Alerting device of vehicle, alerting program of vehicle, and alerting method of vehicle

Abstract

To inhibit execution of notification processing concerning an object exhibiting a low possibility that a driver may decide to pay attention.SOLUTION: A controller of a vehicle executes position acquisition processing of acquiring position information representing a position of an object around a vehicle (S12). The controller executes acceleration acquisition processing of acquiring an object acceleration that is an acceleration of the object on the basis of the position information (S21 and S31). The controller executes acceleration determination processing of determining whether or not the object acceleration is changing (S22 and S32). When determining that the object acceleration is changing, the controller executes identification processing of identifying the object, which is associated with the object acceleration, as an attention object (S41). The controller executes view determination processing of determining whether or not a driver of the vehicle is viewing the attention object (S52). The controller executes notification processing of notifying the driver of existence of the attention object on the assumption that it is determined that the driver is not viewing the attention object (S61).SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle attention warning device, a vehicle attention warning program, and a vehicle attention warning method. [Background technology]

[0002] The vehicle in Patent Document 1 is equipped with an interior camera, an exterior sensor, and a determination device. The interior camera is a camera for capturing an image of the driver of the vehicle. The exterior sensor includes a camera and a radar sensor for detecting objects around the vehicle. The determination device determines whether there are any visible objects, such as other vehicles, around the vehicle based on information acquired by the exterior sensor. The determination device also determines whether the driver of the vehicle is viewing any objects inside the vehicle based on information acquired by the interior camera. If there are any visible objects around the vehicle and the driver is viewing any objects inside the vehicle, the determination device determines that the driver of the vehicle is looking away. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-021399 Summary of the Invention [Problem to be solved by the invention]

[0004] In a vehicle such as that described in Patent Document 1, a configuration may be adopted in which, when a determination device determines that the driver of the vehicle is looking away, the driver is notified that there is an object that should be recognized around the vehicle. However, in the above vehicle, for example, when there is another vehicle around the vehicle, the vehicle determines that there is an object that should be recognized, even though the driver of the vehicle is unlikely to determine that the other vehicle requires attention. As a result, in the above vehicle, there is a risk that the driver of the vehicle may be notified about an object that the driver is unlikely to determine that the driver requires attention. [Means for solving the problem]

[0005] The vehicle attention warning device for solving the above problem executes a position acquisition process for acquiring position information indicating the position of an object (T) around a vehicle (100), an acceleration acquisition process for acquiring object acceleration (GX, GY) that is the acceleration of the object based on the position information, an acceleration determination process for determining whether the object acceleration is changing, an identification process for identifying the object corresponding to the object acceleration as a caution object (TN) when it is determined by the acceleration determination process that the object acceleration is changing, a visibility determination process for determining whether the driver of the vehicle is visually recognizing the caution object, and a notification process for notifying the driver of the presence of the caution object, with the visibility determination process determining that the driver is not visually recognizing the caution object as a necessary condition.

[0006] A vehicle warning program for solving the above problem is applied to a vehicle warning device, and causes the warning device to execute a position acquisition process that acquires position information indicating the position of an object around the vehicle, an acceleration acquisition process that acquires object acceleration, which is the acceleration of the object, based on the position information, an acceleration determination process that determines whether the object acceleration is changing, an identification process that identifies the object corresponding to the object acceleration as a warning object if the acceleration determination process determines that the object acceleration has changed, a visibility determination process that determines whether the driver of the vehicle is viewing the warning object, and an alert process that alerts the driver to the presence of the warning object, with the visibility determination process determining that the driver is not viewing the warning object as a necessary condition.

[0007] A vehicle warning method for solving the above problem is applied to a vehicle warning device, and the warning device executes a position acquisition process that acquires position information indicating the position of an object around the vehicle, an acceleration acquisition process that acquires object acceleration, which is the acceleration of the object, based on the position information, an acceleration determination process that determines whether the object acceleration is changing, an identification process that identifies the object corresponding to the object acceleration as a warning object if the acceleration determination process determines that the object acceleration has changed, a visibility determination process that determines whether the driver of the vehicle is viewing the warning object, and a notification process that notifies the driver of the presence of the warning object, with the visibility determination process determining that the driver is not viewing the warning object as a necessary condition.

[0008] Generally, a vehicle driver tends to pay attention to an object whose movement is changing among objects within the driver's field of view. According to the above configuration, an object whose object acceleration is changing, in other words, an object that the driver is likely to judge as requiring attention, is identified as a caution object. On the other hand, an object whose object acceleration is not changing, in other words, an object that the driver is unlikely to judge as requiring attention, is not identified as a caution object. This makes it possible to prevent the notification process from being executed for an object that the driver is unlikely to judge as requiring attention. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram of a vehicle. [Figure 2] FIG. 2 is a flowchart showing the attention-attracting control. [Figure 3] FIG. 3 is an explanatory diagram of the line of sight of a driver of a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0010] <Vehicle Overview> An embodiment of the present invention will be described below with reference to Figures 1 to 3. First, a general configuration of a vehicle 100 will be described. Note that the following description will be based on the up / down, front / rear, left / right directions of the vehicle 100. Here, the up / down, front / rear, left / right directions of the vehicle 100 are directions when viewed from the driver sitting in the driver's seat of the vehicle 100.

