Notification device, notification method, and notification system

Abstract

To enable appropriate notification of the risk of contact with other moving objects (2). [Solution] The notification device (19) includes a first grace period recognition unit (104) that recognizes a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact, when contact between the first moving body (1) and a second moving body located in the vicinity of the first moving body is predicted, and a notification unit (107) that notifies the occupant (P) of the first moving body that there is a risk of contact between the first moving body and the second moving body, and the notification unit changes the notification mode based on the first grace period.

Description

Technical Field

[0001] The present invention relates to a notification device, a notification method, and a notification system.

Background Art

[0002] Conventionally, there is known a technique for notifying an occupant of a moving body that there is a risk of contact with another moving body. For example, Patent Document 1 discloses a driver assistance system that outputs a low-level warning when another vehicle is visible to the driver and a high-level warning when another vehicle is not visible to the driver.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not disclose a specific determination method for whether another vehicle is visible or not. Therefore, it is difficult to say that Patent Document 1 can appropriately change the warning level in a situation where the warning level needs to be changed, and there is a possibility that a warning cannot be appropriately given to the driver. The present invention has been made in view of the above circumstances, and an object thereof is to be able to appropriately notify that there is a risk of contact with another moving body.

Means for Solving the Problems

[0005] One aspect of the present invention is a notification device comprising: a first grace period recognition unit that recognizes a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact, when contact between the first moving body and a second moving body located in the vicinity of the first moving body is predicted; and a notification unit that notifies the occupant of the first moving body that there is a risk of contact between the first moving body and the second moving body, wherein the notification unit changes the notification mode based on the first grace period. [Effects of the Invention]

[0006] According to the present invention, it is possible to appropriately notify the user of the risk of contact with other moving objects. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 shows the configuration of the notification system. [Figure 2] Figure 2 shows the configuration of the notification device. [Figure 3] Figure 3 is a diagram illustrating the calculation of the first grace period. [Figure 4] Figure 4 is a flowchart illustrating the operation of the notification device. [Modes for carrying out the invention]

[0008] [1. Overview of the Notification System] Referring to Figure 1, the outline of the notification system 1000 of this embodiment will be described. Figure 1 shows the configuration of the notification system 1000.

[0009] The notification system 1000 is a system that notifies the occupant P of the first mobile body 1 that there is a risk of contact between the first mobile body 1 and the second mobile body 2. In Figure 1, the second mobile body 2 is illustrated as another vehicle 2A, a bicycle 2B, and a pedestrian 2C.

[0010] The notification system 1000 comprises a notification device 19 provided by the first mobile body 1 and a server device 3 connected to a network NW which is a WAN (Wide Area Network). The server device 3 is a device that processes information using the notification device 19 as a client.

[0011] Figure 1 shows the configuration of the first mobile vehicle 1. The first mobile vehicle 1 illustrated in this embodiment is a four-wheeled vehicle. The first mobile vehicle 1 includes a driver's seat 10A, a passenger seat 10B, a rear right seat 10C, and a rear left seat 10D. In the first mobile vehicle 1 of Figure 1, the driver is seated in the driver's seat 10A and is riding as a passenger P.

[0012] The first mobile vehicle 1 is equipped with a dashboard 12. The dashboard 12 is fitted with a touch panel 13 and a speaker 14. The touch panel 13 consists of a display panel that displays characters and images and a touch sensor that detects contact with the display panel, which are superimposed or integrated together. The speaker 14 outputs sound into the cabin space of the first mobile vehicle 1. The installation position and number of speakers 14 can be arbitrarily changed.

[0013] The first mobile unit 1 is equipped with a driver monitoring camera 15. The driver monitoring camera 15 is installed in a predetermined position inside the vehicle interior of the first mobile unit 1 and is a camera that photographs the driver seated in the driver's seat 10A. The shooting range of the driver monitoring camera 15 is an area that includes at least the head HD of the driver seated in the driver's seat 10A. The driver monitoring camera 15 takes pictures at predetermined intervals when the ignition of the first mobile unit 1 is on or when the accessory power of the first mobile unit 1 is on. Each time the driver monitoring camera 15 takes a picture, it outputs the image data of the captured image (hereinafter referred to as "driver captured image") obtained by the shooting to the notification device 19.

[0014] The first moving body 1 includes a front camera 16 that captures images in front of the first moving body 1. The front camera 16 is provided at the front part of the first moving body 1 and captures images in front of the first moving body 1. The front camera 16 performs imaging at a predetermined cycle when the ignition of the first moving body 1 is on or when the accessory power supply of the first moving body 1 is on. Each time the front camera 16 performs imaging, it outputs the image data of the captured image (hereinafter referred to as "front captured image") obtained by imaging to the notification device 19.

[0015] The first moving body 1 includes a V2X (Vehicle to Everything) communication device 17. The V2X communication device 17 performs vehicle-to-vehicle communication and communicates with other vehicles 2A. In addition, the V2X communication device 17 performs pedestrian-to-pedestrian communication and communicates with terminals held by persons (pedestrians 2C and passengers on bicycles 2B) present around the first moving body 1.

[0016] The first moving body 1 includes a TCU (Telematics Control Unit) 18. The TCU 18 is a communication device that communicates with devices connected to the network NW.

[0017] The first moving body 1 includes a notification device 19. The notification device 19 is a device that notifies that there is a possibility of contact between the first moving body 1 and the second moving body 2.

