Warning device and warning method

Abstract

In situations where audio in multiple languages ​​is output in a short period of time, the system allows the vehicle driver to intuitively recognize that the level of risk has changed. [Solution] The warning device (100) includes a risk index value acquisition unit (132) that acquires a risk index value indicating the risk of collision between the vehicle (1) and an object located in front of the vehicle (1) based on the output of a plurality of sensors mounted on the vehicle (1), and a notification control unit (135) that, when an object is detected whose risk index value is equal to or greater than a preset first threshold, outputs a voice in language to notify the vehicle driver of the object, and when the vehicle driver is notified of the object by the output of a voice in language, the risk index value changes by a preset second threshold or more, and notifies the vehicle driver that the risk index value has changed by a method other than voice notification.

Description

Technical Field

[0001] The present invention relates to a warning device and a warning method.

Background Art

[0002] In recent years, a system for notifying a vehicle driver of risks by a plurality of HMI (Human Machine Interface) devices has been known.

[0003] For example, the driving support device disclosed in Patent Document 1 acquires object information including the position, traveling direction, and vehicle speed of other vehicles, detects traveling information including the position, traveling direction, and vehicle speed of the host vehicle, and includes notification means for performing notification based on the detected information. Further, the driving support device includes, as the notification means, a display device that displays the positional relationship between the host vehicle and other vehicles on a map, and a speaker that outputs voice according to the risk level.

[0004] In addition, the information providing device disclosed in Patent Document 2 includes output control means for outputting voice output information as voice and displaying display output information generated based on at least a part of the voice output information immediately before the voice output information is output. The display output information is displayed for a predetermined time immediately before the voice output information corresponding to the display output information is output as voice.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when multiple pieces of information are notified to a driver while they are driving using only voice, multiple voices are output in a short period of time, which presents challenges in terms of ease of intuitive understanding. This invention aims to solve the above problem by improving visibility. Ultimately, this will further improve traffic safety and contribute to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is a warning device comprising: an index value acquisition unit that acquires a risk index value indicating the risk of collision between the vehicle and an object located in front of the vehicle based on the output of a plurality of sensors mounted on the vehicle; and a notification control unit that, when an object is detected whose risk index value is equal to or greater than a preset first threshold, outputs a voice in language to notify the driver of the vehicle of the object, and when the driver of the vehicle is notified of the object by the voice in language, the risk index value changes by a preset second threshold or more, and the control unit notifies the driver of the vehicle that the risk index value has changed by a method other than the voice notification in language. In another aspect of the present invention, when the risk indicator value falls below the first threshold, the notification control unit terminates the voice notification in the language and notifies the driver of the vehicle that the risk indicator value has changed by a method other than voice notification in the language. In another aspect of the present invention, the notification control unit notifies the driver of the vehicle that the risk indicator value has changed by display on a visual HMI device or by vibration on a tactile HMI device. Another aspect of the present invention is a warning method that causes a processor of a warning device mounted on a vehicle to acquire a risk index value indicating the risk of collision between the vehicle and an object located in front of the vehicle, based on the outputs of a plurality of sensors mounted on the vehicle; when an object is detected in which the risk index value is equal to or greater than a preset first threshold, the device outputs a voice in language to notify the driver of the vehicle of the object; and when the driver of the vehicle is notified of the object by the voice output in language, if the risk index value changes by a preset second threshold or more, the device notifies the driver of the vehicle that the risk index value has changed by a method other than the voice notification in language. [Effects of the Invention]

[0008] According to one aspect of the present invention, in a situation where audio in multiple languages ​​is output in a short period of time, the driver of a vehicle can be made to intuitively recognize that the level of risk has changed. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 shows the configuration of the vehicle. [Figure 2] Figure 2 shows an example of a solid or flashing indicator. [Figure 3] Figure 3 is a flowchart showing the operation of the warning device. [Modes for carrying out the invention]

[0010] [1. Vehicle Configuration] Figure 1 shows the configuration of vehicle 1. Vehicle 1 is equipped with a vehicle sensor 10, an HMI device 30, a vehicle control device 50, and a warning device 100.