[0011] As shown in FIG. 1, a vehicle 100 includes a powertrain system 10, a steering system 20, and a brake system 30. The powertrain system 10 includes an engine, a motor generator, a transmission, etc. The engine is capable of transmitting power to the drive wheels of the vehicle 100 via the transmission. The motor generator is also capable of transmitting power to the drive wheels of the vehicle 100 via the transmission.

[0012] The steering system 20 includes a rack and pinion type electric steering device. The steering system 20 can change the direction of the steered wheels of the vehicle 100 by controlling a rack and pinion (not shown).

[0013] The brake system 30 includes a so-called mechanical brake device that mechanically brakes the wheels of the vehicle 100. In this embodiment, an example of the mechanical brake device is a so-called disc brake.

[0014] As shown in FIG. 1, the vehicle 100 is equipped with a speaker 40 and a HUD device 50. The speaker 40 is located near the driver's seat of the vehicle 100. The speaker 40 is a device for outputting sound. The HUD device 50 is located near the driver's seat of the vehicle 100. The HUD device 50 displays an image on the front windshield glass by projecting it onto the front windshield glass provided in the vehicle 100. Note that "HUD" is an abbreviation for Head-Up Display.

[0015] As shown in FIG. 1, the vehicle 100 is equipped with an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, a steering angle sensor 74, an in-vehicle camera 75, and an exterior camera .

[0016] The accelerator operation amount sensor 71 detects the accelerator operation amount ACC, which is the amount of operation of the accelerator pedal operated by the driver. The vehicle speed sensor 72 detects the vehicle speed SP, which is the speed of the vehicle 100. The brake operation amount sensor 73 detects the brake operation amount BRA, which is the amount of operation of the brake pedal operated by the driver. The steering angle sensor 74 detects the steering angle SA, which is the angular position of the steering wheel operated by the driver.

[0017] The interior camera 75 is located near the driver's seat of the vehicle 100. The interior camera 75 captures an image of the driver of the vehicle 100 and the surrounding area from within the interior of the vehicle 100, and detects the image as an interior image PI. The exterior camera 76 is located near the driver's seat of the vehicle 100. The exterior camera 76 captures an image of the area in front of the vehicle 100 from within the surroundings of the vehicle 100, and detects the image as an exterior image PO.

[0018] 1, the vehicle 100 is equipped with a control device 90. The control device 90 acquires various types of information from an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, a steering angle sensor 74, an in-vehicle camera 75, and an exterior camera 76.

[0019] The control device 90 includes an execution device 91 and a storage device 92. An example of the execution device 91 is a CPU. The storage device 92 includes a read-only ROM, a readable / writable volatile RAM, and a readable / writable non-volatile storage. The storage device 92 stores various programs and various data in advance. Specifically, the storage device 92 stores a control program 92A in advance as one of the various programs. The execution device 91 executes the control program 92A stored in the storage device 92 to perform various processes described below. In other words, the execution device 91 executes the control program 92A stored in the storage device 92 to perform various processes related to an attention method. In this embodiment, the control device 90 is an example of an attention device. The control program 92A is an example of an attention program.

[0020] The execution unit 91 of the control device 90 calculates a vehicle required driving force, which is a required value of driving force necessary for the vehicle 100 to travel, based on the accelerator operation amount ACC and the vehicle speed SP. The execution unit 91 then controls the powertrain system 10 by outputting a control signal to the powertrain system 10 in accordance with the vehicle required driving force. The execution unit 91 also controls the steering system 20 by outputting a control signal to the steering system 20 in accordance with the steering angle SA. The execution unit 91 also controls the brake system 30 by outputting a control signal to the brake system 30 in accordance with the brake operation amount BRA. The execution unit 91 also controls the speaker 40 by outputting a control signal to the speaker 40. The execution unit 91 also controls the HUD device 50 by outputting a control signal to the HUD device 50.

[0021] <Attention control> Next, attention calling control executed by the control device 90 will be described with reference to FIG. 2. This attention calling control is a control for calling the attention of the driver of the vehicle 100. In this embodiment, the execution device 91 of the control device 90 starts the attention calling control at each predetermined control cycle, with the necessary conditions being that the vehicle speed SP is equal to or greater than a predetermined specified vehicle speed and that the vehicle 100 is traveling along a lane on a road. For example, the execution device 91 can determine whether the vehicle 100 is traveling along a lane based on the outside-of-vehicle image PO. An example of the specified vehicle speed is approximately several kilometers per hour.

[0022] As shown in FIG. 2, when the execution device 91 of the control device 90 starts attention warning control, it executes the processing of step S11. In step S11, the execution device 91 determines whether or not an object T is located around the vehicle 100 at the start of the current attention warning control. For example, the execution device 91 determines whether or not an object T is located around the vehicle 100 as follows. First, the execution device 91 analyzes the latest vehicle exterior image PO acquired at the start of the current attention warning control. Then, when the execution device 91 identifies one or more objects T in the vehicle exterior image PO, it determines that an object T is located around the vehicle 100 at the start of the current attention warning control. Note that, when the execution device 91 identifies multiple objects T in step S11, it executes the processing of step S12 and subsequent steps described below for each object T. Here, examples of the object T include a person, a bicycle, and another vehicle. In step S11, if the execution device 91 determines that an object T is not located around the vehicle 100 at the start of the current attention drawing control (S11: NO), the execution device 91 ends the current attention drawing control. On the other hand, in step S11, if the execution device 91 determines that an object T is located around the vehicle 100 at the start of the current attention drawing control (S11: YES), the execution device 91 proceeds to step S12.

