Information notification device, information notification program, information notification method, and information notification system

Abstract

To provide an information notification device, an information notification program, an information notification method, and an information notification system capable of notifying a user of information by warning sound and vibration without giving a sense of discomfort to the user.SOLUTION: An information notification device outputs an information notification vibration signal based on an information notification sound signal, and detects a peak frequency of the information notification sound signal, calculates a pitch shift value in pitch shift processing such that the peak frequency is within a predetermined suitable frequency band suitable for vibration notification, and generates the information notification vibration signal by performing pitch shift processing on the information notification sound signal based on the pitch shift value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The disclosed embodiments relate to an information notification device, an information notification program, an information notification method, and an information notification system. [Background technology]

[0002] There is an information notification device that notifies the driver of the situation around the vehicle by using a warning sound and vibration (see, for example, Patent Document 1). Methods of notifying the driver of information by vibration include a method that uses a fixed vibration, a method that uses a vibration generated by processing a warning sound, and the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-240855 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional information notification devices, the warning sound and vibration do not harmonize well with human senses, which can cause a sense of discomfort to the user.

[0005] One aspect of the embodiment has been made in consideration of the above, and aims to provide an information notification device, an information notification program, an information notification method, and an information notification system that can notify information by warning sounds and vibrations without causing discomfort to the user. [Means for solving the problem]

[0006] An information notification device according to one aspect of the embodiment is an information notification device that outputs an information notification vibration signal based on an information notification sound signal, detects the peak frequency of the information notification sound signal, calculates a pitch shift value for pitch shift processing so that the peak frequency is within a predetermined preferred frequency band suitable for vibration notification, and performs pitch shift processing on the information notification sound signal based on the pitch shift value to generate the information notification vibration signal. [Effects of the Invention]

[0007] According to an information notification device, an information notification program, an information notification method, and an information notification system relating to one aspect of an embodiment, the vibrator can be vibrated with an information notification vibration that is correlated with an information notification sound and whose peak frequency is within an appropriate frequency band for vibration to be given to a human, so that information can be notified with an information notification sound and information notification vibration that are suitable for information notification and do not cause discomfort to the user. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing an example of the system configuration of an information notification system and an example of the configuration of an information notification device according to an embodiment. [Figure 2] FIG. 2 is an explanatory diagram showing the installation positions of the first to fourth transducers and the sound collection device according to the embodiment. [Figure 3] FIG. 3 is an explanatory diagram showing the installation positions of the first to fourth sound output devices and sound collection devices according to the embodiment. [Figure 4] FIG. 4 is an explanatory diagram showing an example of a traffic situation in a vehicle equipped with an information notification system according to an embodiment, and an example of an output state of an information notification sound in that traffic situation. [Figure 5] FIG. 5 is an explanatory diagram showing an example of an output state of information notification vibration in the traffic situation shown in FIG. [Figure 6] FIG. 6 is a diagram showing a configuration for generating an information notification vibration signal. [Figure 7] FIG. 7 is an explanatory diagram of the process of generating an information notification vibration signal. [Figure 8] FIG. 8 is an explanatory diagram illustrating an example of a data table according to the embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of information notification processing executed by the controller 2 according to the embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of information notification processing executed by the controller 2 according to the embodiment. [Figure 11] FIG. 11 is a flowchart showing an example of a setting process of a preferred frequency band executed by the controller 2 according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of an information notification device, an information notification program, an information notification method, and an information notification system will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below. The information notification device according to the embodiments is mounted on a vehicle, and has a function of notifying a user (driver) of an object (hereinafter simply referred to as an "object") that should be noticed by the user (driver) by vibrating when the object is detected around the vehicle. The object is, for example, another vehicle or a pedestrian approaching the vehicle.

[0010] In the following description, the direction of straight-ahead travel of the vehicle, from the driver's seat toward the steering wheel, is referred to as the "forward direction." Furthermore, the direction of straight-ahead travel of the vehicle, from the steering wheel toward the driver's seat, is referred to as the "rearward direction." Furthermore, the direction perpendicular to the straight-ahead travel of the vehicle and a vertical line, from the right side toward the left side of the driver facing forward, is referred to as the "leftward direction." Furthermore, the direction perpendicular to the straight-ahead travel of the vehicle and a vertical line, from the left side toward the right side of the driver facing forward, is referred to as the "rightward direction." Note that these directions are simply names used for the purpose of explanation and are not intended to limit the actual positional relationships and directions.