[0011] The vehicle sensor 10 comprises at least one of one or more cameras, radar, lidar, and sonar, which are distributed around the vehicle 1, and detects objects present in the vicinity of the vehicle 1. The vehicle sensor 10 outputs the data measured by the camera, radar, lidar, or sonar as sensor data to the warning device 100.

[0012] The HMI device 30 comprises a visual HMI device 310 that outputs visual information, an auditory HMI device 330 that outputs sound, which is an auditory stimulus, to the driver, and a tactile HMI device 350 that stimulates the driver's sense of touch.

[0013] The visual HMI device 310 is a head-up display installed on the instrument panel 4 of the vehicle 1. The head-up display notifies the presence of an object that could potentially collide by displaying a warning message on the windshield 3, which serves as the projection surface. The driver seated in the driver's seat can see the warning message along with the view in front of the vehicle 1 through the windshield 3.

[0014] In this embodiment, the auditory HMI device 330 is a single speaker. Alternatively, the auditory HMI device 330 may be a speaker system composed of multiple speakers.

[0015] The tactile HMI device 350 provides tactile stimulation to the driver by vibrating the driver's seat of the vehicle 1. The tactile HMI device 350 is equipped with a vibration motor that generates vibrations within the seat where the driver sits, and drives the vibration motor based on a vibration control signal input from the warning device 100 to vibrate the seat (not shown). The tactile HMI device 350 may also be an electric seat belt that provides tactile stimulation to the driver by changing the tension of the seat belt.

[0016] The vehicle control device 50 detects the operating status of the control devices of the vehicle 1, such as the accelerator pedal, brake pedal, turn signals, and steering wheel, as well as the vehicle's motion state, such as vehicle speed, acceleration, and yaw rate.

[0017] [2. Configuration of the Attention唤起 Device] The attention唤起 device 100 is composed of an ECU or a computer including a memory unit 110, a processor 130, an input / output interface (not shown), etc.

[0018] The memory unit 110 includes, for example, a non-volatile RAM (Read Only Memory), or a ROM and a RAM (Random Access Memory). Also, the memory unit 110 may be configured to include an auxiliary storage device such as an SSD (Solid State Drive).

[0019] The memory unit 110 stores a control program 第111 executed by the processor 130, voice data 113 of the language output from the auditory HMI device 330, etc.

[0020] The processor 130 is an arithmetic processing device including a processor such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The processor 130 may be composed of a single processor, or may be composed of a plurality of processors. Also, the processor 130 may be composed of a SoC integrated with a part or all of the memory unit 110 and other circuits. Also, the processor 130 may be composed of a combination of a CPU that executes a program and a DSP (Digital Signal Processor) that executes predetermined arithmetic processing. Furthermore, all the functions of the processor 130 may be implemented in hardware, or may be configured using a programmable device.

[0021] As a functional unit, the attention唤起 device 100 includes an object detection unit 131, a risk index value acquisition unit 133, and a notification control unit 135. These functional units are realized by the processor 130 executing the control program 111 stored in the memory unit 110.

[0022] It should be noted that there may be some inaccuracies in the above translation as the term "喚起" is not very clear in this context. It might be better to have a more specific and accurate term to translate it more precisely.The object detection unit 131 detects objects present around the vehicle 1 based on sensor data input from the vehicle sensor 10. An object is an object that may collide with or come into contact with the vehicle 1, and an object whose presence needs to be notified to the driver of the vehicle 1. Objects detected by the object detection unit 131 include, for example, pedestrians, other vehicles, walls, utility poles, and other stationary objects. In this embodiment, the object detection unit 131 detects objects that are located in front of the vehicle 1 in the direction of travel and that may come into contact with or collide with the vehicle 1. That is, when the vehicle 1 is traveling forward, it detects objects located in front of the vehicle 1, and when the vehicle 1 is traveling backward, it detects objects located behind the vehicle 1. The object detection unit 131 detects the position, speed, and direction of movement of the detected object. The object detection unit 131 outputs information indicating the position, speed, and direction of movement of the detected object to the risk index value acquisition unit 133. The object detection unit 131 may detect objects and their relative positions using sensors such as the front camera provided by the vehicle sensor 10, as well as vehicle-to-vehicle communication devices, GNSS (Global Navigation Satellite Systems) units, V2X (Vehicle-to-Everything) communication, etc. Furthermore, the object detection unit 131 may detect objects in the captured image and their relative positions using methods such as judgment in a virtual environment via a server. Communication partners for VX2 communication include other vehicles, pedestrians, networks, infrastructure, etc.