[0023] In step S12, the execution device 91 acquires position information of the object T. For example, the execution device 91 acquires the position information of the object T as follows. First, the execution device 91 acquires multiple vehicle exterior images PO from the start of the current attention warning control up to a predetermined predetermined period PA. Next, the execution device 91 analyzes the acquired vehicle exterior images PO to identify position coordinates PC indicating the position of the object T targeted in step S11 for each vehicle exterior image PO. The execution device 91 then acquires time-series data of the identified position coordinates PC as position information of the object T. Note that, for example, if there are vehicle exterior images PO that do not capture object T among the multiple vehicle exterior images PO during the predetermined period PA, the execution device 91 cannot identify position coordinates PC for the vehicle exterior images PO that do not capture object T. Therefore, if object T is captured in all of the multiple vehicle exterior images PO during the predetermined period PA, the execution device 91 can continuously acquire position information of the same object T throughout the predetermined period PA. Here, the position coordinates PC indicate the position of the object T relative to a stationary object such as a road. An example of the predetermined period PA is a few tenths of a second to a few seconds. In this embodiment, the process of step S12 is an example of a position acquisition process. After step S12, the execution device 91 advances the process to step S13.

[0024] In step S13, the execution device 91 determines whether or not it has been able to acquire position information of the same object T continuously for the predetermined period PA. If the execution device 91 determines in step S13 that it has not been able to acquire position information of the same object T continuously for the predetermined period PA (S13: NO), the execution device 91 terminates the current attention warning control. On the other hand, if the execution device 91 determines in step S13 that it has been able to acquire position information of the same object T continuously for the predetermined period PA (S13: YES), the execution device 91 proceeds to step S21. In other words, the execution device 91 proceeds to step S21 on the condition that it has been able to acquire position information of the same object T continuously for the predetermined period PA through the position acquisition process.

[0025] In step S21, the execution device 91 acquires the lateral acceleration GY, which is the acceleration of the object T in a direction perpendicular to the traveling direction of the vehicle 100, based on the position information of the object T acquired in step S12. Specifically, the lateral acceleration GY is the acceleration of the object T in a direction perpendicular to the lane in which the vehicle 100 is located at the start of the current attention warning control. For example, the execution device 91 acquires the lateral acceleration GY as follows. First, the execution device 91 calculates the lateral acceleration GY per unit time shorter than the predetermined period PA based on the time-series data of the position coordinate PC included in the position information of the object T acquired in step S12. An example of the unit time here is the time corresponding to the frame rate of the outside-of-vehicle image PO, in other words, the interval at which the outside-of-vehicle image PO is detected. Next, the execution device 91 acquires the average value of the lateral acceleration GY included in the first half of the predetermined period PA, out of the calculated lateral accelerations GY per unit time. Furthermore, the execution unit 91 acquires the average value of the lateral acceleration GY per unit time included in the latter half period of the predetermined period PA from among the calculated lateral acceleration GY per unit time as the lateral acceleration GY for the latter half period. After step S21, the execution unit 91 proceeds to step S22.

[0026] In step S22, the execution unit 91 determines whether the lateral acceleration GY has changed. For example, the execution unit 91 determines whether the lateral acceleration GY has changed as follows. First, the execution unit 91 calculates the absolute value of the difference between the lateral acceleration GY in the first half period and the lateral acceleration GY in the second half period obtained in step S21 as a lateral change amount GYC. Next, the execution unit 91 determines that the lateral acceleration GY has changed if the lateral change amount GYC is equal to or greater than a predetermined lateral specified value GYZ. Here, the lateral change amount GYC is the amount of change per unit time in the object acceleration in a direction perpendicular to the traveling direction of the vehicle 100. The lateral specified value GYZ is a threshold value for determining the magnitude of the lateral change amount GYC. Note that the lateral specified value GYZ is predetermined through experiments, simulations, etc. If the execution unit 91 determines in step S22 that the lateral acceleration GY has not changed (S22: NO), the execution unit 91 proceeds to step S31.

