Notification system

Abstract

To notify a driver of a danger without perceiving the danger by fellow passengers.SOLUTION: A notification system S comprises: a specification unit 322 which specifies a state regarding a degree of risk of collision between an object 101 in front of a travel direction of a vehicle 100 and the vehicle 100; and a notification control unit 323 which displays first display for attracting an attention to a driver of the vehicle 100 on a display device 240 provided at a position which can be visually recognized by the driver of the vehicle 100 when the specified state satisfies a first condition, displays second display at an attention attraction level higher than that of the first display on the display device 240, and vibrates a vibration device provided in a device which is contacted by the driver when the state satisfies a second condition with the degree of risk higher than that of the first condition.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a warning system for warning a driver of a vehicle of a danger. [Background technology]

[0002] There are known techniques for alerting a vehicle driver to a risk. Patent Document 1 discloses a technique for outputting an alarm sound when a collision between a vehicle and an object is predicted based on the position and path of the object around the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-280006 Summary of the Invention [Problem to be solved by the invention]

[0004] If an alarm sound is output, not only the driver of the vehicle but also the passengers in the vehicle may be made to realize that the vehicle may collide with an object, which may cause excessive anxiety in the passengers.

[0005] The present invention has been made in consideration of these points, and has as its object to notify the driver of a danger without the passenger being aware of the danger. [Means for solving the problem]

[0006] In one aspect of the present invention, an alarm system is provided that includes an identification unit that identifies a condition related to the risk of collision between the vehicle and an object ahead of the vehicle in the direction of travel, and an alarm control unit that, if the identified condition satisfies a first condition, displays a first display on a display device provided in a position visible to the driver of the vehicle to alert the driver of the vehicle, and, if the condition satisfies a second condition that is more dangerous than the first condition, displays a second display on the display device having a higher alert level than the first display and vibrates a vibration device provided on a device that the driver comes into contact with.

[0007] The alarm system may have an acquisition unit that acquires position information regarding the relative position between the object and the vehicle, and the identification unit that identifies the probability of a collision between the object and the vehicle as the state based on the position information, and the alarm control unit may cause the display device to display the first display if the identified probability satisfies the first condition that it is equal to or greater than a first threshold, and may cause the display device to display the second display and vibrate the vibration device if the identified probability satisfies the second condition that it is equal to or greater than a second threshold that is greater than the first threshold.

[0008] The identification unit may identify whether the driver is normal or abnormal by analyzing an image of the driver, and if the identification unit identifies that the driver is abnormal, the notification control unit may vibrate the vibration device in a second vibration pattern different from a first vibration pattern that vibrates the vibration device when the probability is equal to or greater than the second threshold value.

[0009] The first vibration pattern and the second vibration pattern may differ in at least one of an operating time during which the vibration device vibrates and a stop time during which the vibration device stops vibrating within a predetermined period.

[0010] The identification unit may identify the type of abnormality of the driver by analyzing the captured image, and the notification control unit may vibrate the vibration device with the second vibration pattern corresponding to the identified type.

[0011] The acquisition unit may acquire a distance between the object and the vehicle as the relative position, and the identification unit may identify a higher probability as the distance is shorter.

[0012] The acquisition unit may acquire the distance between the object and the vehicle as the relative position, and acquire the relative speed between the object and the vehicle at the time the distance is acquired, and the identification unit may identify a higher probability as the predicted time until the vehicle collides with the object, which is determined by the ratio of the distance to the relative speed, is shorter.

[0013] The notification control unit may vibrate the vibration device at a frequency different from a vibration frequency of an engine mounted on the vehicle.

[0014] When the steering angle of the vehicle is equal to or greater than a predetermined angle, the notification control unit may not vibrate the vibration device even if the probability is equal to or greater than the second threshold value.

[0015] When the steering angle is equal to or greater than a predetermined angle and the object is present on a sidewalk, the notification control unit may not vibrate the vibration device even if the probability is equal to or greater than the second threshold value.

[0016] The vehicle is a public transportation vehicle on which passengers ride, and the notification control unit may not cause an alarm device mounted on the vehicle to output an alarm sound when displaying the first display on the display device, and when displaying the second display on the display device and vibrating the vibration device.

[0017] The vibration device may be provided in a seat on which the driver sits.

[0018] The alarm system may have an acquisition unit that acquires the distance between the object and the vehicle, and the identification unit that identifies the state of the vehicle as whether it is traveling straight or turning, and the alarm control unit may cause the display device to display the first display when the vehicle is traveling straight and the distance is equal to or less than a first distance, and may cause the display device to display the second display and vibrate the vibration device when the vehicle is traveling straight and the distance is equal to or less than a second distance that is shorter than the first distance, satisfying a second condition. [Effects of the Invention]

[0019] According to the present invention, it is possible to notify the driver of a danger without the passenger being aware of the danger. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram illustrating a notification system. [Figure 2] FIG. 2 is a schematic diagram of a driver's seat of a vehicle. [Figure 3] FIG. 2 is a diagram illustrating the configuration of a notification control device mounted on a vehicle. [Figure 4] FIG. 2 is a schematic diagram of an example of a first display. [Figure 5] FIG. 10 is a schematic diagram of an example of a second display. [Figure 6] FIG. 4 is a diagram illustrating a first vibration pattern. [Figure 7] 10 is a diagram for explaining a second vibration pattern corresponding to abnormal posture. FIG. [Figure 8] 10 is a diagram for explaining a second vibration pattern corresponding to abnormality of the driver looking away (aside). FIG. [Figure 9] 10 is a flowchart showing an example of a process for alerting a driver. DETAILED DESCRIPTION OF THE INVENTION