[0018] [2. Configuration of Notification Device] FIG. 2 is a diagram showing the configuration of the notification device 19. The following are connected to the notification device 19: a touch panel 13, a speaker 14, a driver monitoring camera 15, a front camera 16, a V2X communication device 17, a TCU 18, a vehicle speed sensor 20, a GNSS (Global Navigation Satellite System) unit 21, a brake pedal sensor 22, and a direction sensor 23.

[0019] The touch panel 13 displays various information according to the control of the notification device 19. The speaker 14 outputs various sounds according to the control of the notification device 19. The driver monitoring camera 15 performs shooting according to the control of the notification device 19. The front camera 16 performs shooting according to the control of the notification device 19. The V2X communication device 17 communicates with other vehicles 2A, terminals held by passengers of bicycles 2B, and terminals held by pedestrians 2C according to the control of the notification device 19. The TCU 18 communicates with a device connected to the network NW according to the control of the notification device 19.

[0020] The vehicle speed sensor 20 detects the moving speed of the first moving body 1. The vehicle speed sensor 20 detects the moving speed of the first moving body 1 at a predetermined cycle, and outputs a detection value indicating the detected moving speed of the first moving body 1 to the notification device 19.

[0021] The GNSS unit 21 measures the current position of the first moving body 1. The GNSS unit 21 generates position data indicating the current position of the first moving body 1, and outputs the generated position data to the notification device 19.

[0022] The brake pedal sensor 22 detects the depression amount of the brake pedal that decelerates the first moving body 1. The brake pedal sensor 22 outputs a detection value to the notification device 19.

[0023] The azimuth sensor 23 is a sensor that detects the moving azimuth of the first moving body 1. The moving azimuth means the azimuth corresponding to the moving direction. The azimuth sensor 23 outputs a detection value to the notification device 19.

[0024] The notification device 19 includes a processor 100 such as a CPU (Central Processing Unit) or an MPU (Micro Processor Unit), a memory 120, and an interface circuit for connecting various devices.

[0025] Memory 120 is a storage device that stores programs and data. Memory 120 stores the control program 121, map data 122, and data to be processed by the processor 100. Memory 120 has a non-volatile storage area. Alternatively, memory 120 may also have a volatile storage area and constitute the work area of ​​the processor 100. Memory 120 is composed of, for example, ROM (Read Only Memory) or RAM (Random Access Memory).

[0026] The control program 121 is a program that causes the processor 100 to function as a functional unit, which will be described later.

[0027] Map data 122 is data that stores road map information, building information, etc. The road map information consists of a road network that represents roads on the map with lines, and includes information about links that define the parts between each node, with intersections and junctions being nodes and the parts between each node being defined as links. The building information shows the location of the building, the name of the building, and the shape of the building when viewed from above.

[0028] The processor 100 functions as a first communication control unit 101, a second communication control unit 102, a contact prediction determination unit 103, a first grace period recognition unit 104, a second grace period recognition unit 105, a recognition determination unit 106, and a notification unit 107 by reading and executing the control program 121.

[0029] [2-1. First Communication Control Unit] The first communication control unit 101 receives the current position of the second mobile body 2, the speed of the second mobile body 2, and the direction of movement of the second mobile body 2 via the V2X communication device 17.

[0030] The first communication control unit 101 communicates with the other vehicle 2A via the V2X communication device 17 and receives the other vehicle 2A's current position, speed, and direction of movement from the other vehicle 2A.

[0031] The first communication control unit 101 communicates with the terminal held by the rider of bicycle 2B via the V2X communication device 17. The first communication control unit 101 receives the current position of bicycle 2B, the speed of bicycle 2B, and the direction of movement of bicycle 2B, as well as the current position of the terminal held by the rider of bicycle 2B, the speed of the terminal, and the direction of movement of the terminal.

[0032] The first communication control unit 101 communicates with the terminal held by pedestrian 2C via the V2X communication device 17. The first communication control unit 101 receives the current location of pedestrian 2C, the speed of movement of pedestrian 2C, and the direction of movement of pedestrian 2C, as well as the current location of the terminal held by pedestrian 2C, the speed of movement of the terminal, and the direction of movement of the terminal.

[0033] Hereafter, the current position of the second mobile object 2, the speed of the second mobile object 2, and the direction of movement of the second mobile object 2 will be collectively referred to as "information related to the second mobile object 2."

[0034] [2-2. Second Communications Control Unit] The second communication control unit 102 communicates with the server device 3 via the TCU 18.

[0035] [2-3. Contact Prediction and Determination Unit] The contact prediction determination unit 103 determines whether or not contact between the first moving body 1 and the second moving body 2 is predicted. The contact prediction determination unit 103 makes this determination for each second moving body 2 for which information relating to the second moving body 2 has been received.

[0036] The contact prediction determination unit 103 determines, for example, whether or not contact between the first moving body 1 and the second moving body 2 is predicted, in the following manner.

[0037] The contact prediction and determination unit 103 determines the straight-line path of the first mobile object 1 based on the map shown in the map data 122, the current position of the first mobile object 1 determined by the GNSS unit 21, and the direction of movement of the first mobile object 1 detected by the direction sensor 23. Furthermore, the contact prediction determination unit 103 determines the straight-line path of the second mobile object 2 based on the map shown in the map data 122 and the information related to the second mobile object 2 received by the first communication control unit 101.

[0038] Next, the contact prediction determination unit 103 determines whether the straight path of the second moving body 2 intersects with the straight path of the first moving body 1. If it determines that they do not intersect, it determines that contact between the second moving body 2 and the first moving body 1 is not predicted.