[0027] In step S31, the execution device 91 acquires the longitudinal acceleration GX, which is the acceleration of the object T in the traveling direction of the vehicle 100, based on the position information of the object T acquired in step S12. Specifically, the longitudinal acceleration GX is the acceleration of the object T in the direction along the lane in which the vehicle 100 is located at the start of the current attention warning control. For example, the execution device 91 acquires the longitudinal acceleration GX as follows. First, the execution device 91 calculates the longitudinal acceleration GX per unit time shorter than the predetermined period PA based on the time-series data of the position coordinate PC included in the position information of the object T acquired in step S12. An example of the unit time here is the time corresponding to the frame rate of the outside-of-vehicle image PO, in other words, the interval at which the outside-of-vehicle image PO is detected. Next, the execution device 91 acquires the average value of the longitudinal acceleration GX included in the first half of the predetermined period PA, out of the calculated longitudinal accelerations GX per unit time. Furthermore, the execution device 91 acquires the average value of the vertical accelerations GX included in the latter half of the predetermined period PA from among the calculated vertical accelerations GX as the vertical acceleration GX for the latter half of the predetermined period PA. In this embodiment, the processing of step S21 and the processing of step S31 are each an example of an acceleration acquisition processing. After step S31, the execution device 91 proceeds to step S32.

[0028] In step S32, the execution unit 91 determines whether the vertical acceleration GX has changed. For example, the execution unit 91 determines whether the vertical acceleration GX has changed as follows. First, the execution unit 91 calculates the absolute value of the difference between the vertical acceleration GX in the first half period and the vertical acceleration GX in the second half period acquired in step S31 as a vertical change amount GXC. Next, the execution unit 91 determines that the vertical acceleration GX has changed if the vertical change amount GXC is equal to or greater than a predetermined vertical specified value GXZ. Here, the vertical change amount GXC is the amount of change per unit time of the object acceleration in the direction along the longitudinal axis of the vehicle 100. The vertical specified value GXZ is a threshold value for determining the magnitude of the vertical change amount GXC. Note that the vertical specified value GXZ is predetermined through experiments, simulations, etc. In this embodiment, the vertical specified value GXZ is greater than the lateral specified value GYZ. Note that the processing in step S22 and the processing in step S32 are each an example of an acceleration determination processing. In step S32, if the execution unit 91 determines that the longitudinal acceleration GX has not changed (S32: NO), the execution unit 91 ends the current attention drawing control.

[0029] On the other hand, if the execution unit 91 determines in step S32 that the vertical acceleration GX has changed (S32: YES), the execution unit 91 proceeds to step S41. In other words, if the execution unit 91 determines in step S32 that the object acceleration, which is the acceleration of the object T, has changed, the execution unit 91 proceeds to step S41.

[0030] Furthermore, if the execution device 91 determines in step S22 that the lateral acceleration GY has changed (S22: YES), the execution device 91 proceeds to step S41. In other words, if the execution device 91 determines in the processing of step S22 that the object acceleration, which is the acceleration of the object T, has changed, the execution device 91 proceeds to step S41.

[0031] In step S41, the execution device 91 identifies a warning object TN. Specifically, if the execution device 91 determines in step S22 that the lateral acceleration GY has changed, the execution device 91 identifies the object T corresponding to the lateral acceleration GY as the warning object TN. Furthermore, if the execution device 91 determines in step S32 that the vertical acceleration GX has changed, the execution device 91 identifies the object T corresponding to the vertical acceleration GX as the warning object TN. In this embodiment, the processing of step S41 is an example of a specification process. After step S41, the execution device 91 proceeds to step S51.

[0032] In step S51, the execution device 91 estimates a line of sight direction LS indicating the direction of the line of sight of the driver of the vehicle 100. For example, the execution device 91 estimates the line of sight direction LS by analyzing the latest in-vehicle image PI acquired at the start of the current attention warning control. In this embodiment, as shown in FIG. 3, the line of sight direction LS indicates the direction of the line of sight of the driver of the vehicle 100 when the driver of the vehicle 100 is viewed from above the vehicle 100. In other words, the line of sight direction LS is a direction perpendicular to the vertical axis of the vehicle 100. As shown in FIG. 2, after step S51, the execution device 91 advances the process to step S52.

[0033] In step S52, the execution device 91 determines whether the driver of the vehicle 100 is visually recognizing the attention object TN. For example, the execution device 91 determines whether the driver of the vehicle 100 is visually recognizing the attention object TN as follows. First, the execution device 91 analyzes the latest vehicle exterior image PO acquired at the start of the current attention drawing control, thereby identifying the direction in which the attention object TN is located relative to the vehicle 100 at the start of the current attention drawing control as the attention object direction LN. Here, the attention object direction LN is a direction perpendicular to the vertical axis of the vehicle 100. Then, the execution device 91 determines that the driver of the vehicle 100 is visually recognizing the attention object TN when the line of sight direction LS is within a predetermined angle range centered on the attention object direction LN. Note that an example of the predetermined angle range is a range from several degrees negative with respect to the attention object direction LN to several degrees positive with respect to the attention object direction LN. In step S52, if the execution device 91 determines that the driver of the vehicle 100 is visually recognizing the attention object TN (S52: YES), the execution device 91 ends the current attention calling control.

[0034] On the other hand, if the execution device 91 determines in step S52 that the driver of the vehicle 100 does not visually recognize the attention object TN (S52: NO), the execution device 91 proceeds to step S53. In other words, the execution device 91 proceeds to step S53 on the condition that it has been determined by the processing of step S52 that the driver of the vehicle 100 does not visually recognize the attention object TN.