[0011] [1. Configuration of information notification device] Fig. 1 is an explanatory diagram showing an example of the system configuration of an information notification system SYS according to an embodiment, and an example of the configuration of an information notification device 1. As shown in Fig. 1, the information notification device 1 is connected to a detection device 11, an operation device 12, a sound collection device 13, first to fourth sound output devices 14 to 17, and first to fourth vibrators 21 to 24.

[0012] The detection device 11 is a device that detects objects present around the vehicle. The detection device 11 includes, for example, a radar, a LiDAR, an on-board camera, and a detection processing unit. The detection processing unit determines the presence or absence of objects present around the vehicle and the direction of the objects relative to the vehicle based on the detection results from the radar and LiDAR.

[0013] The detection processing unit also performs image recognition on the video of the surroundings of the vehicle captured by the on-board camera to determine whether or not there is an object around the vehicle, the direction of the object relative to the vehicle, etc. The detection device 11 outputs information indicating whether or not there is an object around the vehicle, the direction of the object relative to the vehicle, etc. to the information notification device 1.

[0014] The operation device 12 includes various operation buttons operated by the user. The operation device 12 may be a touch panel display that accepts operations by the user. The user can perform operations related to the calibration of the vibration amount, which will be described later, on the operation device 12. The operation device 12 outputs an operation signal to the information notification device 1 in accordance with the user's operation.

[0015] The sound collection device 13 is a device that collects sound from within the vehicle cabin, and is composed of a microphone or the like installed in a position suitable for collecting sound within the vehicle cabin (such as the steering wheel). The first to fourth sound output devices 14 to 17 are devices that output warning sounds and the like under the control of the information notification device 1, and are composed of speakers or the like installed in positions suitable for outputting sound within the vehicle cabin (such as the front, rear, left, and right doors). The first to fourth vibrators 21 to 24 are composed of exciters or the like installed in positions suitable for applying vibrations to the user (driver) within the vehicle cabin (such as the seat) using vibrating vibrators under the control of the information notification device 1.

[0016] The information notification device 1 also includes a controller 2. The controller 2 includes a control unit 3 and a storage unit 4. The storage unit 4 is an information storage device such as a data flash, and stores warning sound information 41, an information notification program 42, and the like.

[0017] The warning sound information 41 is audio information that is output from the first to fourth sound output devices 14 to 17 when an object is detected by the detection device 11. The warning sound information 41 is, for example, audio waveform digital data of an alarm sound, which is converted into an analog audio signal by the control unit 3 or the first to fourth sound output devices 14 to 17 and output as audio to a speaker. Note that the warning sound information 41 is not limited to an alarm sound, and may be audio waveform digital data such as an audio message such as "An object is approaching."

[0018] The information notification program 42 is a program executed by the control unit 3 to control the first to fourth sound output devices 14 to 17 and the first to fourth vibrators 21 to 24. The information notification program 42 includes a program that performs processing to generate an information notification sound signal that causes the first to fourth sound output devices 14 to 17 to output a desired information notification sound, and a program that performs processing to generate an information notification vibration signal that causes the first to fourth vibrators 21 to 24 to output a desired information notification vibration. The information notification program 42 is stored (installed) in the storage unit 4 via a storage medium such as an optical disc on which the program is recorded, or via a communication line or the like from an external server on which the program is recorded.

[0019] The control unit 3 includes a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and various circuits. The control unit 3 includes a vibration control unit 31 and a sound control unit 32 that function by reading the information notification program 42 from the storage unit 4 and executing it using the RAM as a working area.

[0020] The vibration control unit 31 and the sound control unit 32 included in the control unit 3 may be partially or entirely configured using hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0021] The vibration control unit 31 and the sound control unit 32 included in the control unit 3 each realize or execute the information processing functions described below. Note that the internal configuration of the control unit 3 is not limited to the configuration shown in Fig. 1, and may be any other configuration as long as it is capable of performing the information processing described below.

[0022] The vibration control unit 31 controls the first to fourth vibrators 21 to 24. When an object is detected by the detection device 11, the vibration control unit 31 vibrates at least one of the first to fourth vibrators 21 to 24 with an information notification vibration for notifying information indicating that an object is detected.

[0023] The sound control unit 32 controls the first to fourth sound output devices 14 to 17. When an object is detected by the detection device 11, the sound control unit 32 causes at least one of the first to fourth sound output devices 14 to 17 to emit an information notification sound for notifying information indicating that an object is detected.

[0024] [2. Installation location of transducer, sound output device, and sound pickup device] Next, the installation positions of the first to fourth vibrators 21 to 24, the first to fourth sound output devices 14 to 17, and the sound collection device 13 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is an explanatory diagram showing the installation positions of the first to fourth vibrators 21 to 24 and the sound collection device 13 according to the embodiment. Fig. 3 is an explanatory diagram showing the installation positions of the first to fourth sound output devices 14 to 17 and the sound collection device 13 according to the embodiment.