[0021] [Configuration of the notification system S according to the first embodiment] The notification system S of the first embodiment is a system for calling the attention of a vehicle driver. The configuration of the notification system S will be described with reference to Figs. 1, 2, and 3. Fig. 1 is a diagram for explaining the notification system S. Fig. 2 is a schematic diagram of a driver's seat 111 of a vehicle 100. Fig. 3 is a diagram for explaining the configuration of a notification control device 300 mounted on the vehicle 100.

[0022] The vehicle 100 is, for example, a public transportation vehicle on which passengers ride. The public transportation vehicle may be, for example, a bus, but is not limited to this. The vehicle 100 is equipped with a driver's seat 111, a sensor 210, an imaging device 220, an engine 230, a display device 240, an alarm device 250, and a notification control device 300.

[0023] The driver's seat 111 is a seat where the driver of the vehicle 100 sits (see FIG. 2). A vibration device 112 is provided inside the seat surface of the driver's seat 111. The vibration device 112 vibrates by rotating a weight with an offset center of gravity attached to the rotating shaft of a motor. The vibration device 112 may be provided inside the backrest of the driver's seat 111, on a device that the driver comes into contact with, such as the steering wheel of the vehicle 100 or a headset worn by the driver. In addition, not only one vibration device 112 but also a plurality of vibration devices 112 may be provided.

[0024] The sensor 210 is a sensor that detects objects around the vehicle 100 (see FIG. 3). The sensor 210 is provided, for example, at the front of the vehicle 100, but may also be provided at the rear or side of the vehicle 100. The sensor 210 is, for example, a radar, a LIDAR (Laser Imaging Detection and Ranging), or an ultrasonic sensor, but is not limited to these.

[0025] The sensor 210 detects position information regarding the relative position of a surrounding object 101 with respect to the vehicle 100 by scanning the surroundings of the vehicle 100. The object 101 is, for example, another vehicle, a pedestrian, a bicycle, or the like present around the vehicle 100. The sensor 210 detects the distance D between the object 101 present ahead of the vehicle 100 in the traveling direction and the vehicle 100 as a relative position by scanning ahead of the vehicle 100 in the traveling direction at predetermined time intervals. The predetermined time is, for example, 100 milliseconds, but is not limited to this. In the following description, unless otherwise specified, it is assumed that the object 101 is another vehicle present ahead in the traveling direction.

[0026] The sensor 210 can detect the relative speed between the object 101 and the vehicle 100 at the time when the sensor 210 detects the distance D. For example, when the sensor 210 detects a new distance D, the sensor 210 detects the relative speed between the object 101 and the vehicle 100 as a value obtained by dividing the difference between the distance D detected immediately before acquiring the new distance D and the new distance D by a predetermined time.

[0027] The imaging device 220 is provided at a position where it can capture an image of the driver of the vehicle 100. For example, the imaging device 220 is provided at a position where it can capture an image of an area including the driver's seat 111 in the cabin of the vehicle 100. The imaging device 220 generates a captured image of the area including the driver's seat 111 at predetermined time intervals.

[0028] The engine 230 is an internal combustion engine that generates power by burning and expanding a mixture of fuel and intake air (air). The engine 230 is, for example, a diesel engine, but may also be a gasoline engine.

[0029] The display device 240 displays information to alert the driver. The display device 240 is, for example, a liquid crystal display, but is not limited to this. The display device 240 is provided in a position visible to the driver of the vehicle 100. The display device 240 is provided in a position visible to the driver but not visible to passengers of the vehicle 100. The display device 240 is provided, for example, on an instrument panel inside the cabin of the vehicle 100.

[0030] The alarm device 250 is provided in the vehicle cabin and outputs a sound within the vehicle cabin. The alarm device 250 is, for example, a speaker, but may also be a buzzer. The sound output by the alarm device 250 can be perceived by both the driver and passengers of the vehicle 100. In the following description, passengers of the vehicle 100 are referred to as passengers.

[0031] The driver of vehicle 100 drives vehicle 100 so as to maintain an appropriate distance D between vehicle 100 and object 101, which is a vehicle traveling ahead of vehicle 100 in the direction of travel. However, if vehicle 100 slows down or the driver of vehicle 100 is unable to drive vehicle 100 appropriately, distance D between vehicle 100 and object 101 may become short. If distance D between vehicle 100 and object 101 becomes short, the probability of a collision between vehicle 100 and object 101 increases, which may reduce safety.

[0032] Therefore, when the distance D between the vehicle 100 and the object 101 becomes short, the notification control device 300 alerts the driver to a collision between the vehicle 100 and the object 101. For example, when the distance D becomes short, the notification control device 300 causes the display device 240 to display a first display that alerts the driver of the vehicle 100 to pay attention to the object 101. FIG. 4 is a schematic diagram of an example of the first display. The first display includes the phrase "Watch out ahead" that alerts the driver to the object 101 ahead in the traveling direction of the vehicle 100. The background color of the first display is yellow, and the phrase "Watch out ahead" is black, but this is not limited to this. When the driver sees the first display, the driver is alerted to the area ahead in the traveling direction of the vehicle 100.