[0039] On the other hand, if the contact prediction determination unit 103 determines that the straight path of the second moving body 2 intersects with the straight path of the first moving body 1, it calculates the time required for the first moving body 1 to reach the point where the straight paths of the second moving body 2 and the straight paths of the first moving body 1 intersect (hereinafter referred to as the intersection point CP, denoted as "CP"). This calculation is performed by referring to the map shown in the map data 122 and is based on the distance from the current position of the first moving body 1 to the intersection point CP and the moving speed of the first moving body 1 detected by the vehicle speed sensor 20. Furthermore, if the contact prediction determination unit 103 determines that the straight-line path of the second moving body 2 intersects with the straight-line path of the first moving body 1, it calculates the travel time for the second moving body 2 to the intersection point CP. This calculation is performed by referring to the map shown in the map data 122, and is based on the distance from the current position of the second moving body 2 to the intersection point CP, and the speed of the second moving body 2.

[0040] The contact prediction determination unit 103 determines that if the difference between the key point time of the first moving body 1 and the key point time of the second moving body 2 is within a predetermined time, contact between the second moving body 2 and the first moving body 1 is predicted. If the difference exceeds the predetermined time, it determines that contact between the second moving body 2 and the first moving body 1 is not predicted.

[0041] [2-4. First Grace Period Recognition Unit] The first grace period recognition unit 104 recognizes the first grace period for each second moving body 2 that is determined to be likely to make contact with the first moving body 1. The first grace period is the time from when the second moving body 2 becomes visible from the first moving body 1 until the first moving body 1 and the second moving body 2 make contact.

[0042] The first grace period recognition unit 104 of this embodiment recognizes the first grace period by calculating it. Now, referring to Figure 3, we will explain how to calculate the first grace period. Figure 3 is a diagram illustrating the calculation of the first grace period.

[0043] Figure 3 illustrates the case where the first moving object 1 is moving to the left in the figure along road R1, which extends horizontally in the figure. Figure 3 also illustrates the case where the second moving object 2 is moving upwards in the figure along road R2, which extends vertically in the figure. In Figure 3, black circles indicate intersection points CP.

[0044] The first grace period recognition unit 104 calculates the first grace period using the following equations (1) to (2).

[0045] T=((Dv+w+a1) / r+Db+a2) / V1...(1) r = V2 / V1...(2) In equation (1), "T" represents the first grace period. In equation (1), "Dv" represents the distance from the first mobile body 1 to the sidewalk located to the left of the first mobile body 1. Furthermore, in equation (1), "w" represents the width of the sidewalk located to the left of the first moving body 1. In equation (1), "a1" represents the distance from building BL to road R1 on which the first mobile body 1 travels. Furthermore, in equation (1), "Db" represents the distance from the second mobile body 2 to the rightmost edge of the road R2 on which the second mobile body 2 travels. Furthermore, in equation (1), "a2" represents the distance from building BL to road R2 on which the second mobile body 2 travels. Furthermore, in equations (1) and (2), "V1" represents the speed of movement of the first mobile body 1. Furthermore, in equation (2), "V2" represents the speed of movement of the second mobile body 2.

[0046] Note that equation (1) is derived based on equations (3) to (7). L1 = T × V1 - (a² + Db) ... (3) L2 = a1 + w + Dv ... (4) L3 = a² + Db ···(5) L4=T×V1×r-(a1+w+Dv)···(6) L1:L2=L3:L4···(7)

[0047] The first grace period recognition unit 104 refers to the map data 122 and identifies the building BL that is located within a predetermined range of the intersection point CP, to the left of the first moving body 1, to the right of the second moving body 2, and is closest to the intersection point CP. If the first grace period recognition unit 104 cannot identify building BL, it calculates "T" in equation (1) as infinity. In other words, in this case, the first grace period recognition unit 104 recognizes the first grace period as infinity.

[0048] On the other hand, if the first grace period recognition unit 104 can identify building BL, it refers to the shape of building BL included in the map data 122 and identifies the position (hereinafter denoted as "I1" and referred to as the first position I1) in the identified building BL where the distance between the first moving body 1 and the road R1 on which it is moving is smallest. In the case of Figure 3, the first grace period recognition unit 104 identifies the position on line segment LS1 as the first position I1. Next, the first grace period recognition unit 104 calculates the first distance. The first distance is the distance in a direction perpendicular to the direction in which road R1 extends, and is the distance between the identified first position I1 and road R1. Then, the first grace period recognition unit 104 substitutes the calculated first distance into "a1" in equation (1).

[0049] Furthermore, if the first grace period recognition unit 104 can identify building BL, it refers to the shape of building BL included in the map data 122 and identifies the position in the identified building BL where the distance between the second moving body 2 and the road R2 on which it is moving is smallest (hereinafter, this position is denoted as "I2" and referred to as the second position I2). In the case of Figure 3, the first grace period recognition unit 104 identifies the position on the line segment LS2 as the second position I2. Next, the first grace period recognition unit 104 calculates the second distance. The second distance is the distance in a direction perpendicular to the direction in which road R2 extends, and is the distance between the identified second position I2 and road R2. Then, the first grace period recognition unit 104 substitutes the calculated second distance into "a2".

[0050] Furthermore, if the first grace period recognition unit 104 can identify building BL, it refers to map data 122 and calculates a third distance. The third distance is the distance in a direction perpendicular to the direction in which road R1 extends, and is the distance from the left end of road R1 to the current position of the first moving body 1, based on the direction of movement of the first moving body 1. The first grace period recognition unit 104 then substitutes the calculated third distance into "Dv + w" in equation (1). Alternatively, the first grace period recognition unit 104 may calculate "Dv" and "w" separately and substitute them into equation (1).