[0035] In step S53, the execution device 91 determines whether a non-visualization period PE, which is a period during which the driver of the vehicle 100 does not continuously view the attention object TN, exceeds a predetermined specified period PR. Here, an example of the specified period PR is approximately 2 seconds. Note that the execution device 91 resets the non-visualization period PE every time it is determined in the above-mentioned step S52 that the driver of the vehicle 100 is viewing the attention object TN. In the present embodiment, the processes of steps S52 and S53 are an example of a visibility determination process. In step S53, if the execution device 91 determines that the non-visualization period PE is equal to or shorter than the specified period PR (S53: NO), the execution device 91 ends the current attention calling control.

[0036] On the other hand, if the execution device 91 determines in step S53 that the non-visualization period PE exceeds the specified period PR (S53: YES), the execution device 91 proceeds to step S61. In other words, if the execution device 91 determines through the processing of step S53 that the driver of the vehicle 100 has not visually recognized the attention object TN for more than the specified period PR, the execution device 91 proceeds to step S61.

[0037] In step S61, the execution device 91 notifies the driver of the vehicle 100 that an attention object TN is present. For example, the execution device 91 notifies the driver of the vehicle 100 that an attention object TN is present by sound from the speaker 40, by outputting a control signal to the speaker 40. As a specific example, the execution device 91 notifies the driver of the vehicle 100 that an attention object TN is present by generating a message such as "Watch out ahead" as sound from the speaker 40. Furthermore, for example, the execution device 91 notifies the driver of the vehicle 100 that an attention object TN is present by outputting a control signal to the HUD device 50, by using an image projected from the HUD device 50. As a specific example, the execution device 91 notifies the driver of the vehicle 100 that an attention object TN is present by displaying an arrow indicating the position of the object T on the front windshield glass as an image projected from the HUD device 50. In this embodiment, the processing of step S61 is an example of a notification processing. After step S61, the execution device 91 ends the current attention-calling control.

[0038] <Operation of this embodiment> For example, suppose the vehicle 100 is traveling straight along a specific lane. Furthermore, suppose a pedestrian is walking along the specific lane near the specific lane ahead of the vehicle 100. Then, suppose the pedestrian starts to cross the specific lane. In this case, as shown in FIG. 2 , in step S22 of the attention warning control, the execution device 91 of the control device 90 determines that the lateral acceleration GY has changed. That is, the execution device 91 determines that the acceleration of the object T has changed. Then, the execution device 91 identifies the pedestrian as the attention object TN in step S41, and then proceeds with the processing from step S51 onward. Here, if the driver of the vehicle 100 is visually recognizing the attention object TN, the execution device 91 makes a positive determination in step S52 and then terminates the current attention warning control. On the other hand, if the driver of the vehicle 100 is not visually recognizing the attention object TN, the execution device 91 makes a negative determination in step S52 and then proceeds with the processing from step S53 onward. Then, in step S61, the execution device 91 executes a notification process for notifying the driver of the vehicle 100 that a warning object TN is present.

[0039] <Effects of this embodiment> (1) In general, the driver of the vehicle 100 tends to pay attention to an object T, such as a pedestrian, that is within the driver's field of vision and whose movement is changing. As a specific example, the driver of the vehicle 100 tends to pay attention to a pedestrian who has been walking along a specific lane and then starts to cross the specific lane. According to this embodiment, an object T whose acceleration, such as the lateral acceleration GY, is changing, in other words, an object T that the driver of the vehicle 100 is likely to determine as requiring attention, is identified as a caution object TN. On the other hand, an object T whose acceleration, such as the lateral acceleration GY, is not changing, in other words, an object T that the driver of the vehicle 100 is unlikely to determine as requiring attention, is less likely to be identified as a caution object TN. This prevents the notification process of step S61 from being executed for an object T that the driver of the vehicle 100 is unlikely to determine as requiring attention.

[0040] (2) In step S22, the execution device 91 determines that the lateral acceleration GY is changing when the lateral change amount GYC is equal to or greater than a predetermined lateral specified value GYZ. That is, the execution device 91 determines that the acceleration of the object T is changing when the lateral change amount GYC is equal to or greater than the predetermined lateral specified value GYZ. Then, when the execution device 91 determines that the acceleration of the object T is changing, in step S41, the execution device 91 identifies the object T corresponding to the above-mentioned lateral acceleration GY as a warning object TN.

[0041] According to this embodiment, it is determined whether the acceleration of the object T is changing based on the lateral change amount GYC indicating the amount of change per unit time in the lateral acceleration GY, i.e., based on a change in movement that intersects with the traveling direction of the vehicle 100. Therefore, it is possible to determine whether the acceleration of the object T is changing based on a change in movement that is more likely to cause the driver of the vehicle 100 to determine that caution is required.

[0042] (3) In step S32, the execution device 91 determines that the vertical acceleration GX is changing when the vertical change amount GXC is equal to or greater than a predetermined vertical specified value GXZ. That is, the execution device 91 determines that the acceleration of the object T is changing when the vertical change amount GXC is equal to or greater than the predetermined vertical specified value GXZ. Then, when the execution device 91 determines that the acceleration of the object T is changing, in step S41, the execution device 91 identifies the object T corresponding to the above-mentioned vertical acceleration GX as a warning object TN.