[0033] If the distance D becomes even shorter after displaying the first display, the notification control device 300 increases the level of the warning to the driver. For example, the notification control device 300 causes the display device 240 to display a second display with a higher ventilation level than the first display. FIG. 5 is a schematic diagram of an example of the second display. The second display includes the phrase "Watch out ahead" to warn the driver of the object 101 ahead of the vehicle 100 in the traveling direction. The second display is displayed with a background color different from that of the first display. For example, the background color of the second display is red, which is more likely to warn the driver than yellow, and the phrase "Watch out ahead" is black, but this is not limited to this. By visually checking the second display, the driver can understand that the vehicle 100 and the object 101 are getting too close.

[0034] Furthermore, the notification control device 300 displays the second display on the display device 240 and vibrates the vibration device 112. By not only visually checking the second display but also perceiving the vibration of the vibration device 112, the driver can easily understand that the distance D between the vehicle 100 and the object 101 is short and that the probability of a collision is high.

[0035] The notification control device 300 does not issue an audible alarm when alerting the driver to a collision. In other words, when the first display or the second display is displayed on the display device 240, the notification control device 300 does not cause the alarm device 250 to output an audible alarm, but instead causes the vibration device 112 to vibrate. In this manner, passengers of the vehicle 100 do not perceive the audible alarm, and the notification system S can alert only the driver of a danger, without alerting passengers. As a result, the notification system S can alert the driver to a danger without passengers being aware of the danger.

[0036] [Configuration of notification control device 300] The notification control device 300 has a storage unit 310 and a control unit 320. The storage unit 310 is a storage medium including a read-only memory (ROM), a random access memory (RAM), a hard disk, etc. The storage unit 310 stores a program executed by the control unit 320.

[0037] The control unit 320 is a computational resource including a processor such as a CPU (Central Processing Unit). The control unit 320 executes a program stored in the storage unit 310 to realize functions as an acquisition unit 321, an identification unit 322, and a notification control unit 323.

[0038] The acquisition unit 321 acquires position information of the object 101 detected by the sensor 210. For example, the acquisition unit 321 acquires the relative position of the object 101 and the vehicle 100 from the sensor 210. Specifically, the acquisition unit 321 acquires the distance D between the object 101 and the vehicle 100 as the relative position from the sensor 210. In addition, the acquisition unit 321 acquires the relative speed between the vehicle 100 and the object 101 at the time when the distance D is acquired from the sensor 210.

[0039] The acquisition unit 321 acquires a captured image generated by the imaging device 220. The acquisition unit 321 notifies the imaging device 220 of an instruction to generate a captured image every time a predetermined time elapses, and acquires the captured image generated by the imaging device 220 in response to the instruction.

[0040] The acquisition unit 321 acquires the steering angle of the vehicle 100. For example, the acquisition unit 321 acquires an angle detected by a steering angle sensor provided on a steering wheel or a steering shaft of the vehicle 100 as the steering angle of the vehicle 100. The acquisition unit 321 can also acquire the rotation speed of the engine 230. For example, the acquisition unit 321 acquires the rotation speed detected by a rotation speed sensor provided on the output shaft of the engine 230.

[0041] The identification unit 322 identifies a state related to the risk of a collision between the vehicle 100 and the object 101. For example, the identification unit 322 identifies the probability of a collision between the object 101 and the vehicle 100 based on the position information. Specifically, the identification unit 322 identifies a higher probability as the acquired distance D is shorter. As an example, the identification unit 322 inputs the acquired distance D into a function that, when input, outputs a higher probability as the distance D is closer to 0, thereby identifying the probability according to the acquired distance D. Furthermore, the identification unit 322 may identify the probability according to the acquired distance D by referring to a data table that associates a plurality of distances D with respective corresponding probabilities.

[0042] The determination unit 322 may determine the probability of collision using a predicted time until the vehicle 100 collides with the object 101 based on the distance and relative speed. For example, the determination unit 322 determines a predicted time determined by the ratio of the distance to the relative speed, and determines a higher probability as the predicted time becomes shorter. As a specific example, the determination unit 322 inputs the determined predicted time into a function that, when inputted, outputs a higher probability as the predicted time becomes closer to 0, thereby determining the probability corresponding to the determined predicted time. Furthermore, the determination unit 322 determines the probability corresponding to the determined predicted time by referring to a data table that associates a plurality of predicted times with respective probabilities.

[0043] The notification control unit 323 alerts the driver of the vehicle 100 by controlling the vibration device 112, the display device 240, and the warning device 250. For example, the notification control unit 323 alerts the driver by causing the display device 240 to display a first display (see FIG. 4 ) that alerts the driver. Specifically, when the probability of a collision identified by the identification unit 322 is equal to or greater than a first threshold (when a first condition is satisfied), the notification control unit 323 alerts the driver to a collision between the vehicle 100 and the object 101 by causing the display device 240 to display the first display.