[0025] 2 and 3, arrow X indicates the forward direction, arrow Y indicates the rightward direction, and arrow Z indicates a direction parallel to the upward direction. As shown in FIG. 2, the first to fourth oscillators 21 to 24 are provided on a seat 5. The seat 5 has a seat portion 51, a backrest portion 52, and a headrest 53. The seat portion 51 supports the buttocks and thighs of an occupant sitting in the seat 5. The backrest portion 52 supports the back of the occupant sitting in the seat 5. The headrest 53 supports the neck to head of the occupant sitting in the seat 5.

[0026] The first to fourth vibrators 21 to 24 are arranged on the seat 51 so that a user (such as a driver) seated on the seat 5 can feel the vibrations of each vibrator. Specifically, the first to fourth vibrators 21 to 24 are embedded inside the seat 51. The first to fourth vibrators 21 to 24 may be arranged on the surface of the seat 51. The first to fourth vibrators 21 to 24 may be attached to the upper surface of the seat 51.

[0027] The first vibrator 21 is arranged on the left front part of the seat 51. The second vibrator 22 is arranged on the right front part of the seat 51. The third vibrator 23 is arranged on the left rear part of the seat 51. The fourth vibrator 24 is arranged on the right rear part of the seat 51. In other words, the first to fourth vibrators 21 to 24 are arranged so as to be located below the left front, right front, left rear and right rear parts of the buttocks of an occupant sitting in the seat 5 (so that vibrations are transmitted to the left front, right front, left rear and right rear parts of the buttocks). The number and positions of the vibrators arranged on the seat 51 may be changed as appropriate from the configuration of this embodiment depending on the usage pattern and purpose of the information notification system SYS.

[0028] The first to fourth vibrators 21 to 24 are vibrators of the same type (same configuration), so-called exciters. The first to fourth vibrators 21 to 24 can be realized, for example, by vibrators with an electric / magnetic circuit configuration in which the diaphragm of a speaker (with a structure suitable for acoustic conversion) is replaced with a diaphragm suitable for vibration transmission, or by vibrators configured using piezoelectric elements. The information notification device 1 is configured to be able to individually control each of the first to fourth vibrators 21 to 24. In other words, the information notification device 1 can individually control the vibration start timing, vibration stop timing, vibration level amount, vibration waveform, etc. of each of the first to fourth vibrators 21 to 24.

[0029] The sound collection device 13 is provided inside the headrest 53 of the seat 5. The sound collection device 13 may be provided in a position suitable for collecting sound, such as on the steering wheel or above the driver on the ceiling inside the vehicle.

[0030] 3, the first sound output device 14 is provided diagonally in front of and to the left of the user 10 sitting in the seat 5. The second sound output device 15 is provided diagonally in front of and to the right of the user 10 sitting in the seat 5. The third sound output device 16 is provided diagonally behind and to the left of the user 10 sitting in the seat 5. The fourth sound output device 17 is provided diagonally behind and to the right of the user 10 sitting in the seat 5.

[0031] To install the sound output devices in such positions, specifically, for example, each first sound output device 14 is provided on a front pillar on the left side as seen by the user 10. The second sound output device 15 is provided on a front pillar on the right side as seen by the user 10. The third sound output device 16 is provided on a rear pillar on the left side as seen by the user 10. The fourth sound output device 17 is provided on a rear pillar on the right side as seen by the user 10.

[0032] Alternatively, the third sound output device 16 may be provided at the left end inside the headrest 53, and the fourth sound output device 17 may be provided at the right end inside the headrest 53. The information notification device 1 is configured to be able to individually control each of the first to fourth sound output devices 14 to 17. In other words, the information notification device 1 can individually control the sound output start timing, sound output stop timing, volume level, audio waveform, etc. of each of the first to fourth vibrators 21 to 24.

[0033] 3, the sound collection device 13 includes first to fourth microphones 131 to 134. The first to fourth microphones 131 to 134 are unidirectional microphones. The first microphone 131 is installed, for example, on the headrest 53 so that its directionality is oriented toward the first sound output device 14. The first microphone 131 selectively collects sound A1 emitted from the direction of the first sound output device 14.

[0034] The second microphone 132 is installed so that its directivity is oriented in the direction of the second sound output device 15. The second microphone 132 selectively picks up sound A2 emitted from the direction of the second sound output device 15. The third microphone 133 is installed so that its directivity is oriented in the direction of the third sound output device 16. The third microphone 133 selectively picks up sound A3 emitted from the direction of the third sound output device 16.

