill, the driving skill of the driver of the two-wheeled vehicle is equal to or less than a predetermined skill, the estimated size of the two-wheeled vehicle is equal to or less than a predetermined size, the color difference between the two-wheeled vehicle and the road surface is equal to or less than a predetermined color difference, the road on which the vehicle and the two-wheeled vehicle are traveling is a road on which high-speed traveling at a predetermined speed or more is permitted, the estimated collision impact of the two-wheeled vehicle is equal to or greater than a predetermined impact, When at least one first condition is met, the first initial inter-vehicle distance is changed and set to the first inter-vehicle distance, in accordance with the met first condition, when the traveling location is within a predetermined warning target area, the environment of the road surface on which the host vehicle and the two-wheeled vehicle are traveling is a predetermined risk environment for tipping over, the steering angle of the host vehicle is equal to or greater than a predetermined angle, the host vehicle is decelerating, the traveling area of ​​the host vehicle and the two-wheeled vehicle is within a predetermined area, the vehicle type of the two-wheeled vehicle is a predetermined warning target vehicle, and a predetermined action by a rider of the two-wheeled vehicle. (2) An information processing device according to the present invention. (4) When the output control unit determines that the other vehicle is the two-wheeled vehicle and that the two-wheeled vehicle is moving away from the host vehicle, the output control unit excludes the two-wheeled vehicle from the output targets of the warning information. The information processing device according to any one of (1) to (3). (5) a second setting unit that sets a second inter-vehicle distance obtained by changing a second initial inter-vehicle distance in accordance with second traveling condition information relating to a traveling condition of at least one of the host vehicle and the four-wheeled vehicle when the other vehicle is determined to be the four-wheeled vehicle; The output control unit outputting the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance; The information processing device according to any one of (1) to (3). (6) The second setting unit is The second driving situation information is When at least one of the following second conditions is met: the vehicle speed of the host vehicle is equal to or greater than a predetermined speed; the estimated size of the four-wheeled vehicle is equal to or greater than a predetermined size; the road on which the host vehicle and the four-wheeled vehicle are traveling is a road on which high-speed traveling at or greater than a predetermined speed is permitted and the estimated collision impact level of the four-wheeled vehicle when traveling on the road is equal to or greater than a predetermined impact level; the estimated collision impact level of the four-wheeled vehicle is equal to or greater than a predetermined impact level; the traveling location of the host vehicle and the four-wheeled vehicle is a predetermined warning target area; the automobile registration number of the four-wheeled vehicle is a predetermined set number; the traveling area of ​​the host vehicle and the four-wheeled vehicle is within a predetermined area; and the vehicle type of the four-wheeled vehicle is a predetermined warning target vehicle, the second inter-vehicle distance is set by changing the second initial inter-vehicle distance in accordance with the met second condition. (5) An information processing device according to the present invention. (7) The output control unit When it is determined that the other vehicle is the four-wheeled vehicle and that the four-wheeled vehicle is moving away from the host vehicle, the four-wheeled vehicle is excluded from the output target of the warning information. The information processing device according to any one of (1) to (6). (8) The output control unit When the other vehicle is determined to be the four-wheeled vehicle and the relative speed between the host vehicle and the four-wheeled vehicle is equal to or greater than a predetermined relative speed, the warning information is output when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance. The information processing device according to any one of (5) to (7). (9) The output control unit When the other vehicle is determined to be the four-wheeled vehicle and the first lane in which the host vehicle is traveling coincides with the second lane in which the four-wheeled vehicle is traveling, the warning information is output when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance. The information processing device according to any one of (5) to (8). (10) The output control unit When the other vehicle is determined to be the four-wheeled vehicle, the first lane in which the host vehicle is traveling does not match the second lane in which the four-wheeled vehicle is traveling, and a lane in the planned direction of travel change of the host vehicle matches the second lane, output the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance. The information processing device according to any one of (5) to (9). (11) An information processing method executed by an information processing device, a step of determining whether another vehicle captured in a captured image around the host vehicle is a two-wheeled vehicle or a four-wheeled vehicle; outputting warning information based on an output condition according to the result of the determination; An information processing method including: (12) a step of determining whether another vehicle captured in a captured image around the host vehicle is a two-wheeled vehicle or a four-wheeled vehicle; outputting warning information based on an output condition according to the result of the determination; An information processing program that causes a computer to execute the above.

[0232] Although the embodiments have been described above, they are presented as examples and are not intended to limit the scope of the invention. The novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The above embodiments are included within the scope and spirit of the invention, and are also included in the scope of the inventions and their equivalents as defined in the claims. [Explanation of symbols]

[0233] 1. Your vehicle 2 Other vehicles 2A Motorcycle 2B Four-wheeled vehicle 20A Vehicle Judgment Section 20B Driving condition derivation unit 20C 1st setting section 20D Second Setting Section 20E Output control section

Claims

1. a vehicle determination unit that determines whether another vehicle captured in a captured image of the vicinity of the host vehicle is a two-wheeled vehicle or a four-wheeled vehicle; an output control unit that outputs warning information based on an output condition according to the result of the determination; An information processing device comprising:

2. a first setting unit that sets a first inter-vehicle distance obtained by changing a first initial inter-vehicle distance in accordance with first traveling condition information relating to a traveling condition of at least one of the host vehicle and the two-wheeled vehicle when the other vehicle is determined to be the two-wheeled vehicle; The output control unit outputting the warning information when the inter-vehicle distance between the host vehicle and the two-wheeled vehicle becomes equal to or less than the first inter-vehicle distance; The information processing device according to claim 1 .