[0044] The first threshold is determined according to the distance at which the driver who has seen the first display can perform an avoidance maneuver to avoid a collision between the vehicle 100 and the object 101. The avoidance maneuver is, for example, at least one of a turning maneuver and a deceleration maneuver. The first threshold is determined based on the reaction time that elapses until the driver who has seen the first display performs an avoidance maneuver or the distance that the vehicle 100 travels. For example, the first threshold is determined to a value equal to the probability when the distance D is 5 meters. Alternatively, the first threshold may be determined to a value equal to the probability when the prediction time is 3 seconds. Note that the specific value of the first threshold is not limited to this and may be set as appropriate.

[0045] When the probability increases and the risk of a collision rises, the notification control unit 323 increases the alert level to alert the driver. For example, when the probability is equal to or greater than a second threshold value that is greater than the first threshold value (when the second condition, which is a higher risk than the first condition, is met), the notification control unit 323 increases the alert level. The second threshold value is determined according to the distance D or the predicted time at which the driver, who has visually recognized the second display or perceived the vibration of the vibration device 112, can perform mitigation operations to mitigate damage in the event of a collision between the vehicle 100 and the object 101. A specific value of the second threshold value is set to a value equal to the probability when the distance D is 2 meters or the predicted time is 1 second, but is not limited to this.

[0046] When the probability is equal to or greater than the second threshold, the notification control unit 323 displays a second display (see FIG. 5) on the display device 240 and vibrates the vibration device 112. For example, the notification control unit 323 vibrates the vibration device 112 with a first vibration pattern that alerts the driver to the object 101 ahead in the traveling direction of the vehicle 100.

[0047] FIG. 6 is a diagram illustrating the first vibration pattern. The horizontal axis of FIG. 6 represents time T. In the first vibration pattern, the vibration device 112 vibrates for 200 milliseconds and stops for 100 milliseconds. The notification control unit 323 causes the vibration device 112 to repeat the first vibration pattern twice. Specifically, at time t11, when the probability becomes equal to or greater than the second threshold, the notification control unit 323 causes a power source mounted on the vehicle 100 to supply power to the vibration device 112, thereby causing the vibration device 112 to start vibrating. The power source may be, for example, a storage battery, but is not limited thereto. At time t12, 200 milliseconds after time t11, the notification control unit 323 causes the power source to stop supplying power to the vibration device 112, thereby stopping the vibration of the vibration device 112. The notification control unit 323 causes the vibration device 112 to start vibrating at time t13, 100 milliseconds after time t12. The notification control unit 323 stops the vibration of the vibration device 112 at time t14, which is 200 milliseconds after time t13. Note that the first vibration pattern is not limited to this.

[0048] After causing vibration device 112 to repeat the first vibration pattern twice, if the probability is equal to or greater than the second threshold, notification control unit 323 may again vibrate vibration device 112 with the first vibration pattern. At this time, notification control unit 323 may change the frequency at which vibration device 112 vibrates. For example, notification control unit 323 vibrates vibration device 112 at a frequency higher than the frequency at which vibration device 112 was vibrated the previous time. This makes it easier for the driver to perceive the vibration of vibration device 112, making it easier for the driver to understand that the probability of a collision is high.

[0049] However, if the vehicle 100 is vibrating at the same frequency as the vibration of the vibration device 112, the driver may mistake the vibration of the vibration device 112 for the vibration of the vehicle 100 and not notice the vibration of the vibration device 112. Therefore, the notification control unit 323 makes the vibration of the vibration device 112 different from the vibration of the vehicle 100. For example, the notification control unit 323 makes the vibration device 112 vibrate at a frequency different from the frequency of the vibration of the engine mounted on the vehicle 100. In this case, the notification control unit 323 identifies the frequency (Hz) of the engine vibration. Since the frequency of the engine vibration approximately matches the engine rotation speed, the notification control unit 323 identifies the frequency (Hz) of the engine vibration by dividing the engine rotation speed (rpm) by 60.

[0050] The notification control unit 323 determines a frequency different from the frequency of the engine vibration by multiplying the identified frequency of the engine vibration by a predetermined value different from 1. A specific example of the predetermined value is, but is not limited to, an integer different from 1. In this way, by the notification control unit 323 making the frequency of the vibration of the vibration device 112 different from the frequency of the engine vibration, the driver can easily perceive the vibration of the vibration device 112.

[0051] In general vehicles, an audible alarm is used to alert the driver to a potential collision. However, the notification control device 300 of this embodiment does not use an audible alarm to alert the driver to a potential collision. Specifically, the notification control unit 323 does not cause the alarm device 250 to output an audible alarm when the first display is displayed on the display device 240. Furthermore, the notification control unit 323 does not cause the alarm device 250 to output an audible alarm when the second display is displayed on the display device 240 and the vibration device 112 is vibrated. As a result, no audible alarm is output even when there is a risk of collision between the vehicle 100 and the object 101. Therefore, passengers of the vehicle 100 do not perceive the audible alarm and therefore do not become aware of the risk of a collision. As a result, the notification system S can alert the driver to the risk of a collision without making passengers aware of the risk.