[0043] For example, if the longitudinal change amount GXC of the object T is large, it means that the way the object T moves in the traveling direction of the vehicle 100 is changing. If the way the object T moves in the traveling direction of the vehicle 100 is changing, the distance between the vehicle 100 and the object T in the traveling direction of the vehicle 100 may suddenly decrease. In this regard, according to this embodiment, if the longitudinal change amount GXC is equal to or greater than the longitudinal specified value GXZ, in other words, if there is a possibility that the distance between the vehicle 100 and the object T in the traveling direction of the vehicle 100 may suddenly decrease, it can be determined that the acceleration of the object T is changing.

[0044] (4) In the attention drawing control, the execution device 91 determines that the acceleration of the object T is changing when one or more of the following conditions is met: the horizontal change amount GYC is equal to or greater than the horizontal specified value GYZ, and the vertical change amount GXC is equal to or greater than the vertical specified value GXZ. The horizontal specified value GYZ is smaller than the vertical specified value GXZ.

[0045] As described above, when the lateral change amount GYC is large, there is a high possibility that the object T is moving in a crossing manner relative to the traveling direction of the vehicle 100. The driver of the vehicle 100 should pay attention to the object T moving in such a crossing manner. In this regard, according to the present embodiment, there is a high possibility that the lateral change amount GYC will be determined to be equal to or greater than the lateral specified value GYZ, compared to when, for example, the lateral specified value GYZ is the same as the longitudinal specified value GXZ. This makes it possible to determine whether the acceleration of the object T is changing while increasing sensitivity to changes in the lateral acceleration GY that should draw the driver of the vehicle 100's attention.

[0046] (5) In the attention-drawing control, for example, when an object T enters the range of the exterior camera 76 from outside the range, the execution device 91 starts acquiring the lateral acceleration GY, etc., after the object T enters the range. Then, at the timing when the execution device 91 starts acquiring the lateral acceleration GY, etc., there is a risk that the execution device 91 may erroneously determine that the lateral acceleration GY has changed due to a change from a state where no lateral acceleration GY has been acquired to a state where a certain value of lateral acceleration GY has been acquired.

[0047] In this regard, the execution device 91 determines whether the lateral acceleration GY has changed in step S22, assuming that the position information of the same object T has been acquired continuously for a predetermined period PA through the position acquisition process in step S12 as a necessary condition. In other words, if multiple lateral accelerations GY have been acquired continuously, it is determined whether the lateral acceleration GY has changed in step S22. As a result, it is possible to prevent the execution device 91 from erroneously determining that the lateral acceleration GY has changed due to, for example, a change from a state in which no lateral acceleration GY has been acquired to a state in which a certain value of lateral acceleration GY has been acquired.

[0048] As in the above, the execution device 91 determines whether the vertical acceleration GX has changed in step S32, with the necessary condition that the position information of the same object T has been acquired continuously for a predetermined period PA through the position acquisition process of step S12. Therefore, it is possible to prevent the execution device 91 from erroneously determining that the vertical acceleration GX has changed, for example, due to a change from a state in which no vertical acceleration GX has been acquired to a state in which a certain value of vertical acceleration GX has been acquired.

[0049] (6) For example, when there are multiple attention objects TN, a situation may occur in which the driver of the vehicle 100 is visually recognizing one of the multiple attention objects TN, but is unable to visually recognize another attention object TN. In this situation, if the notification process of step S61 is immediately executed because the driver of the vehicle 100 is not visually recognizing the other attention object TN, the driver of the vehicle 100 may feel annoyed.

[0050] In this regard, the execution device 91 executes the notification process of step S61 when it is determined that the driver of the vehicle 100 has not visually recognized the attention object TN for a period exceeding the specified period PR. As a result, even if there are multiple attention objects TN, the notification process of step S61 is not executed if the driver of the vehicle 100 visually recognizes multiple attention objects TN within the specified period PR. As a result, it is possible to reduce the annoyance felt by the driver of the vehicle 100 compared to, for example, the case where the notification process of step S61 is executed immediately in a situation where the driver of the vehicle 100 has not visually recognized the attention object TN.

[0051] (7) In step S22, the execution device 91 determines that the lateral acceleration GY has changed if the absolute value of the difference between the lateral acceleration GY at the first time point and the lateral acceleration GY at the second time point is equal to or greater than the specified lateral value GYZ. Here, the value of the lateral acceleration GY may fluctuate momentarily due to, for example, noise. If the value of the lateral acceleration GY fluctuates in this way, it may be determined in step S22 that the lateral acceleration GY has changed even in a situation where the overall fluctuation in the lateral acceleration GY is small.

[0052] In this regard, in step S21, the execution unit 91 acquires the average value of the lateral acceleration GY per unit time included in the first half of the predetermined period PA as the lateral acceleration GY for the first half. The execution unit 91 also acquires the average value of the lateral acceleration GY per unit time included in the second half of the predetermined period PA as the lateral acceleration GY for the second half. In step S22, the execution unit 91 calculates the absolute value of the difference between the lateral acceleration GY for the first half and the lateral acceleration GY for the second half acquired in step S21 as the lateral change amount GYC. Therefore, even if the value of the lateral acceleration GY momentarily fluctuates due to noise, for example, the lateral change amount GYC is unlikely to change due to the fluctuation. As a result, even if the value of the lateral acceleration GY momentarily fluctuates due to noise, for example, the determination result of step S22 can be prevented from being affected by the fluctuation.

