Notification device and notification method

Abstract

This design helps to suppress discomfort and confusion among crew members when multiple targets are detected simultaneously. [Solution] The notification device comprises a forward target detection unit for detecting forward targets, a rear target detection unit for detecting rear targets, a side target detection unit for detecting side targets, and a control unit that performs notification processing when the detected targets satisfy notification conditions. The control unit sets the direction of travel of the vehicle as the direction of travel region and sets areas other than the direction of travel region as the opposite direction of travel region. When the direction of travel is forward, it treats forward targets as forward-direction targets located in the direction of travel region, and rear targets and side targets as opposite-direction targets. When specific conditions are met during the vehicle's travel that allow the detection of both forward-direction targets and opposite-direction targets, the control unit sets a priority based on the relative positional relationship between the forward-direction targets and opposite-direction targets with respect to the vehicle, and performs notification processing according to the priority.

Description

[Technical Field]

[0001] The present disclosure relates to a notification device and a notification method, and more particularly to a technology for notifying an occupant of a host vehicle of a warning when a surrounding target approaches the host vehicle. [Background Art]

[0002] For example, Patent Document 1 discloses a technology in which when a first target existing within a predetermined distance range from a host vehicle and a second target approaching the host vehicle from outside the predetermined distance range are detected at the same time, the driver of the host vehicle is notified of the presence of a target detected at a later timing among the first target and the second target. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2024-143293 [Summary of the Invention]

[0004] In recent years, it has become possible to detect targets existing not only in front of and behind the host vehicle, but also on the sides of the host vehicle. For this reason, it is assumed that a plurality of targets approaching the host vehicle can be simultaneously detected from multiple directions. In such a case, if a plurality of warning sounds are emitted at the same time, there is a possibility that the occupant of the host vehicle may feel uncomfortable or be confused. Therefore, when a plurality of targets approaching from multiple directions are detected at the same time, it is desirable to issue warnings in accordance with an appropriate priority order.

[0005] The technology of the present disclosure has been made in view of the above circumstances, and an object thereof is to realize a warning notification that can effectively suppress discomfort and confusion of an occupant when a plurality of targets approaching from multiple directions are detected at the same time.

[0006] The technology of the present disclosure is A warning device comprising: a forward object detection unit for detecting forward objects within a predetermined range in front of the vehicle; a rear object detection unit for detecting rear objects within a predetermined range behind the vehicle; a side object detection unit for detecting side objects within a predetermined range to the left and right sides of the vehicle; and a control unit that performs a warning process to alert the occupants of the vehicle when an object detected by at least one of the forward object detection unit, the rear object detection unit, and the side object detection unit satisfies predetermined notification conditions, The control unit, The predetermined area in the direction of travel of the vehicle is set as the direction of travel area, and the predetermined area around the vehicle other than the direction of travel area is set as the counter-direction of travel area. When the direction of travel is forward, the forward target detected by the forward target detection unit is treated as a target in the direction of travel that exists in the direction of travel region, and the rear target detected by the rear target detection unit and the side target detected by the side target detection unit are treated as targets in the opposite direction of travel that exist in the opposite direction of travel region. When the direction of travel is rearward, the rearward target detected by the rearward target detection unit is treated as a target in the direction of travel within the direction of travel region, and the forward target detected by the forward target detection unit and the side target detected by the side target detection unit are treated as targets in the opposite direction of travel within the opposite direction of travel region. If specific conditions are met during the vehicle's movement that cause the detection of the forward-direction target and the counter-direction target, a priority is set based on the relative positional relationship between the forward-direction target and the counter-direction target with respect to the vehicle, and the notification process is executed targeting the forward-direction target or the counter-direction target according to the set priority. It is characterized by the following: [Brief explanation of the drawing]

[0007] [Figure 1] This is a schematic diagram showing the hardware configuration of the vehicle according to this embodiment. [Figure 2] This is a schematic diagram showing the software configuration of the control device according to this embodiment. [Figure 3] This is a schematic diagram illustrating a specific example of the priority setting process according to this embodiment. [Figure 4] This is a schematic diagram illustrating a specific example of the priority setting process according to this embodiment. [Figure 5] This is a schematic diagram illustrating a specific example of the priority setting process according to this embodiment. [Figure 6] This flowchart illustrates the routines for priority setting and notification processing according to this embodiment. [Modes for carrying out the invention]

[0008] The notification device and notification method according to this embodiment will be described below with reference to the drawings.