[0052] When vehicle 100, which is a bus, stops at a bus stop where passengers can get on and off, it approaches the bus stop while turning and stops. When vehicle 100 approaches the bus stop while turning, the distance D between vehicle 100 and passengers waiting at the bus stop may become short. However, since the bus stop is located on the sidewalk, and the driver of vehicle 100 drives vehicle 100 so as not to enter the sidewalk, the probability of a collision between vehicle 100 and passengers on the sidewalk is low.

[0053] Therefore, the notification control unit 323 does not alert the driver when the vehicle 100 is turning. For example, when the steering angle of the vehicle 100 is equal to or greater than a predetermined angle, the notification control unit 323 does not vibrate the vibration device 112 even if the probability is equal to or greater than a second threshold, thereby not alerting the driver to a collision. The predetermined angle is determined, for example, according to the steering angle when the vehicle 100 turns when stopping at a bus stop. An example of the predetermined angle is 30 degrees.

[0054] When the steering angle is equal to or greater than a predetermined angle, the notification control unit 323 not only does not vibrate the vibration device 112, but may also not cause the display device 240 to display a display that calls the driver's attention. Specifically, the notification control unit 323 does not cause the display device 240 to display a first display even if the probability is equal to or greater than a first threshold. Furthermore, the notification control unit 323 does not cause the display device 240 to display a second display even if the probability is equal to or greater than a second threshold. This prevents the driver from viewing unnecessary displays or perceiving vibrations that call the driver's attention.

[0055] The notification control unit 323 alerts the driver to a collision when the vehicle 100 is not turning. Specifically, the notification control unit 323 causes the display device 240 to display a first display when the absolute value of the steering angle is less than a predetermined angle and the probability is equal to or greater than a first threshold. Furthermore, the notification control unit 323 causes the display device 240 to display a second display and vibrates the vibration device 112 when the absolute value of the steering angle is less than a predetermined angle and the probability is equal to or greater than a second threshold. In this way, the notification control unit 323 can alert the driver to a collision between the vehicle 100 and an object 101 present ahead in the traveling direction of the vehicle 100 when the vehicle 100 is traveling straight.

[0056] When vehicle 100 turns toward a bus stop, other vehicles such as bicycles and motorized bicycles may be traveling on the roadway adjacent to the sidewalk where the bus stop is located. In this case, if vehicle 100 approaches another vehicle traveling on the roadway, the probability of a collision increases. Therefore, even when vehicle 100 is turning, if there is a high probability of a collision between vehicle 100 and object 101, which is another vehicle present on the roadway, notification control device 300 alerts the driver to the risk of a collision. The process of alerting the driver while the vehicle 100 is turning will now be described.

[0057] First, the identification unit 322 identifies an area that is a sidewalk and an area that is a roadway by analyzing an image captured by a camera that can capture an image of the area ahead in the traveling direction of the vehicle 100. Next, the identification unit 322 identifies whether the object 101 is included in an area that is a sidewalk or an area that is a roadway. Specifically, if the position of the object 101 is included in an area that is a sidewalk, the identification unit 322 identifies the object 101 as being present on the sidewalk. If the position of the object 101 is included in the roadway, the identification unit 322 identifies the object 101 as being present on the roadway.

[0058] The notification control unit 323 alerts the driver to a collision when an object 101 that has a high probability of colliding with the vehicle 100 is present on the roadway. Specifically, the notification control unit 323 causes the display device 240 to display a first message when the probability of a collision between the object 101 present on the roadway and the vehicle 100 is equal to or greater than a first threshold. More specifically, the notification control unit 323 causes the display device 240 to display the first message when the steering angle is equal to or greater than a predetermined angle and the probability of a collision between the object 101 present on the roadway and the vehicle 100 is equal to or greater than a first threshold. Furthermore, the notification control unit 323 causes the display device 240 to display a second message and vibrates the vibration device 112 when the steering angle is equal to or greater than a predetermined angle and the probability of a collision between the object 101 present on the roadway and the vehicle 100 is equal to or greater than a second threshold. This allows the notification control unit 323 to alert the driver to the risk of a collision between the vehicle 100 and another vehicle traveling on the roadway adjacent to the sidewalk on which the bus stop is located when the vehicle 100 turns toward the bus stop.

[0059] When object 101 with a collision probability equal to or greater than a first threshold is present on the sidewalk, notification control unit 323 does not alert the driver. In other words, even if the collision probability between object 101 and vehicle 100 is equal to or greater than the first threshold, notification control unit 323 does not display the first message when object 101 is present on the sidewalk. More specifically, when the steering angle is equal to or greater than a predetermined angle and object 101 with a collision probability equal to or greater than the first threshold is present on the sidewalk, notification control unit 323 does not display the first message on display device 240. Furthermore, when the steering angle is equal to or greater than a predetermined angle and object 101 with a collision probability equal to or greater than a second threshold is present on the sidewalk, notification control unit 323 does not vibrate vibration device 112.

[0060] As described above, the notification control unit 323 alerts the driver to a collision when an object 101 with a high probability of collision is present on the roadway, and does not alert the driver to a collision when an object 101 with a high probability of collision is present on the sidewalk. This allows the notification control unit 323 to alert the driver to a bicycle, moped, or the like traveling on the roadway in an appropriate situation where the driver should be alerted. Furthermore, the notification control unit 323 can prevent unnecessary alerting of the driver to passengers on the sidewalk in a situation where the driver should not be alerted.