[0053] As in the above, in step S31, the execution unit 91 acquires, from among the calculated vertical accelerations GX per unit time, the average value of the vertical accelerations GX included in the first half of the predetermined period PA as the vertical acceleration GX for the first half. Furthermore, the execution unit 91 acquires, from among the calculated vertical accelerations GX, the average value of the vertical accelerations GX included in the second half of the predetermined period PA as the vertical acceleration GX for the second half. Then, in step S32, the execution unit 91 calculates, as the vertical change amount GXC, the absolute value of the difference between the vertical accelerations GX for the first half and the vertical accelerations GX for the second half acquired in step S31. Therefore, even if the value of the vertical acceleration GX fluctuates momentarily due to noise, for example, the fluctuation can be prevented from changing the determination result of step S32.

[0054] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0055] In the above embodiment, the attention-calling control may be changed. For example, the execution conditions for the attention warning control may be changed. As a specific example, the execution device 91 may start the attention warning control at every predetermined control cycle, with the necessary condition being that the vehicle speed SP is equal to or greater than a predetermined specified vehicle speed, regardless of whether the vehicle 100 is traveling along a lane. In this configuration, in step S21, the execution device 91 may acquire, as the lateral acceleration GY, the acceleration of the object T in the direction along the left-right axis of the vehicle 100, based on the direction along the left-right axis of the vehicle 100 at the start of the current attention warning control. Similarly, in step S31, the execution device 91 may acquire, as the longitudinal acceleration GX, the acceleration of the object T in the direction along the front-rear axis of the vehicle 100, based on the direction along the front-rear axis of the vehicle 100 at the start of the current attention warning control.

[0056] For example, the processing of step S13 may be omitted. As a specific example, if there is a low possibility that the execution unit 91 will erroneously determine that the lateral acceleration GY has changed due to a change from a state where there is no lateral acceleration GY to a state where a certain value of lateral acceleration GY has been acquired, the processing of step S13 may be omitted. Also, as a specific example, if there is a low possibility that the execution unit 91 will erroneously determine that the vertical acceleration GX has changed due to a change from a state where there is no vertical acceleration GX to a state where a certain value of vertical acceleration GX has been acquired, the processing of step S13 may be omitted.

[0057] For example, the processes of steps S21 and S22 may be modified. Specifically, the execution device 91 may acquire, from among the calculated lateral acceleration GY per unit time, the lateral acceleration GY at the start of the predetermined period PA as the lateral acceleration GY for the first half period. Furthermore, the execution device 91 may acquire, from among the calculated lateral acceleration GY per unit time, the lateral acceleration GY at the end of the predetermined period PA as the lateral acceleration GY for the second half period. The execution device 91 may then calculate, as the lateral change amount GYC, the absolute value of the difference between the lateral acceleration GY for the first half period and the lateral acceleration GY for the second half period. In other words, the lateral acceleration GY used to determine whether the acceleration of the object T is changing may be modified.

[0058] For example, the processing of steps S31 and S32 may be changed. As a specific example, the execution device 91 may acquire, from among the calculated vertical acceleration GX per unit time, the vertical acceleration GX at the start of the predetermined period PA as the vertical acceleration GX of the first half period. Furthermore, the execution device 91 may acquire, from among the calculated vertical acceleration GX per unit time, the vertical acceleration GX at the end of the predetermined period PA as the vertical acceleration GX of the second half period. The execution device 91 may then calculate, as the vertical change amount GXC, the absolute value of the difference between the vertical acceleration GX of the first half period and the vertical acceleration GX of the second half period. In other words, the vertical acceleration GX used to determine whether the acceleration of the object T is changing may be changed.

[0059] For example, the magnitude relationship between the specified horizontal value GYZ and the specified vertical value GXZ in steps S22 and S32 may be changed. As a specific example, the specified horizontal value GYZ may be the same as the specified vertical value GXZ. Also, as a specific example, the specified horizontal value GYZ may be greater than the specified vertical value GXZ.

[0060] For example, the processes of steps S21 and S22 may be omitted. As a specific example, if there is little need to determine whether the acceleration of object T is changing based on a change in lateral acceleration GY, the processes of steps S21 and S22 may be omitted. In this case, if the execution device 91 determines in step S13 that position information of the same object T has been acquired continuously for the predetermined period PA (S13: YES), the execution device 91 may proceed with the process to step S31.

[0061] For example, the processes of steps S31 and S32 may be omitted. As a specific example, if there is little need to determine whether the acceleration of object T has changed based on a change in vertical acceleration GX, the processes of steps S31 and S32 may be omitted. In this case, if the execution device 91 determines in step S22 that the lateral acceleration GY has not changed (S22: NO), the execution device 91 may end the current attention warning control.

[0062] For example, the process of step S53 may be omitted. As a specific example, it is preferable to omit the process of step S53 from the viewpoint of immediately executing the notification process of step S61 in a situation where the driver of the vehicle 100 does not visually recognize the attention object TN.