[0035] The fourth microphone 134 is installed so that its directivity faces the direction of the fourth sound output device 17. The fourth microphone 134 selectively collects sound A4 that is emitted from the direction of the fourth sound output device 17. The sound collection device 13 outputs the audio signals collected by the first to fourth microphones 131 to 134 to the information notification device 1.

[0036] [3. Example of vibrator control] Next, an example of control of the vibrator (and sound output device) when notifying information including directional information will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is an explanatory diagram showing an example of a traffic situation (the positional relationship between the vehicle 6 and another vehicle 61 that is the target of a warning (notification information)) in a vehicle 6 equipped with the information notification system SYS according to the embodiment, and an example of an output state of the information notification sound in that traffic situation. Fig. 5 is an explanatory diagram showing an example of an output state of the information notification vibration in the traffic situation shown in Fig. 4.

[0037] 4, when the detection device 11 detects another vehicle 61 approaching in front of the vehicle 6 on the right side, the information notification device 1 emits a warning sound from each of the first to fourth sound output devices 14 to 17 at an appropriate level and timing (phase) so as to localize the sound image of the warning sound in the direction of the other vehicle 61 relative to the user (driver) 10. Simply put, the warning sound is emitted from the second sound output device 15, which is located in a direction most similar to the direction of the other vehicle 61 as seen from the user 10. The information notification device 1 may localize the sound image of the warning sound using various known sound localization techniques, such as a sound localization technique based on the principle that when a sound is emitted from two speakers, the sound is localized in a direction biased toward the speaker with the higher output level in the direction between the two speakers, or a sound localization technique based on the principle that when a sound is emitted from two speakers with different timings, the sound is localized in a direction biased toward the speaker that emitted earlier.

[0038] In this way, the information notification device 1 can intuitively notify the user 10 of the direction of the object by outputting a warning sound that gives a sense of positioning in the direction of the other vehicle 61 relative to the user's own vehicle 6 (user (driver) 10).

[0039] Furthermore, the information notification device 1 outputs warning vibrations at appropriate levels from each of the first to fourth vibrators 21 to 24 so that the warning vibrations have a sense of direction in the direction of the other vehicle 61 relative to the user (driver) 10. When multiple vibrators are present, the sense of direction of the vibration is felt in the direction of the vibrator that is vibrating. When multiple vibrators are vibrating, the sense of vibration (direction) is felt in the (direction of) the center of gravity position based on the position of each vibrator weighted by the vibration intensity of each vibrator. For example, when two vibrators are vibrating at an intensity ratio of 2:1, the sense of vibration (direction) is felt at a position (direction relative to the user (driver) 10) where the distance ratio between the two vibrators is "2 (distance from the one with lower vibration intensity):1 (distance from the one with higher vibration intensity)." Using this technical principle, the information notification device 1 outputs warning vibrations at appropriate levels from each of the first to fourth vibrators 21 to 24 so that the warning vibrations have a sense of direction.

[0040] 5, the information notification device 1 increases the vibration level of the second vibrator 22 located on the front right of the seat 51 and decreases the vibration level of the fourth vibrator 24 located on the rear right of the seat 51. The information notification device does not vibrate the first vibrator 21 located on the front left of the seat 51 and the third vibrator 23 located on the rear left of the seat 51.

[0041] At this time, the information notification device 1 can adjust the position of the vibration localization point P2 felt by the user 10 by controlling the vibration level of the second vibrator 22 and the vibration level of the fourth vibrator 24. For example, the information notification device 1 can move the position of the vibration localization point P2 closer to the right front corner of the area A surrounded by the first to fourth vibrators 21 to 24 by increasing the vibration level of the second vibrator 22 and decreasing the vibration level of the fourth vibrator 24.

[0042] This allows the controller 2 to align the direction from the center of gravity P1 of the area A (the center of gravity position (on the plane of the seat part 51) of the user (driver) 10 when seated on the seat 5) toward the vibration localization point P2 generated by the vibrations of the second vibrator 22 and the fourth vibrator 24 with the direction of the other vehicle 61 relative to the host vehicle 6. In this way, the controller 2 can notify the user of the direction of the other vehicle 61 relative to the host vehicle 6 by the illusion phenomenon of vibration localization that utilizes the vibrations of the second vibrator 22 and the fourth vibrator 24.