[0051] Furthermore, if the first grace period recognition unit 104 can identify building BL, it refers to map data 122 and calculates the fourth distance. The fourth distance is the distance in a direction perpendicular to the direction in which road R2 extends, and is the distance from the right end of road R2 to the current position of the second moving body 2, with respect to the direction of movement of the second moving body 2. The first grace period recognition unit 104 then substitutes the calculated fourth distance into "Db" in equation (1).

[0052] Furthermore, if the first grace period recognition unit 104 can identify building BL, it substitutes the moving speed of the first mobile body 1 detected by the vehicle speed sensor 20 into "V1" in equations (1) and (2). In addition, when calculating the first grace period, the first grace period recognition unit 104 substitutes the moving speed of the first mobile body 1 that was most recently detected into equations (1) and (2).

[0053] Furthermore, if the first grace period recognition unit 104 can identify building BL, it substitutes the received speed of the second mobile body 2 into "V2" in equation (2). Note that when calculating the second grace period, the first grace period recognition unit 104 substitutes the most recently received speed of the second mobile body 2 into equation (2).

[0054] The first grace period recognition unit 104 then calculates T using equations (1) and (2), and recognizes the calculated T as the first grace period. This allows the first grace period recognition unit 104 to determine the first grace period from the point in time when the second mobile body 2 becomes visible from the first mobile body 1 until the first mobile body 1 and the second mobile body 2 make contact.

[0055] [2-6. Second Grace Period Recognition Unit] The second grace period recognition unit 105 recognizes a second grace period for each second mobile body 2 that is determined to be likely to come into contact with the first mobile body 1. The second grace period indicates the time from the present until the first mobile body 1 and the second mobile body 2 come into contact.

[0056] The second grace period recognition unit 105 of this embodiment recognizes the second grace period by calculating it. For example, the second grace period recognition unit 105 refers to the map shown in the map data 122 and identifies the intersection point CP based on the current position of the first moving object 1, the direction of movement of the first moving object 1, the current position of the second moving object 2, and the direction of movement of the second moving object 2. Next, the second grace period recognition unit 105 refers to the map shown in the map data 122 and calculates the distance from the current position of the first moving object 1 to the intersection point CP. Then, the second grace period recognition unit 105 calculates the second grace period by dividing the calculated distance to the intersection point CP by the speed of movement of the first moving object 1 most recently detected by the vehicle speed sensor 20.

[0057] The method for calculating the second grace period is not limited to the example above. For example, the second grace period may be calculated using existing technology based on the current position of the first mobile body 1, the speed of the first mobile body 1, the current position of the second mobile body 2, and the speed of the second mobile body.

[0058] [2-7. Cognitive judgment section] If the recognition determination unit 106 determines that contact with the first mobile body 1 is predicted, it determines whether or not the occupant P of the first mobile body 1 is aware of the second mobile body 2. The following are several examples of the judgment methods of the cognitive judgment unit 106.

[0059] [2-7-1. First judgment method] In the first determination method, the cognitive determination unit 106 makes a determination based on whether or not the occupant P performs a deceleration operation on the first moving body 1.

[0060] For example, the recognition determination unit 106 determines whether or not the brake pedal has been operated based on the value detected by the brake pedal sensor 22. If the recognition determination unit 106 determines that the brake pedal has been operated, it determines that the occupant P has decelerated the first mobile body 1 and that the occupant P has recognized the second mobile body 2. On the other hand, if the recognition determination unit 106 determines that the brake pedal has not been operated, it determines that the occupant P has not decelerated the first mobile body 1 and that the occupant P has not recognized the second mobile body 2.

[0061] Furthermore, for example, the recognition determination unit 106 determines whether the speed of the first moving object 1 has fallen below a predetermined value based on the detected value output by the vehicle speed sensor 20. If the recognition determination unit 106 determines that the speed of the first moving object 1 has fallen below a predetermined value, it determines that the occupant P has performed a deceleration operation on the first moving object 1 and that the occupant P has recognized the second moving object 2. On the other hand, if the recognition determination unit 106 determines that the speed of the first moving object 1 has not fallen below a predetermined value, it determines that the occupant P has not performed a deceleration operation on the first moving object 1 and that the occupant P has not recognized the second moving object 2. Furthermore, for example, the recognition determination unit 106 determines that a deceleration operation has occurred if the absolute value of the acceleration in the deceleration direction is greater than or equal to a predetermined value, based on the detected value of an acceleration sensor (not shown), and determines that there is no deceleration operation otherwise.

[0062] [2-7-2.Second judgment method] In the second determination method, the recognition determination unit 106 makes a determination based on the direction of the occupant P's gaze. The recognition determination unit 106 detects the direction of the driver's gaze. The recognition determination unit 106 detects the direction of the driver's gaze based on the image data of the driver's captured image. The recognition determination unit 106 detects the driver's eyes from the driver's captured image using pattern matching, color, etc., and determines the direction the detected eyes are facing as the direction of the gaze. The data necessary for eye detection (data on the shape of the eyes and color data) is stored in the memory 120. The recognition determination unit 106 then determines that occupant P has recognized the second moving object 2 if the detected direction of the gaze is the direction of the second moving object 2 relative to the first moving object 1. On the other hand, the recognition determination unit 106 determines that occupant P has not recognized the second moving object 2 if the detected direction of the gaze is not the direction of the second moving object 2 relative to the first moving object 1. Furthermore, the recognition and determination unit 106 determines the relative position and relative direction of the second mobile object 2 with respect to the first mobile object 1 based on the map data 122, the current position of the first mobile object 1, and the received current position of the second mobile object 2.