[0061] The notification control device 300 can notify the driver not only of a collision but also of other abnormalities. For example, when the notification control device 300 determines that the driver is in an abnormal state, it vibrates the vibration device 112 to notify the driver that an abnormality has been identified. In this case, if the vibration device 112 vibrates with the same vibration pattern as the first vibration pattern that alerts the driver to the object 101, the driver cannot distinguish whether there is a high probability of a collision or whether an abnormality has been identified.

[0062] Therefore, when alerting the driver to an abnormality, the notification control device 300 vibrates the vibration device 112 with a second vibration pattern that is different from the first vibration pattern that alerts the driver to a high probability of a collision. This allows the driver to distinguish whether the probability of a collision is high or whether an abnormality has been identified. The process of notifying the driver of an abnormality will now be described.

[0063] The identification unit 322 identifies whether the driver is normal or abnormal by analyzing the captured image of the driver. If the driver is abnormal, the identification unit 322 identifies the type of abnormality of the driver by analyzing the captured image. Specifically, the identification unit 322 identifies whether the driver is looking away or aside, or whether the driver is having an abnormal posture by analyzing the captured image. Looking away or aside is a state in which the driver is not paying attention to what is ahead in the traveling direction of the vehicle 100. Poor posture is a state in which the driver deviates from a normal driving posture.

[0064] When the driver is determined to be abnormal, the notification control unit 323 vibrates the vibration device 112 with a second vibration pattern corresponding to the identified type of abnormality of the driver. The second vibration pattern is a vibration pattern different from the first vibration pattern. Specifically, the second vibration pattern is different from the first vibration pattern in at least one of the operating time during which the vibration device 112 vibrates and the stopping time during which the vibration device 112 stops vibrating within a predetermined period. Furthermore, the second vibration pattern corresponding to poor posture and the second vibration pattern corresponding to looking away (aside) are different.

[0065] FIG. 7 is a diagram illustrating a second vibration pattern corresponding to an abnormal posture. The horizontal axis of FIG. 7 represents time T. The second vibration pattern corresponding to an abnormal posture is a pattern in which vibration device 112 vibrates for 1000 milliseconds and stops for 500 milliseconds, and this pattern is repeated four times. Notification control unit 323 causes vibration device 112 to start vibrating at time t21, when an abnormal posture is identified. Notification control unit 323 causes vibration device 112 to stop vibrating at time t22, which is 1000 milliseconds after time t21. Notification control unit 323 causes vibration device 112 to start vibrating at time t23, which is 1000 milliseconds after time t22. If an abnormal posture is still identified after causing vibration device 112 to start and stop vibrating four times, notification control unit 323 causes vibration device 112 to start and stop vibrating four times again. The notification control unit 323 vibrates the vibration device 112 with the second vibration pattern corresponding to the abnormal posture until the abnormal posture is no longer identified.

[0066] FIG. 8 is a diagram illustrating a second vibration pattern corresponding to an abnormality of the driver looking aside (aside driving). The horizontal axis of FIG. 8 represents time T. The second vibration pattern corresponding to an abnormality of poor posture is a pattern in which vibration device 112 vibrates for 2000 milliseconds and then stops. Notification control unit 323 causes vibration device 112 to start vibrating at time t31, when an abnormality of looking aside (aside driving) is identified. Notification control unit 323 causes vibration device 112 to stop vibrating at time t32, which is 2000 milliseconds after time t31. After stopping vibration device 112, if an abnormality of aside driving is identified, notification control unit 323 causes vibration device 112 to start vibrating again. Specifically, if an abnormality of aside driving is identified after a predetermined time (e.g., 500 milliseconds) has elapsed since stopping vibration device 112, notification control unit 323 causes vibration device 112 to start vibrating again. The predetermined time is, for example, 1000 milliseconds, but is not limited thereto.

[0067] In this way, when it is determined that there is something wrong with the driver, the notification control unit 323 vibrates the vibration device 112 with a second vibration pattern that is different from the first vibration pattern used to alert the driver to a collision. The notification control unit 323 also vibrates the vibration device 112 with the second vibration pattern that corresponds to the abnormality. This allows the driver to know whether an abnormality in looking aside or an abnormality in posture has been determined. In other words, the notification control unit 323 can alert the driver to the determined abnormality.

[0068] When alerting the driver to an abnormality, the notification control unit 323 vibrates the vibration device 112 and does not output an alarm sound from the alarm device 250. This allows the notification control unit 323 to notify only the driver that an abnormality has occurred without notifying passengers.

[0069] If the driver continues to be in an abnormal state even after alerting the driver to the abnormality, the notification control unit 323 determines that the driver is in a state where he or she cannot drive the vehicle 100 and stops the vehicle 100. For example, the notification control unit 323 causes the alarm device 250 to output an alarm sound and then stops the vehicle 100. The alarm sound is a buzzer, but it may also be a voice message saying "emergency stop." In this way, the notification control unit 323 prevents passengers from feeling uneasy by not causing the alarm device 250 to output an alarm sound when it is not necessary to notify the passengers, and can notify the passengers of danger by causing the alarm device 250 to output an alarm sound when it is necessary to notify the passengers that the vehicle 100 is stopping.