[0043] Furthermore, by adjusting the vibration levels of the first to fourth vibrators 21 to 24, the information notification device 1 can move the position of the vibration localization point P2 to any position in the area A. In other words, the information notification device 1 can notify the user of the direction of a notification object detected in any direction by the direction from the center of gravity P1 of the area A toward the vibration localization point P2.

[0044] The movement of the vibration localization point P2 can be controlled by controlling the vibration timing of each of the first to fourth vibrators 21 to 24. By using this technology, the direction of the notification target can be notified to the user by the movement of the vibration localization point P2, that is, by the sense of movement of the vibration felt by the user.

[0045] [4. Information notification vibration signal generation processing] Next, a process for generating an information notification vibration signal based on an information notification sound signal will be described. Fig. 6 is a configuration diagram showing a configuration for generating an information notification vibration signal, and Fig. 7 is an explanatory diagram (a diagram showing a processing state) of the process for generating an information notification vibration signal.

[0046] The frequency component decomposition unit 71 decomposes the information notification sound signal into frequency components and outputs signals of each decomposed frequency component, and is configured using an FFT (Fast Fourier Transform) etc. The peak detection unit 72 detects the frequency component with the maximum level in the information notification sound signal, compares the signal levels of each frequency component output from the frequency component decomposition unit 71, identifies the frequency component with the maximum level, and sets the corresponding frequency as the peak frequency.

[0047] The pitch shift value determination unit 73 determines the pitch shift value (amount of frequency shift) when the peak frequency detected by the peak detection unit 72 is pitch-shifted to a suitable frequency band for notification vibration. In this embodiment, the pitch shift value is a value in one-octave intervals, and the suitable frequency band is set to 100 Hz to 150 Hz. Sounds before and after a pitch shift of one (n: integer) octave have a high affinity and are less likely to feel unnatural (for example, there is a high affinity between a C note and a C note of another tone), and similarly, there is a high affinity between vibrations and between sounds and vibrations before and after a pitch shift of one (n: integer) octave, reducing the feeling of unnaturalness.

[0048] The pitch shift value can be calculated using a function with the peak frequency and the preferred frequency band as parameters, a function with the peak frequency and the number of divisions when the peak frequency is repeatedly divided by 2 until a value within the preferred frequency band is obtained as parameters, or a data table 73DT of peak frequencies and pitch shift values ​​associated with each peak frequency. Note that when the preferred frequency band is 100 Hz to 150 Hz, a pitch shift in one-octave increments does not provide a corresponding pitch shift value when the peak frequency is above 150 Hz and below 200 Hz. In this case, the level of the signal in the preferred frequency band in the information notification sound signal is adjusted without pitch shifting (compensation is performed by increasing the level because it is not the peak frequency), and the information notification vibration signal is generated as a specific processing. Similarly, when the peak frequency is below the preferred frequency band, the level of the signal in the preferred frequency band in the information notification sound signal is adjusted without pitch shifting, and the information notification vibration signal is generated as a specific processing. Furthermore, because sounds in the high-frequency band in the information notification sound signal have low correlation with vibration, which reduces affinity and increases discomfort, it is preferable to limit the frequency band for peak frequency detection. For example, data table 73DT sets 1200 Hz (which may be set to an appropriate value based on experiments, etc.) as the upper limit of the frequency to be detected for peak frequencies.

[0049] The pitch shift processing unit 74 performs pitch shifting on the information notification sound signal based on the pitch shift value identified by the pitch shift value identification unit 73, and outputs a pitch-shifted information notification sound signal. The band-pass filter 75 is a filter that passes signals of a preferred frequency band (which may be slightly broadband, narrowband, or the like) in the pitch-shifted information notification sound signal output from the pitch shift processing unit 74, and outputs the signal of that band in the pitch-shifted information notification sound signal. The vibration level adjustment unit 76 adjusts the level of the pitch-shifted and filtered information notification sound signal output from the band-pass filter 75 (amplifies the signal) and outputs it to the vibrator as a vibration signal. Note that the amount of level adjustment (amplification) by the vibration level adjustment unit 76 may be set to an appropriate value depending on the characteristics of the vibrator, etc., or based on experiments, etc.

[0050] With the configuration shown in Fig. 6, the information notification sound signal is processed as follows to become an information notification sound signal: First, as shown in (A) in Fig. 7, the input information notification sound signal is decomposed into frequency components by the frequency component decomposition unit 71, and the peak detection unit 72 compares the levels of each frequency component to detect the peak frequency Fp of the information notification sound signal.