[0009] [Hardware configuration] Figure 1 is a schematic diagram showing the hardware configuration of vehicle VH according to this embodiment. Hereinafter, vehicle VH may be referred to as "our vehicle" when it is necessary to distinguish it from other vehicles, etc.

[0010] Vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, ROM (Read Only Memory) 12, RAM (Random Access Memory) 13, and an interface device 14, etc. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data necessary for the CPU 11 to execute various programs. The RAM 13 is a volatile memory that provides a work area that is expanded when various programs are executed by the CPU 11. The interface device 14 is a communication device for communicating with external devices.

[0011] The ECU10 is a central device that provides driving assistance such as notification control. Driving assistance is a concept that includes autonomous driving. The ECU10 is connected to the drive unit 20, steering unit 21, braking unit 22, transmission unit 23, internal sensor device 30, external sensor device 40, HMI (Human Machine Interface) 60, etc., in a communication manner.

[0012] The drive unit 20 generates driving force to be transmitted to the drive wheels of the vehicle VH. Examples of the drive unit 20 include an electric motor and an engine. The steering unit 21 applies steering force to the wheels of the vehicle VH. The braking unit 22 applies braking force to the wheels of the vehicle VH. The transmission unit 23 transmits the rotational power output from the drive unit 20 to the drive wheels at a predetermined gear ratio.

[0013] The internal sensor device 30 consists of sensors that detect the state of the vehicle's vehicle speed (VH). The internal sensor device 30 includes, for example, a vehicle speed sensor 31, an accelerator sensor 32, a brake sensor 33, a steering angle sensor 34, a shift sensor 35, and the like. The internal sensor device 30 repeatedly transmits the state of the vehicle's VH detected by each of the sensors 31 to 35 to the ECU 10 at a predetermined interval.

[0014] The vehicle speed sensor 31 detects the vehicle speed (hereinafter referred to as vehicle speed) of the vehicle VH. The accelerator sensor 32 detects the amount of accelerator pedal operation by the driver (not shown). The brake sensor 33 detects the amount of brake pedal operation by the driver (not shown). The steering angle sensor 34 detects the rotation angle of the steering wheel or steering shaft of the vehicle VH, i.e., the steering angle (not shown). The shift sensor 35 detects the shift position of the transmission 23 (parking P, reverse R, neutral N, drive D, etc.).

[0015] The external sensor device 40 is a set of sensors that acquire object information about objects present around the vehicle VH (hereinafter referred to as "surrounding objects"). The external sensor device 40 includes, for example, a camera sensor 41, a radar sensor 42, a sonar sensor 43, etc. Here, surrounding objects include, for example, moving objects such as other vehicles and pedestrians, and stationary objects such as walls and poles. The external sensor device 40 repeatedly transmits the acquired object information of surrounding objects to the ECU 10 at a predetermined interval.

[0016] The camera sensor 41 can be, for example, a stereo camera or a monocular camera, and a digital camera having an image sensor such as a CMOS or CCD can be used. The camera sensor 41 takes pictures of the area around the vehicle VH and processes the captured image data to acquire target information of surrounding targets. The target information represents information such as the type of surrounding target, the relative distance between the vehicle VH and the surrounding target, and the relative speed between the vehicle VH and the surrounding target. The type of surrounding target can be recognized, for example, by machine learning such as pattern matching.

[0017] In this embodiment, the camera sensor 41 includes, for example, a front camera sensor, a rear camera sensor, a left-side camera sensor, and a right-side camera sensor. The front camera sensor detects surrounding objects (e.g., moving objects in front) that are located within a predetermined range in front of the vehicle VH. The rear camera sensor detects surrounding objects (e.g., moving objects behind) that are located within a predetermined range behind the vehicle VH. The left-side camera sensor detects surrounding objects (e.g., moving objects to the left) that are located within a predetermined range to the left of the vehicle VH. The right-side camera sensor detects surrounding objects (e.g., moving objects to the right) that are located within a predetermined range to the right of the vehicle VH.