3. The first setting unit The first driving situation information is the vehicle speed is equal to or greater than a predetermined speed, the number of times the two-wheeled vehicle changes direction is equal to or greater than a predetermined number, the vehicle is traveling in a traveling environment with a predetermined illuminance or less, the driving skill of the driver of the vehicle is equal to or less than a predetermined skill, the driving skill of the driver of the two-wheeled vehicle is equal to or less than a predetermined skill, the estimated size of the two-wheeled vehicle is equal to or less than a predetermined size, the color difference between the two-wheeled vehicle and the road surface is equal to or less than a predetermined color difference, the road on which the vehicle and the two-wheeled vehicle are traveling is a road on which high-speed traveling at a predetermined speed or more is permitted, the estimated collision impact of the two-wheeled vehicle is equal to or greater than a predetermined impact, When at least one first condition is met, the first initial inter-vehicle distance is changed and set to the first inter-vehicle distance, in accordance with the met first condition, when the traveling location is within a predetermined warning target area, the environment of the road surface on which the host vehicle and the two-wheeled vehicle are traveling is a predetermined risk environment for tipping over, the steering angle of the host vehicle is equal to or greater than a predetermined angle, the host vehicle is decelerating, the traveling area of ​​the host vehicle and the two-wheeled vehicle is within a predetermined area, the vehicle type of the two-wheeled vehicle is a predetermined warning target vehicle, and a predetermined action by a rider of the two-wheeled vehicle. The information processing device according to claim 2 .

4. When the output control unit determines that the other vehicle is the two-wheeled vehicle and that the two-wheeled vehicle is moving away from the host vehicle, the output control unit excludes the two-wheeled vehicle from the output targets of the warning information. The information processing device according to claim 1 .

5. a second setting unit that sets a second inter-vehicle distance obtained by changing a second initial inter-vehicle distance in accordance with second traveling condition information relating to a traveling condition of at least one of the host vehicle and the four-wheeled vehicle when the other vehicle is determined to be the four-wheeled vehicle; The output control unit outputting the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance; The information processing device according to claim 1 .

6. The second setting unit The second driving situation information is When at least one of the following second conditions is met: the vehicle speed of the host vehicle is equal to or greater than a predetermined speed; the estimated size of the four-wheeled vehicle is equal to or greater than a predetermined size; the road on which the host vehicle and the four-wheeled vehicle are traveling is a road on which high-speed traveling at a predetermined speed or greater is permitted and the estimated collision impact level of the four-wheeled vehicle when traveling on the road is equal to or greater than a predetermined impact level; the estimated collision impact level of the four-wheeled vehicle is equal to or greater than a predetermined impact level; the traveling location of the host vehicle and the four-wheeled vehicle is a predetermined warning target area; the automobile registration number of the four-wheeled vehicle is a predetermined set number; the traveling area of ​​the host vehicle and the four-wheeled vehicle is within a predetermined area; and the vehicle type of the four-wheeled vehicle is a predetermined warning target vehicle, the second inter-vehicle distance is set by changing the second initial inter-vehicle distance in accordance with the met second condition. The information processing device according to claim 5 .

7. The output control unit When it is determined that the other vehicle is the four-wheeled vehicle and that the four-wheeled vehicle is moving away from the host vehicle, the four-wheeled vehicle is excluded from the output target of the warning information. The information processing device according to claim 1 .

8. The output control unit When the other vehicle is determined to be the four-wheeled vehicle and the relative speed between the host vehicle and the four-wheeled vehicle is equal to or greater than a predetermined relative speed, the warning information is output when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance. The information processing device according to claim 5 .

9. The output control unit When the other vehicle is determined to be the four-wheeled vehicle and the first lane in which the host vehicle is traveling coincides with the second lane in which the four-wheeled vehicle is traveling, the warning information is output when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance. The information processing device according to claim 5 .

10. The output control unit When the other vehicle is determined to be the four-wheeled vehicle, the first lane in which the host vehicle is traveling does not match the second lane in which the four-wheeled vehicle is traveling, and a lane in the planned direction of travel change of the host vehicle matches the second lane, output the warning information when the inter-vehicle distance between the host vehicle and the four-wheeled vehicle becomes equal to or less than the second inter-vehicle distance. The information processing device according to claim 5 .

11. An information processing method executed by an information processing device, a step of determining whether another vehicle captured in a captured image around the host vehicle is a two-wheeled vehicle or a four-wheeled vehicle; outputting warning information based on an output condition according to the result of the determination; An information processing method including:

12. a step of determining whether another vehicle captured in a captured image around the host vehicle is a two-wheeled vehicle or a four-wheeled vehicle; outputting warning information based on an output condition according to the result of the determination; An information processing program that causes a computer to execute the above.

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