[0023] The risk indicator value acquisition unit 133 receives information such as the position, speed, and direction of movement of an object detected by the object detection unit 131. The risk indicator value acquisition unit 133 also receives sensor data, such as images captured by a camera.

[0024] For example, the risk index acquisition unit 133 predicts the movement path between the object and vehicle 1 based on the object's position, direction of movement, and speed, as well as the position, direction of movement, and speed of vehicle 1, and the status of traffic lights detected from the camera's captured image. The risk index acquisition unit 133 then calculates a risk index value based on the position where vehicle 1 and the object are closest, and the distance between vehicle 1 and the object at that position. The risk index value is a value that indicates the possibility of contact or collision between vehicle 1 and the object. The risk index value is calculated, for example, by assigning points to the object's position, direction of movement, speed, and distance between vehicle 1 and the object, and then summing the values ​​obtained by multiplying these points by a weighting coefficient.

[0025] When predicting the movement of an object, the risk indicator value acquisition unit 133 may consider the illumination status of the vehicle's turn signals and brake lights if the object is a vehicle, and may consider the direction of the pedestrian's face if the object is a pedestrian. Similarly, when predicting the movement of vehicle 1, the risk indicator value acquisition unit 133 may consider the illumination status of vehicle 1's turn signals and brake lights obtained from the vehicle sensor 10, and may consider the route being guided if the navigation device (not shown) is providing route guidance.

[0026] Furthermore, the risk indicator value acquisition unit 133 may detect the risk of contact between the vehicle 1 and objects actually detected in the surrounding environment of the vehicle 1, as well as estimate and detect the risk of contact with objects that have not yet been detected but may appear (such as virtual vehicles or pedestrians) based on factors such as the visibility at intersections and the number of accidents. The risk indicator value acquisition unit 133 outputs the acquired risk indicator values ​​to the notification decision unit 135.

[0027] The notification control unit 135 plays language audio data 113 and causes the auditory HMI device 330 to output language audio when an object is detected with a risk indicator value equal to or greater than a preset first threshold. For example, the notification control unit 135 causes the auditory HMI device 330 to output language audio such as "There is a wall ahead" or "There is a person behind the wall." If the risk indicator value is equal to or greater than the preset first threshold, the notification control unit 135 causes the auditory HMI device 330 to continuously output language audio. In other words, language audio is output from the auditory HMI device at regular intervals.

[0028] Next, the notification control unit 135 monitors changes in the risk indicator value input from the risk indicator value acquisition unit 133 and determines whether or not the risk indicator value has changed by more than or equal to a pre-set second threshold. The second threshold is a threshold value smaller than the first threshold.

[0029] If the notification control unit 135 detects a change in the risk indicator value that exceeds a preset second threshold, it notifies the driver of the change in the risk indicator value by a method other than voice notification.

[0030] For example, if the risk indicator value rises or falls by a second threshold or more, the notification control unit 135 notifies the driver of the change in the risk indicator value via the visual HMI device 310 or the tactile HMI device 350.

[0031] Figure 2 shows the illuminated or flashing indicator 200 displayed on the windshield 4 by the visual HMI device 310. For example, when the notification control unit 135 notifies the driver of a change in risk indicator values ​​via the visual HMI device 310, it displays a lit-up or flashing indicator 200, or a colored indicator, in a predetermined area near the passenger-side instrument panel 4. These indicators are called warning indicators. The predetermined area in which the warning indicators are displayed is preferably within an area that does not obstruct the driver's field of vision. For example, the notification control unit 135 increases the brightness of the illuminated or flashing display, speeds up the flashing interval, or changes the color of the colored display to a brighter color or red each time the risk indicator value rises above the second threshold. Furthermore, the notification control unit 135 reduces the brightness of the illuminated or flashing indicator, slows down the flashing interval, or changes the color of the colored indicator to a darker color or blue each time the risk indicator value falls to a second threshold or higher.