[0063] For example, the manner of notification in step S61 may be changed. As a specific example, the execution device 91 may notify the driver of the vehicle 100 of the presence of an attention object TN using only one of the speaker 40 and the HUD device 50. Also, as a specific example, the execution device 91 may notify the driver of the vehicle 100 of the presence of an attention object TN using another device instead of or in addition to the speaker 40 and the HUD device 50. Here, an example of the other device is an indicator located near the driver's seat of the vehicle 100.

[0064] In the above embodiment, the configuration of the vehicle 100 may be changed. For example, the sensor for detecting the object T around the vehicle 100 may be changed. As a specific example, the vehicle 100 may be equipped with another sensor instead of or in addition to the exterior camera 76 as a sensor for detecting the object T around the vehicle 100. Here, an example of the other sensor is a LIDAR. Note that "LIDAR" is an abbreviation for Laser Imaging Detection and Ranging.

[0065] For example, the configuration of the control device 90 may be changed. Specifically, the control device 90 may be configured as a circuit including one or more processors that execute various processes according to a computer program (software). The control device 90 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), that execute at least some of the various processes, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute processes. The memory, i.e., computer-readable medium, includes any medium accessible by a general-purpose or dedicated computer. [Explanation of symbols]

[0066] 10... powertrain system 20... steering system 30... brake system 40... speaker 50... HUD device 71... accelerator operation amount sensor 72... vehicle speed sensor 73... brake operation amount sensor 74... steering angle sensor 75... in-vehicle camera 76... exterior-vehicle camera 90... control device 91... execution device 92... storage device 92A... control program 100... vehicle

Claims

1. a position acquisition process for acquiring position information indicating the position of an object (T) around the vehicle (100); an acceleration acquisition process for acquiring object acceleration (GX, GY) that is the acceleration of the object based on the position information; an acceleration determination process for determining whether the object acceleration is changing; an identification process for identifying the object corresponding to the object acceleration as a attention object (TN) when it is determined that the object acceleration has changed by the acceleration determination process; a visual recognition determination process for determining whether or not the driver of the vehicle is visually recognizing the warning object; a notification process of notifying the driver that the attention object exists, based on the necessary condition that the visibility determination process has determined that the driver does not visually recognize the attention object; Run Vehicle attention warning device.

2. In the acceleration determination process, When a change (GYC) per unit time of the object acceleration (GY) in a direction perpendicular to the traveling direction of the vehicle is equal to or greater than a predetermined lateral specified value (GYZ), it is determined that the object acceleration is changing. The vehicle attention warning device according to claim 1.

3. In the acceleration determination process, When a change (GXC) per unit time of the object acceleration (GX) in the traveling direction of the vehicle is equal to or greater than a predetermined longitudinal specified value (GXZ), it is determined that the object acceleration is changing. The vehicle attention-calling device according to claim 1 or 2.

4. In the acceleration determination process, determining that the object acceleration is changing when one or more of the following conditions are satisfied: a change in the object acceleration per unit time in a direction perpendicular to the traveling direction of the vehicle is equal to or greater than a predetermined lateral specified value; and a change in the object acceleration per unit time in the traveling direction is equal to or greater than a predetermined longitudinal specified value. The horizontal specified value is smaller than the vertical specified value. The vehicle attention warning device according to claim 1.

5. The acceleration determination process is performed under the condition that the position information of the same object has been continuously acquired for a predetermined period (PA) by the position acquisition process. The vehicle attention-calling device according to claim 1 or 2.

6. In the notification process, When it is determined by the visibility determination process that the driver has not visually recognized the attention object for a predetermined period (PR) or longer, the driver is notified that the attention object exists. The vehicle attention-calling device according to claim 1 or 2.

7. It is applied to vehicle attention warning devices, The attention-calling device, a position acquisition process for acquiring position information indicating the positions of objects around the vehicle; an acceleration acquisition process for acquiring an object acceleration, which is the acceleration of the object, based on the position information; an acceleration determination process for determining whether the object acceleration is changing; an identification process for identifying the object corresponding to the object acceleration as a warning object when it is determined that the object acceleration has changed by the acceleration determination process; a visual recognition determination process for determining whether or not the driver of the vehicle is visually recognizing the warning object; a notification process of notifying the driver that the attention object exists, based on the necessary condition that the visibility determination process has determined that the driver does not visually recognize the attention object; Run Vehicle attention program.

8. It is applied to vehicle attention warning devices, The attention-calling device, a position acquisition process for acquiring position information indicating the positions of objects around the vehicle; an acceleration acquisition process for acquiring an object acceleration, which is the acceleration of the object, based on the position information; an acceleration determination process for determining whether the object acceleration is changing; an identification process for identifying the object corresponding to the object acceleration as a warning object when it is determined that the object acceleration has changed by the acceleration determination process; a visual recognition determination process for determining whether or not the driver of the vehicle is visually recognizing the warning object; a notification process of notifying the driver that the attention object exists, based on the necessary condition that the visibility determination process has determined that the driver does not visually recognize the attention object; Run How to get attention from your vehicle.

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