[0063] As described above, the judgment methods of the cognitive judgment unit 106 have been illustrated. The cognitive judgment unit 106 may make a judgment using either the first judgment method or the second judgment method, or it may make a judgment using both the first and second judgment methods.

[0064] [2-8. Notification Department] The notification unit 107 notifies that there is a risk of the first mobile body 1 and the second mobile body 2 coming into contact. In this embodiment, the notification unit 107 notifies via the speaker 14. For example, the notification unit 107 notifies that there is a risk of the first mobile body 1 and the second mobile body 2 coming into contact by outputting a warning sound via the speaker 14. Alternatively, for example, the notification unit 107 notifies that there is a risk of the first mobile body 1 and the second mobile body 2 coming into contact by outputting an audio message such as "There is a risk of contact" via the speaker 14.

[0065] The notification unit 107 may also notify the user that there is a risk of contact between the first moving object 1 and the second moving object 2 by displaying information on the touch panel 13. In this case, the notification unit 107 may, for example, display the string "Please pay attention ahead, there is a risk of contact" or the string "Risk of contact, pay attention ahead!!!" on the touch panel 13.

[0066] [3. Operation of the notification device] Next, the operation of the notification device 19 according to this embodiment will be described. Figure 4 is a flowchart showing the operation of the notification device 19.

[0067] The contact prediction determination unit 103 determines whether or not contact between the first moving body 1 and the second moving body 2 is predicted (step S1).

[0068] Next, the first grace period recognition unit 104 determines whether or not contact was predicted in step S1 (step S2).

[0069] If it is determined that contact is not predicted (step S2: NO), the processor 100 terminates this process.

[0070] On the other hand, if it is determined that contact is predicted (step S2: YES), the first grace period recognition unit 104 recognizes the first grace period (step S3).

[0071] Next, the second grace period recognition unit 105 recognizes the second grace period (step S4).

[0072] Next, the notification unit 107 determines whether the second grace period recognized in step S4 is greater than a predetermined time (step S5). While 7 seconds is an example of this predetermined time, the predetermined time compared with the second grace period is not limited to 7 seconds; it may be shorter or longer than 7 seconds.

[0073] If the notification unit 107 determines that the second grace period is greater than the predetermined time (step S5: YES), it determines whether the second grace period recognized in step S4 is greater than the first grace period recognized in step S3 (step S6).

[0074] If the notification unit 107 determines that the second grace period is longer than the first grace period (step S6: YES), it does not notify that there is a risk of the first moving body 1 and the second moving body 2 coming into contact (step S7). Furthermore, the situation in step S7 is that the second grace period is longer than the predetermined time, and the second mobile object 2 is not visible from the first mobile object 1.

[0075] On the other hand, if the notification unit 107 determines that the second grace period is less than or equal to the first grace period (step S6: NO), it notifies that there is a risk of the first moving body 1 and the second moving body 2 coming into contact, based on the first notification intensity (step S8). Furthermore, the situation in step S8 is such that the second grace period is longer than the predetermined time, and the second mobile object 2 is visible from the first mobile object 1.

[0076] The first notification intensity refers to the strength with which the recipient perceives the seriousness of the notification, and this intensity is lower than that of the second notification intensity. For example, when the notification unit 107 makes a notification via the speaker 14, the volume of a notification with the first notification intensity is lower than that of a notification with the second notification intensity. Also, for example, when the notification unit 107 makes a notification via the touch panel 13, the font size displayed for a notification with the first notification intensity is smaller than that for a notification with the second notification intensity.

[0077] Returning to the explanation of step S5, if the notification unit 107 determines that the second grace period recognized in step S4 is less than or equal to a predetermined time (step S5: NO), it determines whether the second grace period recognized in step S4 is greater than the first grace period recognized in step S3 (step S9).

[0078] If the notification unit 107 determines that the second grace period is longer than the first grace period (step S9: YES), the recognition determination unit 106 determines whether or not the occupant P has recognized the second mobile object 2 (step S10). In step S9, the conditions for a positive determination are that the second grace period is less than or equal to the predetermined time, and the second mobile object 2 is not visible from the first mobile object 1.

[0079] Next, the notification unit 107 determines whether or not it was determined to have been recognized in step S10 (step S11).

[0080] If the notification unit 107 determines that it has recognized the object in step S10 (step S11: YES), it does not notify that there is a risk of the first moving object 1 and the second moving object 2 coming into contact (step S12).

[0081] On the other hand, if the notification unit 107 determines that it has not been determined to have recognized the object in step S10 (step S11: NO), it notifies that there is a risk of the first moving object 1 and the second moving object 2 coming into contact, based on the first notification intensity (step S13).

[0082] Returning to the explanation of step S9, if the notification unit 107 determines that the second grace period is less than or equal to the first grace period (step S9: NO), the recognition determination unit 106 determines whether or not the occupant P has recognized the second mobile object 2 (step S14). In step S9, the conditions for a positive determination are that the second grace period is less than or equal to the predetermined time, and the second mobile object 2 is visible from the first mobile object 1.

[0083] Next, the notification unit 107 determines whether or not it was determined to have been recognized in step S14 (step S15).