[0032] It is preferable that the timing of displaying a warning message on the visual HMI device 310 or outputting vibrations on the tactile HMI device 350 does not overlap with the timing of outputting spoken language on the auditory HMI device 330. This is because if the two notifications overlap, it becomes difficult for the driver to recognize either output. For example, if a microphone is provided in the vehicle 1 and spoken language is input from the microphone, the timing of displaying a warning message on the visual HMI device 310 or outputting vibrations on the tactile HMI device 350 may be delayed.

[0033] Furthermore, it is preferable that the timing for displaying a warning message on the visual HMI device 310 or outputting vibrations on the tactile HMI device 350 is before the auditory HMI device 330 outputs spoken language. By outputting spoken language after the driver has become aware of a change in the risk indicator value through the warning message or vibration, it becomes easier for the driver to understand the content of the spoken language.

[0034] Furthermore, when the notification control unit 135 notifies the driver of a change in the risk indicator value via the tactile HMI device 350, it changes the vibration of the driver's seat. For example, the notification control unit 135 controls the tactile HMI device 350 so that the vibration of the sheet is intensified or the interval between vibrations is shortened each time the risk indicator value rises above the second threshold. Furthermore, the notification control unit 135 controls the tactile HMI device 350 to reduce the vibration level of the sheet or lengthen the vibration interval each time the risk indicator value falls to or above the second threshold.

[0035] Furthermore, when the risk indicator value falls below the first threshold, the notification control unit 135 terminates the verbal notification to the auditory HMI device 330 and notifies the vehicle driver that the risk indicator value has decreased by a method other than verbal notification. The notification control unit 135 also notifies the driver of the change in the risk indicator value via the visual HMI device 310 or the tactile HMI device 350. For example, when the notification control unit 135 notifies the driver of a change in the risk indicator value via the tactile HMI device 350, it gradually reduces the brightness of the illuminated or flashing indicator until it turns off. In addition, the notification control unit 135 changes the color of the colored indicator to a darker color until it turns off the colored indicator.

[0036] [3. Operation of the warning device] Figure 3 is a flowchart showing the operation of the warning device 100. The operation of the warning device 100 will be explained with reference to the flowchart shown in Figure 3. First, the warning device 100 is activated when the vehicle's IG switch is turned on (step S1) and acquires sensor data from the vehicle sensor 10 (step S2).

[0037] Next, the warning device 100 detects objects present around the vehicle 1 based on sensor data (step S3), and detects the position, speed, and direction of movement of the detected objects.

[0038] Next, the warning device 100 acquires the risk index value of the detected object (step S4). The warning device 100 scores the object's position, direction of travel, speed, and distance between vehicle 1 and the object, multiplies each of these scores by a weighting coefficient, and calculates the sum of these values ​​as the risk index value.

[0039] Next, the alerting device 100 determines whether or not there are any objects whose acquired risk index value is equal to or greater than a preset first threshold (step S5).

[0040] If there is an object whose risk index value is equal to or greater than a preset first threshold (step S5 / YES), the alert device 100 determines whether or not it is currently performing a voice notification operation (step S6).

[0041] If the alert device 100 is not currently performing a voice notification operation (step S6 / NO), it starts a voice notification operation (step S7). The alert device 100 plays back the voice data stored in the memory unit 110 and outputs the voice in language via the auditory HMI device 330. After that, the alert device 100 determines whether the IG switch has been turned off or not (step S10).

[0042] Furthermore, if the alerting device 100 determines that it is performing a voice notification operation (step S6 / YES), it compares the previous risk index value of the same object with the current risk index value and determines whether the risk index value has changed by more than the second threshold (step S8).

[0043] If the risk index value has not changed by more than the second threshold (step S8 / NO), the warning device 100 proceeds to the determination in step S10.

[0044] Furthermore, if the risk index value changes by more than a second threshold (step S8 / YES), the warning device 100 notifies the driver of the change in the risk index value via the visual HMI device 310 or the tactile HMI device 350 (step S9). For example, the visual HMI device 310 may display an illuminated or flashing indicator, or a colored indicator, on the windshield 3. Alternatively, the tactile HMI device 350 may vibrate the driver's seat. After that, it is determined whether or not the IG switch has been turned off (step S10).