[0051] 7(B), the pitch shift value determination unit 73 determines, from the relationship between the peak frequency Fp and the preferred frequency band, how many octaves (integer octaves) the peak frequency Fp needs to be pitch-shifted to bring the peak frequency Fp into the preferred frequency band (peak frequency Fs).Then, the pitch shift processing unit 74 shifts the pitch of the information notification sound signal by the determined integer octave (Noct) (before pitch shift: dashed line, after pitch shift: solid line).

[0052] Thereafter, as shown in (C) of Fig. 7, the band-pass filter 75 passes and outputs a signal in a suitable frequency band (e.g., 100 kHz to 150 kHz) of the pitch-shifted information notification sound signal. Then, as shown in (D) of Fig. 7, the vibration level adjustment unit 76 adjusts the level of the information notification sound signal that has passed through the band-pass filter 75 (e.g., amplifies it with an amplification degree Ap), and outputs it to the vibrator as an information notification vibration signal.

[0053] In addition, when the information notification sound signal is a specified signal corresponding to a predetermined information type, a data table 80DT that stores information notification sound signals SS (audio waveforms) and information notification vibration signals VS (vibration waveforms) in association with each information type is stored in the storage unit 4, as shown in Fig. 8. Then, based on the type of information to be notified, the corresponding information notification sound signal SS and information notification vibration signal VS may be extracted from the data table 80DT and output to the sound output device and vibrator. In this case, the peak frequency of the information notification vibration signal VS is preferably an integer octave different from the peak frequency of the information notification sound signal SS, and the waveforms of the information notification vibration signal VS and the information notification sound signal SS are preferably similar waveforms (similar waveforms with frequencies shifted by an integer octave), and the band of the information notification vibration signal VS is a preferred frequency band (a slightly wider or narrower band is acceptable). Furthermore, if the peak frequency of the information notification sound signal SS is a "frequency below the preferred frequency band" or a "frequency in the range from the upper limit of the preferred frequency band to a frequency 1 oct above the lower limit of the preferred frequency band," the information notification vibration signal VS will generate an appropriate signal waveform using a signal within the preferred frequency band (an appropriate signal will be generated through experiments, etc.).

[0054] [5. Processing performed by the controller] 9 and 10 are flowcharts showing an example of information notification processing executed by the controller 2 according to the embodiment. The controller 2 repeatedly executes the processing when, for example, the ignition switch of the vehicle is turned on while the information notification system SYS is in an activated state.

[0055] As shown in FIG. 9, in step S101, after starting the process, the controller 2 determines whether or not an object for which information notification is to be sent has been detected by the detection device 11. If an object has been detected, the process proceeds to step S102. If an object has not been detected, the process repeats step S101. The object may be a vehicle, pedestrian, obstacle, or the like present around the vehicle. The controller 2 determines that an object has been detected when a detection result indicating that an object has been detected is input from the detection device 11. Furthermore, when the detection device 11 detects an object, it outputs information about the object's position (direction and distance relative to the vehicle's position) in addition to information indicating the presence of the object, and the controller 2 acquires this information. Note that in the case of a system that also provides information notification other than information notification about objects present around the vehicle, information regarding the content of the information notification (such as the type of notification information) is acquired.

[0056] In step S102, the controller 2 acquires an information notification sound signal (warning sound signal for object detection) in response to a predetermined object detection from the storage unit 4, and proceeds to step S103. In the case of a system that also provides information notification other than information notification about objects present around the vehicle, the information notification sound signal corresponding to the notification information type is acquired. In the case of generating an information notification sound signal based on ambient sound, the controller 2 acquires an information notification sound signal generated based on collected sound collected by the sound collection device 13.

[0057] In step S103, the controller 2 analyzes the information notification sound signal to detect a peak frequency, and proceeds to step S104. If in step S104 there is a specific relationship between the detected peak frequency of the information notification sound signal and a predetermined preferred frequency band suitable for vibration notification, specifically if the specific relationship is "a frequency below the preferred frequency band" or "a frequency in the range from the upper limit of the preferred frequency band to a frequency one octave above the lower limit of the preferred frequency band," the controller 2 proceeds to step S105; otherwise, the controller 2 proceeds to step S106. In step S105, the controller 2 amplifies the information notification sound signal with an appropriate amplification factor to increase the signal level, generates an information notification vibration signal, and proceeds to step S108 shown in FIG. In addition, when an information notification vibration signal is generated using an information notification sound signal whose peak frequency is outside the preferred frequency band, the signal (vibration) level of the information notification vibration signal in the preferred frequency band will be lower than when an information notification vibration signal is generated using an information notification sound signal whose peak frequency is within the preferred frequency band, so the above amplification degree is set to a value suitable for compensating for this level reduction (set to an appropriate value based on experiments, etc.).