[0084] If the notification unit 107 determines that it has been recognized in step S14 (step S15: YES), it notifies that there is a risk of the first moving body 1 and the second moving body 2 coming into contact, based on the first notification intensity (step S16).

[0085] On the other hand, if the notification unit 107 determines that it has not been determined to have recognized the object in step S14 (step S15: NO), it notifies that there is a risk of the first moving object 1 and the second moving object 2 coming into contact, using a second notification intensity (step S17).

[0086] [4. Other Embodiments] The embodiments described above are merely examples and can be modified and applied as needed.

[0087] In other embodiments, the first grace period may be determined based on the height of the building BL and the height of the second mobile body 2. For example, in this other embodiment, if the second mobile body 2 is higher than the building BL, the first grace period is determined as infinite. Also, in this other embodiment, for example, if the height of the building BL is less than or equal to the height of the second mobile body 2, the first grace period is determined as in the embodiments described above. Furthermore, if the map data 122 includes information on the height of the building BL, the first grace period is recognized based on the height of the building BL included in the map data 122. Alternatively, the first grace period is recognized based on the height of the building BL estimated from the front image. In other embodiments, the height of the second mobile body 2 is determined based on the reception by the V2X communication device 17. For example, if the V2X communication device 17 receives information relating to the second mobile body 2 via pedestrian-to-pedestrian communication, and the second mobile body 2 is assumed to be a pedestrian 2A or a bicycle 2B, the first grace period is calculated based on a predetermined height of the second mobile body 2. Also, for example, if the V2X communication device 17 receives information relating to the second mobile body 2 via vehicle-to-vehicle communication, and the second mobile body 2 is assumed to be another vehicle 2A, the first grace period is calculated based on a predetermined height of the second mobile body 2 for each type of other vehicle 2A. The type of other vehicle 2A is received by the first mobile body 1 along with the information relating to the second mobile body 2 via vehicle-to-vehicle communication.

[0088] In the embodiment described above, the first grace period recognition unit 104 recognizes the first grace period by calculation. In another embodiment, the first grace period recognition unit 104 may recognize the first grace period by obtaining it from the server device 3. In this other embodiment, the second communication control unit 102 transmits the current position of the first mobile body 1, the movement speed of the first mobile body 1, the movement direction of the first mobile body 1, the current position of the second mobile body 2, the movement speed of the second mobile body 2, and the movement direction of the second mobile body 2 to the server device 3. In this other embodiment, the server device 3 then determines the first grace period based on the information received from the first mobile body 1 and transmits the determined first grace period to the first mobile body 1.

[0089] In the embodiment described above, the second grace period recognition unit 105 recognizes the second grace period by calculation. In other embodiments, the second grace period recognition unit 105 may recognize the second grace period by obtaining it from the server device 3. In this other embodiment, the second communication control unit 102 transmits the current position of the first mobile body 1, the movement speed of the first mobile body 1, the movement direction of the first mobile body 1, the current position of the second mobile body 2, the movement speed of the second mobile body 2, and the movement direction of the second mobile body 2 to the server device 3. In this other embodiment, the server device 3 then determines the second grace period based on the information received from the first mobile body 1 and transmits the determined second grace period to the first mobile body 1.

[0090] In the embodiment described above, the notification unit 107 is configured to provide notification by sound output or display. In other embodiments, the notification unit 107 may provide notification by other means. For example, the notification unit 107 may provide notification by vibrating the seat belt worn by the driver. In other embodiments, the notification unit 107 may provide notification by combining multiple methods. For example, the notification unit 107 may provide notification by sound output and seat belt vibration.

[0091] In the embodiment described above, the notification unit 107 is configured to change the notification manner by changing the notification intensity. In other embodiments, the notification unit 107 may also change the notification manner by turning notifications on or off, or by changing the notification method (for example, changing from sound output to display).

[0092] In other embodiments, at least one of the contact prediction determination unit 103, the first grace period recognition unit 104, the second grace period recognition unit 105, and the recognition determination unit 106 may be executed as a function of the processor of the server device 3 connected to the network NW. When at least one of the contact prediction determination unit 103, the first grace period recognition unit 104, and the second grace period recognition unit 105 functions as the processor of the server device 3, the first mobile body 1 transmits to the server device 3 the current position of the first mobile body 1, the speed of the first mobile body 1, the direction of the first mobile body 1, the current position of the second mobile body 2, the speed of the second mobile body 2, and the direction of the second mobile body 2. Also, when the recognition determination unit 106 functions as the processor of the server device 3, the first mobile body 1 transmits to the server device 3 the detected value of the vehicle speed sensor 20, the detected value of the brake pedal sensor 22, and image data of the driver image, etc.

[0093] In other embodiments, the processing of the V2X communication device 17 may be performed by a mobile terminal brought into the vehicle 1. In this case, the mobile terminal brought into the vehicle 1 receives the current position of the second mobile body 2, the speed of the second mobile body 2, and the direction of movement of the second mobile body 2 from a server or the like. In another embodiment, the processing of the TCU 18 may be performed by a mobile terminal brought into the vehicle 1. In this case, the mobile terminal brought into the vehicle 1 obtains the current position of the first mobile body 1, the speed of the first mobile body 1, the direction of the first mobile body 1, the current position of the second mobile body 2, the speed of the second mobile body 2, and the direction of the second mobile body 2 from the notification device 19 and transmits them to the server device 3. In another embodiment, the processing of the notification device 19 may be performed by a mobile terminal brought into the vehicle 1. In this other embodiment, the mobile terminal realizes the function of the recognition determination unit 106 by acquiring information from the vehicle 1 (such as the speed of the vehicle 1 and the direction of the occupant P's gaze). In this other embodiment, the mobile terminal acquires information from the vehicle 1 by communicating with the vehicle 1 via wired or wireless means.