[0018] The radar sensor 42 includes a millimeter-wave radar and / or a lidar. The millimeter-wave radar emits millimeter-wave radio waves (millimeter waves) and receives millimeter waves (reflected waves) reflected by surrounding targets within its radiation range. The millimeter-wave radar acquires the relative distance between the vehicle VH and the surrounding targets, the relative speed between the vehicle VH and the surrounding targets, etc., based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from the transmission of the millimeter waves to the reception of the reflected waves. The lidar sequentially scans pulsed laser light with a wavelength shorter than millimeter waves in multiple directions and receives the reflected light reflected by targets to acquire the shape of the surrounding targets, the relative distance between the vehicle VH and the surrounding targets, the relative speed between the vehicle VH and the surrounding targets, etc.

[0019] In this embodiment, the radar sensor 42 includes, for example, a front radar sensor, a rear radar sensor, a left-side radar sensor, and a right-side radar sensor. The front radar sensor detects surrounding targets (e.g., moving objects in front) located within a predetermined range in front of the vehicle VH. The rear radar sensor detects surrounding targets (e.g., moving objects behind) located within a predetermined range behind the vehicle VH. The left-side radar sensor detects surrounding targets (e.g., moving objects to the left) located within a predetermined range to the left of the vehicle VH. The right-side radar sensor detects surrounding targets (e.g., moving objects to the right) located within a predetermined range to the right of the vehicle VH.

[0020] The sonar sensor 43 emits ultrasonic waves to a predetermined range around the vehicle VH. The sonar sensor 43 receives reflected waves from surrounding targets within the ultrasonic wave emission range and detects the presence or absence of surrounding targets and the distance between the vehicle VH and the surrounding targets based on the time from transmission to reception of the ultrasonic waves. By emitting highly directional ultrasonic waves, the sonar sensor 43 can detect surrounding targets located approximately in front of it.

[0021] In this embodiment, the sonar sensor 43 includes, for example, a front sonar sensor, a rear sonar sensor, a left-side sonar sensor, and a right-side sonar sensor. The front sonar sensor detects surrounding objects (e.g., stationary objects in front) that are within a predetermined range in front of the vehicle VH. The rear sonar sensor detects surrounding objects (e.g., stationary objects in rear) that are within a predetermined range behind the vehicle VH. The left-side sonar sensor detects surrounding objects (e.g., stationary objects on the left side) that are within a predetermined range to the left of the vehicle VH. The right-side sonar sensor detects surrounding objects (e.g., stationary objects on the right side) that are within a predetermined range to the right of the vehicle VH.

[0022] In the following explanation, the front camera sensor, front radar sensor, and front sonar sensor will be collectively referred to as "Front Target Detection Sensor 40A." The rear camera sensor, rear radar sensor, and rear sonar sensor will be collectively referred to as "Rear Target Detection Sensor 40B." The left-side camera sensor, left-side radar sensor, and left-side sonar sensor will be collectively referred to as "Left-side Target Detection Sensor 40C." The right-side camera sensor, right-side radar sensor, and right-side sonar sensor will be collectively referred to as "Right-side Target Detection Sensor 40D."

[0023] The HMI 60 is an interface for inputting and outputting information between the ECU 10 and the occupants (mainly the driver) of the vehicle VH, and includes input and output devices. Examples of input devices include a touch panel, switches, and a voice-gathering microphone. Examples of output devices include a display device 61, a speaker 62, and a buzzer 63. The display device 61 is, for example, a center display, multi-information display, head-up display, or navigation system display installed on the instrument panel. The speaker 62 is, for example, a speaker in an audio system or navigation system.

[0024] [Software Configuration] Figure 2 is a schematic diagram showing the software configuration of the ECU 10 according to this embodiment. As shown in Figure 2, the ECU 10 includes a target recognition unit 100, a notification control unit 110, a priority setting unit 120, and other functional elements. Each of these functional elements 100 to 120 is realized by the CPU 11 of the ECU 10 reading a program stored in the ROM 12 into the RAM 13 and executing it. Note that all or part of each of the functional elements 100 to 120 may be provided in another ECU separate from the ECU 10, or in an information processing device of a facility (such as a management center) that can communicate with the vehicle VH.