[0058] In step S106, the controller 2 determines the pitch shift amount for the pitch shift processing of the information notification sound signal (the frequency division value for the frequency division processing of the information notification sound signal) based on the relationship between the detected peak frequency and the preferred frequency band, and proceeds to step S107. In step S107, the controller 2 performs pitch shift processing on the information notification sound signal using the determined pitch shift amount to generate an information notification vibration signal, and proceeds to step S108. This processing causes the peak frequency of the pitch-shifted information notification sound signal (information notification vibration signal) to fall within the preferred frequency band. Note that the controller 2 appropriately performs amplification processing, etc., of the information notification vibration signal to achieve an appropriate vibration strength.

[0059] In step S108, the controller 2 extracts a signal of the preferred frequency band from the information notification vibration signal to generate the information notification vibration signal. For example, the controller 2 processes the information notification vibration signal using a band-pass filter that has the preferred frequency band as its pass band. Note that the signal of the preferred frequency band may be extracted in an appropriate step prior to step S108.

[0060] In step S109, the controller 2 sets the signal level and output timing of the information notification sound signal to be distributed and output to each sound output device (14-17) according to the position of the object using the method described above, etc., so that the information notification sound has a sense of location corresponding to the position of the object, and then proceeds to step S110. In step S110, the controller 2 sets the signal level and output timing of the information notification vibration signal to be distributed and output to each vibrator (21-24) according to the position of the object using the method described above, etc., so that the information notification vibration has a sense of location corresponding to the position of the object, and then proceeds to step S111.

[0061] In step S111, the controller 2 outputs each information notification sound signal to each sound output device (14 to 17) at the signal level and output timing set in step S109, and also outputs each information notification vibration signal to each vibrator (21 to 24) at the signal level and output timing set in step S110, and then proceeds to step S112.

[0062] In step S112, the controller 2 determines whether or not the object for which information has been notified still exists as an object for information notification based on a signal from the detection device 11, and if it exists, proceeds to step S113, and if it does not exist, ends the processing. In step S113, the controller 2 determines whether or not an information notification interval time appropriate for the next information notification (information notification for the same object) has elapsed since the previous information notification, and if it determines that the time has elapsed, proceeds to step S102 shown in Fig. 9 to perform information notification again, and if it determines that the time has not elapsed, proceeds to step S112.

[0063] By this processing, the vibrator vibrates with an information notification vibration signal having a vibration waveform and frequency band that is in harmony with the information notification sound, and the frequency band of the signal is the preferred frequency band, and the vibration is applied to the user, so that the user can obtain an appropriate information notification vibration sensation. Furthermore, the information notification sound and information notification vibration are sounds and vibrations with a sense of position that allows the user to sense the location of an obstacle, etc., so that the user can grasp the approximate location of the obstacle.

[0064] Next, a method for setting a preferred frequency band for vibration in vibration notification will be described. Fig. 11 is a flowchart showing an example of a preferred frequency band setting process executed by the controller 2 according to the embodiment. When a trigger to start setting a preferred frequency band is input, such as when a user performs an operation to start setting a preferred frequency band, while the information notification system SYS is in an activated state, the controller 2 starts the setting process for the preferred frequency band.

[0065] In step S201, the controller 2 notifies the user that a calibration operation is about to begin (for example, "The controller 2 will output a voice message saying 'Calibration of vibration frequency will begin' from the first to fourth sound output devices 14 to 17"), and proceeds to step S202. At this time, the controller 2 sets the identification number variable n (maximum value N) of the test vibration to 1. In addition, in step S201, the controller 2 may also provide an operation instruction regarding the calibration operation (for example, a notification (display) such as 'If you feel a vibration suitable for vibration notification, respond by operating the switch').

[0066] In step S202, the controller 2 vibrates the first to fourth vibrators 21 to 24 with test vibration n having a vibration frequency of identification number n, and then proceeds to step S203. Note that the test vibration n (1 to N) is prepared in advance (set based on experiments, etc.) as vibrations of a plurality of appropriate frequencies, and stored in the memory unit 4. For example, the memory unit 4 stores vibration signals of frequencies at appropriate intervals in a frequency band that includes frequencies of vibration that many people find comfortable, and the controller 2 extracts these vibration signals from the memory unit 4 as appropriate and vibrates each of the vibrators 21 to 24.

[0067] In step S203, the controller 2 determines whether or not the user has answered "vibration suitable for vibration notification," and if so, proceeds to step S204, otherwise proceeds to step S205. In step S204, the controller 2 sets a frequency band with a predetermined frequency width (an appropriate frequency width is set through experiments, etc.) centered on the frequency of the test vibration n as the suitable frequency band, and ends the process.