[0094] The processor 100 may consist of multiple processors or a single processor. The processor 100 may also be hardware programmed to implement the functions described above. In this case, the processor 100 may consist of, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0095] Furthermore, the internal configuration of the first mobile body 1 shown in Figure 2 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 have a configuration in which a single processor executes a program to realize the functions of each part. Also, in the above-described embodiment, some of the functions realized by software may be implemented as hardware, or conversely, some of the functions realized by hardware may be realized by software.

[0096] Furthermore, the operation steps shown in Figure 4 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.

[0097] Furthermore, when the notification method by the notification device 19 described above is implemented using the processor 100, the program to be executed by the processor 100 can be configured as a recording medium or a transmission medium for transmitting this program. In other words, the control program 121 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.

[0098] [5. Configurations supported by the above embodiment] The above embodiment supports the following configuration:

[0099] (Composition 1) A notification device comprising: a first grace period recognition unit that recognizes a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact, when contact between the first moving body and the second moving body is predicted to occur; and a notification unit that notifies the occupant of the first moving body that there is a risk of contact between the first moving body and the second moving body, wherein the notification unit changes the notification mode based on the first grace period.

[0100] According to the notification device of Configuration 1, the notification method can be changed considering the time from when the second moving object becomes visible until contact with the second moving object. Therefore, it is possible to prevent the change in the notification method from being too early or too late in relation to the timing when the second moving object becomes visible, and the notification method can be changed appropriately when a change in the notification method is necessary. Thus, it is possible to appropriately notify of the risk of contact with another moving object.

[0101] (Configuration 2) The notification device according to configuration 1, wherein the first grace period is a time based on a map of the area surrounding the first mobile body including the shape of a building, the position of the first mobile body, and the position of the second mobile body.

[0102] According to the notification device of configuration 2, by using a map including the shape of the building, the position of the first moving object, and the position of the second moving object, a first grace period can be determined, making it possible to accurately grasp the timing when visibility becomes possible. Therefore, it is possible to more appropriately notify of the risk of contact with other moving objects.

[0103] (Composition 3) The notification device according to configuration 1 or configuration 2, comprising a second grace period recognition unit that recognizes a second grace period from the present until the first and second moving bodies come into contact when contact between the first and second moving bodies is predicted, and the notification unit changes the notification mode based on the relative magnitudes of the first grace period and the second grace period.

[0104] According to the notification device of configuration 3, the notification method can be changed based on the relative magnitudes of the first and second grace periods, depending on whether the second moving object is visible when contact with another moving object is imminent. Therefore, it is possible to more appropriately notify the user of the risk of contact with another moving object.

[0105] (Composition 4) The notification device according to configuration 3, wherein the notification unit notifies, with a first notification intensity, that there is a risk of the first moving body and the second moving body coming into contact if the second grace period is shorter than the first grace period, and notifies, with a second notification intensity stronger than the first notification intensity, that there is a risk of the first moving body and the second moving body coming into contact if the second grace period is longer than or equal to the first grace period.

[0106] According to the notification device of configuration 4, by issuing a strong notification before the object becomes visible, the occupants can be aware of the notification even before it becomes visible. Therefore, it is possible to prevent the occupants of the first mobile object from being surprised or annoyed by notifications issued after the object becomes visible.

[0107] (Composition 5) A notification device according to any one of configurations 1 to 4, comprising a recognition determination unit that determines whether or not the occupant has recognized the second moving object, and a notification unit that changes the notification mode based on the determination result of the recognition determination unit.

[0108] The notification device of configuration 5 can prevent notifications from being sent in the same manner even when the occupants of the first mobile body are aware of the second mobile body. Therefore, it can prevent the occupants of the first mobile body from feeling annoyed by the notifications.

[0109] (Composition 6) The notification device according to configuration 5, wherein the notification unit notifies, with a first notification intensity, that there is a risk of the first moving body and the second moving body coming into contact when the recognition determination unit determines that the occupant has recognized the second moving body, and notifies, with a second notification intensity stronger than the first notification intensity, that there is a risk of the first moving body and the second moving body coming into contact when the recognition determination unit determines that the occupant has not recognized the second moving body.

[0110] According to the notification device of configuration 6, if it is determined that the occupant of the first mobile body has recognized the second mobile body, the notification intensity is lower than when it is determined that the occupant has not recognized the second mobile body, and the occupant is notified that there is a risk of contact with another mobile body. Therefore, it is possible to suppress the sending of a strong notification intensity even when the occupant of the first mobile body has recognized the second mobile body. Therefore, it is possible to further suppress the occupant of the first mobile body from feeling annoyed by the notification.

[0111] (Composition 7) The recognition determination unit makes a determination based on whether or not the occupant performs a deceleration operation on the first moving body, as described in configuration 5 or 6 of the notification device.

[0112] According to the notification device of configuration 7, if the occupant of the first mobile body perceives the second mobile body, there is a high probability that the first mobile body will be decelerated. Therefore, it is possible to accurately determine whether or not the occupant of the first mobile body has perceived the second mobile body.

[0113] (Composition 8) The recognition determination unit is a notification device according to any one of configurations 5 to 6, which makes a determination based on the direction of the occupant's gaze.