[0025] The target recognition unit 100 recognizes surrounding targets present around the vehicle VH based on the detection results of the external sensor device 40. The target recognition unit 100 recognizes, for example, the relative distance between the vehicle VH and the surrounding target, and the direction of the surrounding target relative to the vehicle VH, based on the detection results of the external sensor device 40. The target recognition unit 100 repeatedly transmits the recognition results of the surrounding targets (relative distance, direction, etc.) to the notification unit 110 at a predetermined interval.

[0026] In the following explanation, the right and left directions of the vehicle VH will be referred to as "lateral direction" or "side direction." Furthermore, surrounding targets recognized by the target recognition unit 100 based on the detection result of the front target detection sensor 40A will be referred to as "front targets," and surrounding targets recognized based on the detection result of the rear target detection sensor 40B will be referred to as "rear targets." Furthermore, surrounding targets recognized by the target recognition unit 100 based on the detection result of the left-side target detection sensor 40C or the right-side target detection sensor 40D will be referred to as "side targets."

[0027] The notification control unit 110 performs a notification process to warn the occupants of the vehicle VH (e.g., the driver) when a nearby object recognized by the object recognition unit 100 approaches the vehicle VH while the vehicle VH is traveling at a predetermined speed (e.g., low speed). The notification process can be performed, for example, by sounding an alarm through the speaker 62 or buzzer 63. The notification process may also be performed in parallel with displaying a warning on the display device 61.

[0028] The notification control unit 110 executes a notification process (hereinafter referred to as "forward notification process") to warn that a forward object is approaching when the relative distance between the forward object recognized based on the detection result of the forward object detection sensor 40A and the vehicle VH is less than or equal to a threshold distance while the vehicle VH is in motion. The alarm control unit 110 also executes a notification process (hereinafter referred to as "rear notification process") to warn that a rear object is approaching when the relative distance between the rear object recognized based on the detection result of the rear object detection sensor 40B and the vehicle VH is less than or equal to a threshold distance while the vehicle VH is in motion. The alarm control unit 110 also executes a notification process (hereinafter referred to as "side notification process") to warn that a side object is approaching when the relative distance between the side object recognized based on the detection result of the left side object detection sensor 40C or the right side object detection sensor 40D and the vehicle VH is less than or equal to a threshold distance while the vehicle VH is in motion.

[0029] Now, suppose that while the vehicle VH is in motion, the object recognition unit 100 simultaneously recognizes multiple surrounding objects approaching the vehicle VH in multiple directions. In such a case, if the notification control unit 110 performs notification processing for all surrounding objects, the number of alarm sounds emitted from the speaker 62 and buzzer 63 will increase, or unnecessary changes in the alarm sound will occur, causing annoyance or confusion for the driver. Therefore, when surrounding objects approaching the vehicle VH are simultaneously recognized in multiple directions, it is desirable to suppress annoyance and confusion for the driver by sounding the alarm according to the priority of the notification processing. The details of the priority setting unit 120, which is a functional element for setting the priority of the notification processing, will be described below.

[0030] The priority setting unit 120 determines the direction of travel of the vehicle VH while the vehicle VH is in motion. Upon determining the direction of travel of the vehicle VH, the priority setting unit 120 sets a predetermined area in the direction of travel as the direction of travel area, and sets a predetermined area around the vehicle VH, excluding the direction of travel area, as the opposite direction of travel area. The direction of travel of the vehicle VH can be determined, for example, based on the detection result of the shift sensor 35: forward if the shift position is Drive D, and backward if the shift position is Reverse R. Alternatively, the direction of travel of the vehicle VH may be determined based on the direction of wheel rotation detected by the vehicle speed sensor 31 (wheel speed sensor), or changes in the road surface image captured by the camera sensor 41.

[0031] When the priority setting unit 120 determines that the direction of travel of its own vehicle VH is forward, the target recognition unit 100 recognizes forward targets based on the detection result of the forward target detection sensor 40A and sets forward targets (hereinafter referred to as forward target OJ) that are located in the direction of travel area. A ) are treated as such. Furthermore, when the vehicle VH is moving forward, the priority setting unit 120 treats the lateral direction (side) as the rear. Specifically, when the priority setting unit 120 determines that the direction of travel of the vehicle VH is forward, the rear target recognized by the target recognition unit 100 based on the detection result of the rear target detection sensor 40B and the lateral target recognized by the target recognition unit 100 based on the detection result of the left-side target detection sensor 40C or the right-side target detection sensor 40D are treated as targets in the opposite direction of travel area (hereinafter referred to as opposite-direction target OJ). B Treat it as such.