[0068] In step S205, the controller 2 determines whether the identification number n has reached the maximum value N, and if it has reached the maximum value N, proceeds to step S206, and if it has not reached the maximum value N (if it is less than the maximum value N), proceeds to step S207. In step S206, the controller 2 sets the preferred frequency band to a predetermined frequency band (such as an average preferred frequency band estimated by experiments, etc.) and ends the process. In step S207, the controller 2 increments the identification number n by 1, and proceeds to step S202.

[0069] This processing allows the preferred frequency to be set based on each user's actual response to vibration, so that the preferred frequency band can be set to suit each user's vibration sensitivity characteristics, making it possible to notify appropriate information to each user.

[0070] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0071] 1 Information notification device 2 Controller 3. Control Unit 4 Storage section 5 seats 6 Vehicle 10 users 11 Detection devices 12 Operating device 13 Sound recording device 14 First sound output device 15 Second sound output device 16 Third sound output device 17 Fourth Sound Output Device 21 First oscillator 22 Second oscillator 23 Third oscillator 24 4th oscillator 31 Vibration control unit 32 Audio control section 41 Warning Sound Information 42 Information Notification Program 51 Seat area 53 Headrest 61 Other vehicles 131 First Microphone 132 Second microphone 133 Third Microphone 134 4th microphone Area A P1 center of gravity P2 Vibration localization point

Claims

1. An information notification device that outputs an information notification vibration signal based on an information notification sound signal, Detecting a peak frequency of the information notification sound signal; calculating a pitch shift value in pitch shift processing such that the peak frequency falls within a predetermined preferred frequency band suitable for vibration notification; an information notification device that generates the information notification vibration signal by performing pitch shift processing on the information notification sound signal based on the pitch shift value;

2. The preferred frequency band is: The band is from 100Hz to 150Hz. The information notification device according to claim 1 .

3. The pitch shift value is It is an integer multiple of one octave. The information notification device according to claim 1 .

4. If the peak frequency of the pitch-shifted signal generated by the pitch shifting of the information notification sound signal is not within the preferred frequency band, performing the pitch shifting process with the pitch shift value that brings the peak frequency of the pitch shifted signal closest to the preferred frequency band; performing equalizer processing to increase the level of the preferred frequency band in the pitch-shifted signal generated by the pitch shift processing; The information notification device according to claim 3 .

5. If the peak frequency of the pitch-shifted signal generated by the pitch shifting of the information notification sound signal is not within the preferred frequency band, outputting the pitch-shifted signal as the information-notifying vibration signal; an equalizer process for increasing the level of the preferred frequency band in the information notification sound signal and outputting the information notification sound signal; The information notification device according to claim 4.

6. A plurality of information notification vibration signals are outputted, each of which vibrates a plurality of vibrators with its signal level and output timing adjusted according to the sense of direction to be imparted to the information notification vibration.

6. The information notification device according to claim 1.

7. Test vibration signals of multiple vibration frequencies are output sequentially, The preferred frequency band is determined based on the vibration frequency of the test vibration signal selected by the user.

6. The information notification device according to claim 1.

8. An information notification program that outputs an information notification vibration signal based on an information notification sound signal, Detecting a peak frequency of the information notification sound signal; calculating a pitch shift value in pitch shift processing such that the peak frequency falls within a predetermined preferred frequency band suitable for vibration notification; a process of performing pitch shift processing on the information notification sound signal based on the pitch shift value to generate the information notification vibration signal; An information notification program executed by a computer.

9. An information notification method for generating an information notification vibration signal based on an information notification sound signal, comprising: Detecting a peak frequency of the information notification sound signal; calculating a pitch shift value in pitch shift processing such that the peak frequency falls within a predetermined preferred frequency band suitable for vibration notification; The information notification sound signal is subjected to pitch shift processing based on the pitch shift value to generate the information notification vibration signal. Information notification method.

10. a sound output device that outputs an information notification sound; a vibration device that outputs information notification vibration; an information notification system including an information notification device that outputs an information notification sound signal that causes the sound output device to output an information notification sound, and an information notification vibration signal that causes the vibration device to output an information notification vibration, The information notification device Detecting a peak frequency of the information notification sound signal; calculating a pitch shift value in pitch shift processing such that the peak frequency falls within a predetermined preferred frequency band suitable for vibration notification; The information notification sound signal is subjected to pitch shift processing based on the pitch shift value to generate the information notification vibration signal. Information notification system.

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