[0045] If the alerting device 100 determines that there are no objects with a risk index value of 1 or higher (step S5 / NO), it determines whether or not it is currently performing a voice notification operation (step S11). In other words, it determines whether or not there were objects with a risk index value of 1 or higher, but the risk index value of these objects has decreased to below 1. For example, the alerting device 100 may set a flag to "on" to indicate the presence of an object that is currently performing a verbal notification operation, and determine whether or not a verbal notification operation is currently being performed based on whether this flag is on or off. Alternatively, in step S5, if the alerting device 100 determines that there are no objects whose risk index value is equal to or greater than the first threshold, it may change the flag to "off".

[0046] If the alert device 100 is performing a verbal notification operation (step S11 / YES), it will instruct the tactile HMI device 330 to terminate the verbal notification (step S12). Subsequently, the alert device 100 will notify the user that the risk index value has decreased by a lighting or flashing indicator on the visual HMI device 310, or by vibration on the tactile HMI device 350 (step S13).

[0047] When the processing in step S7, step S9, or step S13 is completed, the warning device 100 determines whether the IG switch has been turned off (step S10). If the IG switch is not turned off (step S10 / NO), the warning device 100 returns to the determination in step S2. Also, if the IG switch is turned off (step S10 / YES), the warning device 100 terminates this processing flow.

[0048] [4. Other Embodiments] The embodiments described above are merely examples and can be modified and applied as needed.

[0049] In the embodiment described above, the case where the visual HMI device 310 is a HUD was explained, but the visual HMI device 310 may also be a display means such as an LED (Light Emitting Diode).

[0050] Furthermore, the configuration of each part of Vehicle 1 shown in Figure 1 is merely an example, and the specific implementation is not particularly limited. In other words, it is not necessarily required that hardware corresponding to each part be implemented individually; it is certainly possible to configure the system so that a single processor executes a program to realize the functions of each part. Also, in the embodiments described above, some of the functions realized by software may be implemented as hardware, or conversely, some of the functions realized by hardware may be implemented as software.

[0051] Furthermore, the operation steps shown in Figure 3 are divided according to the main processing content, and the present invention is not limited by the way the processing units are divided or their names. Depending on the processing content, it may be further divided into more steps. Alternatively, it may be divided so that one step unit includes even more processing. Also, the order of the steps may be changed as appropriate, as long as it does not impede the spirit of the present invention.

[0052] Furthermore, when the warning method by the warning device 100 described above is implemented using the processor 130, the program to be executed by the processor 130 can also be configured as a recording medium or a transmission medium for transmitting this program. In other words, the control program 111 can also be implemented by recording it on a portable information recording medium. Examples of information recording media include magnetic recording media such as hard disks, optical recording media such as CDs, and semiconductor storage devices such as USB (Universal Serial Bus) memory and SSDs (Solid State Drives), but other recording media can also be used.

[0053] [Configurations supported by the above-described embodiments] The embodiments described above support the following configurations.

[0054] (Composition 1) An alert device comprising: an index value acquisition unit that acquires a risk index value indicating the risk of collision between the vehicle and an object located in front of the vehicle based on the output of multiple sensors mounted on the vehicle; and a notification control unit that, when an object is detected whose risk index value is equal to or greater than a preset first threshold, outputs a voice in language to notify the driver of the vehicle of the object, and when the risk index value changes by a preset second threshold or more while the driver of the vehicle is being notified of the object by the voice in language, notifies the driver of the vehicle that the risk index value has changed by a method other than the voice notification in language.

[0055] According to the warning device of Configuration 1, when an object is detected whose acquired risk indicator value is above the first threshold, the presence of the object can be notified to the vehicle driver via voice notification. Furthermore, when the risk indicator value changes by more than the second threshold, the vehicle driver is notified of the change in the risk indicator value by a method other than voice notification. Therefore, even in situations where voices in multiple languages ​​are output in a short period of time, the vehicle driver can intuitively understand that the risk indicator value has changed.