[0070] [Processing to attract the driver's attention] 9 is a flowchart showing an example of a process for calling the driver's attention. The process for calling the driver's attention is executed at predetermined intervals while the driver is seated in the driver's seat 111. The predetermined interval is, for example, 100 milliseconds, but is not limited to this.

[0071] The acquisition unit 321 acquires the distance D between the vehicle 100 and the object 101 (step S1). Specifically, the acquisition unit 321 acquires the distance D between the vehicle 100 and the object 101, which is the relative position detected by the sensor 210, from the sensor 210.

[0072] The identification unit 322 identifies the probability of a collision between the vehicle 100 and the object 101 (step S2). For example, the identification unit 322 identifies a higher probability as the distance D acquired by the acquisition unit 321 is smaller. Specifically, the identification unit 322 inputs the acquired distance D into a function that, when the distance D is input, outputs a higher probability as the distance D approaches 0, thereby identifying the probability corresponding to the acquired distance D.

[0073] The notification control unit 323 determines whether the identified probability is equal to or greater than a first threshold (step S3). If the probability is less than the first threshold (No in step S3), the notification control unit 323 returns to step S1 and repeats the processes from step S1 to step S3 until the probability becomes equal to or greater than the first threshold.

[0074] If the probability is equal to or greater than the first threshold (Yes in step S3), the notification control unit 323 determines whether the probability is less than the second threshold (step S4). If the probability is less than the second threshold (Yes in step S4), the notification control unit 323 causes the display device 240 to display the first display (step S5). If the probability is equal to or greater than the second threshold (No in step S4), the notification control unit 323 causes the display device 240 to display the second display (step S6). The notification control unit 323 causes the display device 240 to display the second display and vibrates the vibration device 112 with the first vibration pattern (step S7).

[0075] (Variation) The notification control device 300 executes a process of alerting the driver of the vehicle 100 not only when the vehicle 100 moves forward but also when the vehicle 100 moves backward. When the probability of a collision is high based on the distance between the object 101 and the vehicle 100 detected by a sensor provided on the rear surface of the vehicle 100, the notification control device 300 alerts the driver to a collision between the vehicle 100 and the object 101.

[0076] [Effects of the notification system S according to the first embodiment] As described above, the notification system S of the first embodiment identifies a state related to the risk of a collision between the vehicle 100 and the object 101 ahead in the traveling direction of the vehicle 100. When the identified state satisfies a first condition, the notification system S displays a first display, which alerts the driver of the vehicle 100, on the display device 240 provided in a position visible to the driver of the vehicle. When the state satisfies a second condition that indicates a higher risk than the first condition, the notification system S displays a second display, the alert level of which is higher than the first display, on the display device 240, and vibrates the vibration device 112 provided in the driver's seat 111 where the driver is seated.

[0077] The notification system S displays the first display on the display device 240, displays the second display, and vibrates the vibration device 112 of the driver's seat 111, so that the driver can understand that there is a risk that the vehicle will collide with an object and that the probability of the collision is high. Furthermore, the notification system S notifies the driver of the high probability of a collision between the vehicle 100 and the object 101 by using a display visible to the driver and vibration of the vibration device 112 provided in the driver's seat 111 where the driver is seated, without outputting an alarm sound. Therefore, passengers in the vehicle 100 do not perceive the notification of the risk of a collision between the vehicles 100 and 101. In other words, the notification system S can alert the driver to the risk of a collision between the vehicle 100 and the object 101 without making the passengers aware of the risk of a collision between the vehicles 100 and 101.

[0078] [Notification system according to the second embodiment] The specifying unit 322 of the notification system S of the first embodiment specifies the probability of collision as the state related to the risk of collision. However, without being limited to this, the specifying unit 322 of the notification system S of the second embodiment may specify whether the vehicle 100 is traveling straight or turning and the state of the distance D as the state related to the risk of collision.

[0079] The identification unit 322 identifies whether the vehicle 100 is traveling straight or turning as a state related to the risk of collision between the vehicle 100 and the object 101. The identification unit 322 identifies the vehicle 100 as traveling straight when the absolute value of the steering angle of the vehicle 100 is less than a predetermined angle, and identifies the vehicle 100 as turning when the absolute value of the steering angle of the vehicle 100 is equal to or greater than the predetermined angle.

[0080] The identification unit 322 identifies the state of the distance D as a state related to the risk of collision. The identification unit 322 determines whether the distance D is equal to or less than the first distance by determining whether the distance D is equal to or less than the first distance. The first distance is determined according to the distance at which the driver who sees the first display can perform an avoidance operation to avoid a collision between the vehicle 100 and the object 101. The first distance is, for example, 5 meters, but is not limited to this.

[0081] The identification unit 322 determines whether the distance D is equal to or less than the second distance, by determining whether the distance D is equal to or less than the second distance, which is shorter than the first distance. The second distance is determined according to the distance at which the driver, who sees the second display or senses the vibration of the vibration device 112, can perform mitigation operations to mitigate damage in the event of a collision between the vehicle 100 and the object 101. The second distance is, for example, 2 meters, but is not limited to this.