[0114] According to the notification device of configuration 8, if the occupant of the first mobile body perceives the second mobile body, there is a high probability that the occupant's gaze is directed toward the second mobile body. Therefore, by making a determination based on the direction of the occupant's gaze, it is possible to accurately determine whether or not the occupant of the first mobile body has perceived the second mobile body.

[0115] (Composition 9) The notification device according to any one of configurations 1 to 8, wherein the first grace period is a time based on the relationship between the height of the building and the height of the second moving body.

[0116] According to the notification device of configuration 9, if the second moving object is visible regardless of the height of the building, the first grace period can be recognized as being visible regardless of the height of the building. Therefore, it is possible to prevent unnecessary changes in the notification method.

[0117] (Composition 10) A notification method by a notification device, comprising the steps of: recognizing a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact, when contact between the first moving body and a second moving body present in the vicinity of the first moving body is predicted; and notifying the occupant of the first moving body that there is a risk of contact between the first moving body and the second moving body, wherein the notification step changes the notification mode based on the first grace period.

[0118] The notification method of configuration 10 has the same effect as the notification device of configuration 1.

[0119] (Composition 11) A notification system comprising: a first grace period recognition unit that recognizes a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact, when contact between the first moving body and the second moving body is predicted to occur; and a notification unit that notifies the occupant of the first moving body that there is a risk of contact between the first moving body and the second moving body, wherein the notification unit changes its notification mode based on the first grace period.

[0120] The notification system of configuration 11 has the same effect as the notification device of configuration 1. [Explanation of Symbols]

[0121] 1...First mobile unit, 2...Second mobile unit, 2A...Other vehicle, 2B...Bicycle, 2C...Pedestrian, 3...Server device, 10A...Driver's seat, 10B...Passenger seat, 10C...Rear right seat, 10D...Rear left seat, 12...Dashboard, 13...Touch panel, 14...Speaker, 15...Driver monitoring camera, 16...Front camera, 17...V2X communication device, 18...TCU, 19...Notification device, 20...Vehicle speed sensor, 21...GNSS unit, 22...Brake pedal sensor, 23... Direction sensor, 100... Processor, 101... First communication control unit, 102... Second communication control unit, 103... Contact prediction determination unit, 104... First grace period recognition unit, 105... Second grace period recognition unit, 106... Recognition determination unit, 107... Notification unit, 120... Memory, 121... Control program, 122... Map data, 1000... Notification system, BL... Building, CP... Intersection, HD... Head, LS1... Line segment, LS2... Line segment, NW... Network, P... Occupant, R1... Road, R2... Road.

Claims

1. When contact between a first moving body and a second moving body located in the vicinity of the first moving body is predicted, a first grace period recognition unit recognizes a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact. The system includes a notification unit that notifies the occupant of the first mobile body that there is a risk of the first mobile body and the second mobile body coming into contact, The notification unit changes the notification method based on the first grace period. Notification device.

2. The first grace period is a time based on a map of the area surrounding the first mobile body, including the shape of the building, the position of the first mobile body, and the position of the second mobile body. The notification device according to claim 1.

3. The system includes a second grace period recognition unit that recognizes a second grace period from the present until the first and second moving bodies come into contact, when contact between the first and second moving bodies is predicted. The notification unit changes the notification mode based on the relationship between the first grace period and the second grace period. The notification device according to claim 1 or 2.

4. The aforementioned notification unit, If the second grace period is shorter than the first grace period, a first notification intensity is used to notify that there is a risk of the first moving body and the second moving body coming into contact. If the two grace periods are equal to or greater than the first grace period, a second notification intensity stronger than the first notification intensity will be used to notify that there is a risk of the first moving body and the second moving body coming into contact. The notification device according to claim 3.

5. The system includes a recognition determination unit that determines whether or not the occupant has recognized the second moving object, The notification unit changes the notification method based on the determination result of the recognition determination unit. The notification device according to claim 1 or 2.

6. The aforementioned notification unit, If the recognition determination unit determines that the occupant has recognized the second moving body, it notifies the occupant at a first notification intensity that there is a risk of contact between the first moving body and the second moving body. If the recognition determination unit determines that the occupant is not aware of the second moving object, it notifies the occupant that there is a risk of contact between the first moving object and the second moving object with a second notification intensity stronger than the first notification intensity. The notification device according to claim 5.

7. The recognition determination unit makes a determination based on whether or not the occupant performs a deceleration operation on the first moving body. The notification device according to claim 5.

8. The recognition determination unit makes a determination based on the direction of the occupant's line of sight. The notification device according to claim 5.

9. The first grace period is a time based on the relationship between the height of the building and the height of the second moving body. The notification device according to claim 2.

10. A notification method using a notification device, When contact between a first moving body and a second moving body located in the vicinity of the first moving body is predicted, the steps include: recognizing a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact; The procedure includes the step of notifying the occupant of the first mobile body that there is a risk of the first mobile body and the second mobile body coming into contact, The notification step involves changing the notification method based on the first grace period. Notification method.

11. When contact between a first moving body and a second moving body located in the vicinity of the first moving body is predicted, a first grace period recognition unit recognizes a first grace period from when the second moving body becomes visible from the first moving body until the first moving body and the second moving body make contact. The system includes a notification unit that notifies the occupant of the first mobile body that there is a risk of the first mobile body and the second mobile body coming into contact, The notification unit changes the notification method based on the first grace period. Notification system.

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