[0056] (Configuration 2) The warning device according to Configuration 1, wherein the notification control unit terminates the voice notification in the language when the risk indicator value falls below the first threshold, and notifies the driver of the vehicle that the risk indicator value has changed by a method other than voice notification in the language.

[0057] According to the alert device of configuration 2, when the risk indicator value falls below the first threshold, the voice notification ends, and the vehicle driver is notified of the change in the risk indicator value by a method other than voice notification. This allows the vehicle driver to intuitively recognize that the risk indicator value has changed.

[0058] (Composition 3) The notification control unit is a warning device according to configuration 1 or 2, which notifies the driver of the vehicle that the risk indicator value has changed by display on a visual HMI device or by vibration on a tactile HMI device.

[0059] According to the warning device of configuration 3, a change in the risk indicator value is notified by a display on a visual HMI device or vibration on a tactile HMI device. This allows the vehicle driver to intuitively recognize that the risk indicator value has changed.

[0060] (Composition 4) A warning method comprising: causing a processor in a vehicle-mounted warning device to acquire a risk index value indicating the risk of collision between the vehicle and an object located in front of the vehicle, based on the outputs of a plurality of sensors mounted on the vehicle; when an object is detected whose risk index value is equal to or greater than a preset first threshold, causing a voice output in language to notify the driver of the vehicle of the object; and when the driver of the vehicle is notified of the object by the voice output in language, if the risk index value changes by a preset second threshold or more, causing the driver of the vehicle to be notified of the change in the risk index value by a method other than the voice output in language.

[0061] According to the warning device of configuration 4, when an object is detected whose acquired risk indicator value is above the first threshold, the presence of the object can be notified to the vehicle driver via voice notification. Furthermore, when the risk indicator value changes by more than the second threshold, the vehicle driver is notified of the change in the risk indicator value by a method other than voice notification. Therefore, even in situations where voices in multiple languages ​​are output in a short period of time, the vehicle driver can intuitively understand that the risk indicator value has changed. [Explanation of Symbols]

[0062] 1...Vehicle, 3...Windshield, 4...Instrument panel, 10...Vehicle sensor, 30...HMI device, 40...Vibration unit, 50...Vehicle control device, 100...Warning device, 110...Memory unit, 111...Control program, 130...Processor, 131...Object detection unit, 133...Risk indicator value acquisition unit, 135...Notification control unit, 200...Illuminated or flashing display, 310...Visual HMI device, 330...Auditory HMI device, 350...Tactile HMI device.

Claims

1. An index value acquisition unit that acquires a risk index value indicating the risk of collision between the vehicle and an object located in front of the vehicle, based on the output of multiple sensors mounted on the vehicle, When an object is detected whose risk indicator value is equal to or greater than a predetermined first threshold, a voice message is output to notify the driver of the vehicle of the object. When the vehicle driver is notified of the object by outputting the aforementioned language, if the risk indicator value changes by a preset second threshold or more, the notification control unit causes the vehicle driver to be notified of the change in the risk indicator value by a method other than notification by the aforementioned language. A warning device equipped with [a specific feature / feature].

2. The notification control unit, The warning device according to claim 1, wherein when the risk indicator value falls below the first threshold, the voice notification in the language is terminated, and the driver of the vehicle is notified of the change in the risk indicator value by a method other than voice notification in the language.

3. The notification control unit, The warning device according to claim 1 or 2, which notifies the driver of the vehicle that the risk indicator value has changed by display on a visual HMI device or by vibration on a tactile HMI device.

4. The processor of the warning device installed in the vehicle, A step of obtaining a risk index value indicating the risk of collision between the vehicle and an object located in front of the vehicle, based on the output of multiple sensors mounted on the vehicle, When an object is detected whose risk indicator value is equal to or greater than a predetermined first threshold, the step of outputting a voice message to notify the driver of the vehicle of the object, While the vehicle driver is being notified of the object by the output of the aforementioned language, if the risk indicator value changes by a preset second threshold or more, the vehicle driver is notified of the change in the risk indicator value by a method other than the voice notification in the aforementioned language. A method of raising awareness to encourage action.

Images