[0082] When a first condition is satisfied that the vehicle 100 is traveling straight and the distance D is equal to or less than a first distance, the notification control unit 323 causes the display device 240 to display a first display (see FIG. 4). When a second condition is satisfied that the vehicle 100 is traveling straight and the distance D is equal to or less than a second distance, the notification control unit 323 causes the display device 240 to display a second display (see FIG. 4) and vibrates the vibration device 112. The second condition is a condition in which the risk of collision is higher than that of the first condition.

[0083] When vehicle 100 is turning, notification control unit 323 does not vibrate vibration device 112 even if distance D is equal to or less than the second distance. Furthermore, when vehicle 100 is turning, notification control unit 323 may not cause display device 240 to display a display that calls the driver's attention. Specifically, when vehicle 100 is turning, notification control unit 323 does not cause display device 240 to display a second display even if distance D is equal to or less than the second distance, and does not cause display device 240 to display a first display even if distance D is longer than the second distance and equal to or less than the first distance.

[0084] [Effects of the notification system S according to the second embodiment] As described above, when alerting the driver to a collision between the vehicle 100 and the object 101, the second embodiment of the warning system S can identify whether the vehicle 100 is traveling straight or turning as the state of the collision of the vehicle 100, instead of the probability of the collision.

[0085] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by functionally or physically distributing or integrating any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination also have the effects of the original embodiments. [Explanation of symbols]

[0086] 100 vehicles 101 Object 111 Driver's seat 112 Vibration device 210 Sensors 220 Imaging device 230 Engine 240 Display device 250 Alarm device 300 Notification control device 310 Storage section 320 Control Unit 321 Acquisition Department 322 Specific part 323 Notification control section S Notification System

Claims

1. an identification unit that identifies a state related to a risk of collision between the vehicle and an object ahead in a traveling direction of the vehicle; If the specified state satisfies a first condition, a first display for calling the driver's attention to the vehicle is displayed on a display device provided in a position visible to the driver of the vehicle; a notification control unit that, when the state satisfies a second condition that is more dangerous than the first condition, causes the display device to display a second display having a higher alert level than the first display and vibrates a vibration device provided on a device that the driver comes into contact with; An alarm system having the above.

2. an acquisition unit that acquires position information regarding a relative position between the object and the vehicle; the identification unit identifies, as the state, a probability of a collision between the object and the vehicle based on the position information; The notification control unit When the specified probability satisfies the first condition that the probability is equal to or greater than a first threshold, displaying the first indication on the display device; When the second condition that the probability is equal to or greater than a second threshold value that is greater than the first threshold value is satisfied, the second display is displayed on the display device and the vibration device is vibrated. The notification system according to claim 1 .

3. the identification unit identifies whether the driver is normal or abnormal by analyzing a captured image of the driver; When the identification unit identifies that the driver is abnormal, the notification control unit vibrates the vibration device in a second vibration pattern different from a first vibration pattern in which the vibration device is vibrated when the probability is equal to or greater than the second threshold value. The notification system according to claim 2 .

4. The first vibration pattern and the second vibration pattern differ in at least one of an operating time during which the vibration device vibrates and a stop time during which the vibration device stops vibrating within a predetermined period. The notification system according to claim 3 .

5. The identification unit identifies a type of abnormality of the driver by analyzing the captured image, the notification control unit vibrates the vibration device with the second vibration pattern corresponding to the identified type. The notification system according to claim 3 .

6. the acquisition unit acquires a distance between the object and the vehicle as the relative position; the specifying unit specifies a higher probability as the distance is shorter, The notification system according to claim 2 .

7. the acquisition unit acquires a distance between the object and the vehicle as the relative position, and acquires a relative speed between the object and the vehicle at a time when the distance is acquired; the identification unit identifies a higher probability as the predicted time until the vehicle hits the object, which is determined by the ratio of the distance to the relative speed, is shorter. The notification system according to claim 2 .

8. the notification control unit vibrates the vibration device at a frequency different from a vibration frequency of an engine mounted on the vehicle. The notification system according to any one of claims 2 to 7.

9. the notification control unit does not vibrate the vibration device even if the probability is equal to or greater than the second threshold value when the steering angle of the vehicle is equal to or greater than a predetermined angle. The notification system according to any one of claims 2 to 7.

10. the notification control unit does not vibrate the vibration device when the steering angle is equal to or greater than a predetermined angle and the object is present on a sidewalk even if the probability is equal to or greater than the second threshold value. The notification system according to claim 9.

11. the vehicle is a public transport vehicle on which passengers ride; the notification control unit does not cause an alarm device mounted on the vehicle to output an alarm sound when the first display is displayed on the display device and when the second display is displayed on the display device and the vibration device is vibrated. The notification system according to any one of claims 1 to 7.

12. The vibration device is provided in a seat on which the driver sits. The notification system according to any one of claims 1 to 7.

13. an acquisition unit that acquires a distance between the object and the vehicle; the identification unit identifies, as the state, whether the vehicle is traveling straight or turning; The notification control unit When the first condition that the vehicle is traveling straight and the distance is equal to or shorter than a first distance is satisfied, the first display is displayed on the display device; When the second condition is satisfied, that is, the vehicle is traveling straight and the distance is equal to or shorter than a second distance that is shorter than the first distance, the second display is displayed on the display device and the vibration device is vibrated. The notification system according to claim 1 .

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