[0032] On the other hand, if the priority setting unit 120 determines that the direction of travel of its own vehicle VH is rearward, the target recognition unit 100 recognizes a rearward target based on the detection result of the rearward target detection sensor 40B and assigns it to the direction of travel target OJ. Ais treated as such. Further, when the host vehicle VH travels in reverse, the priority setting unit 120 treats the lateral direction (side direction) as the front direction. Specifically, when the priority setting unit 120 determines that the traveling direction of the host vehicle VH is rearward, the front target recognized by the target recognition unit 100 based on the detection result of the front target detection sensor 40A, and the side target recognized by the target recognition unit 100 based on the detection result of the left side target detection sensor 40C or the right side target detection sensor 40D are set as the opposite traveling direction target OJ B is treated as such.

[0033] The priority setting unit 120, while the notification control unit 110 performs notification processing targeting a traveling direction target OJ A , when the target recognition unit 100 recognizes an opposite traveling direction target OJ B , compares the risk between the traveling direction target OJ A and the opposite traveling direction target OJ B . The priority setting unit 120 determines that when the relative distance DR between the host vehicle VH and the opposite traveling direction target OJ B B is equal to or less than the relative distance DR between the host vehicle VH and the traveling direction target OJ A A (DR B ≦DR A ), the risk of the opposite traveling direction target OJ B is higher than the risk of the traveling direction target OJ A . In this case, the priority setting unit 120 sets the priority of the opposite traveling direction target OJ B to be higher than that of the traveling direction target OJ A . When the priority setting unit 120 sets a higher priority for the opposite traveling direction target OJ B , the notification control unit 110 prioritizes the notification processing (sounding of an alarm sound) targeting the opposite traveling direction target OJ A over the notification processing (sounding of an alarm sound) targeting the traveling direction target OJ that is currently being executed B .

[0034] Accordingly, a driver who has been paying attention to the traveling direction can notice the presence of a new dangerous target approaching the host vehicle VH from a direction other than the traveling direction, that is, it becomes possible to effectively improve safety. Further, the traveling direction target OJ A ​​Alarm sounds targeting objects in the opposite direction of travel OJ B Instead of simultaneously sounding both alarms targeting the object OJ in the opposite direction of travel, the alarm will sound when the object is determined to be of high danger. B Prioritizing the sounding of alarms targeting these vehicles can effectively prevent drivers from feeling annoyed or confused.

[0035] On the other hand, the priority setting unit 120 is configured such that the notification control unit 110 is configured to detect the object OJ in the opposite direction of travel. B During the execution of notification processing targeting the object, the object recognition unit 100 detects the object OJ in the direction of travel. A Similarly, when recognizing the direction of travel, the target OJ A And the object OJ in the opposite direction of travel B The degree of risk is compared with that of the vehicle VH and the target OJ in the direction of travel. The priority setting unit 120 sets the priority between the vehicle VH and the target OJ. A Relative distance DR A However, the vehicle VH and the object OJ in the opposite direction of travel B Relative distance DR B In the following cases (DR A ≦DR B ), heading target OJ A The degree of danger is determined by the object OJ in the opposite direction of travel. B It is determined that the risk level is higher than that of the target OJ. In this case, the priority setting unit 120 sets the direction of travel target OJ A Priority of the object OJ in the opposite direction of travel B Set higher than that. The priority setting unit 120 sets the direction of travel target OJ A Setting the priority of this to high will cause the notification control unit 110 to execute the counter-direction target OJ B Rather than notification processing (sounding an alarm) targeting the direction of travel, OJ A Prioritize notification processing (sounding an alarm) targeting that specific event.

[0036] This allows a driver who was paying attention to the opposite direction of travel to notice the presence of a new hazardous object approaching their vehicle VH from a different direction than the opposite direction of travel. In other words, it becomes possible to effectively improve safety. Also, the opposite direction of travel object OJ B The alarm sounds and direction of travel targets OJ AInstead of simultaneously sounding both alarms targeting the object OJ in the direction of travel, the alarm will sound when the object is determined to be of high danger. A Prioritizing the sounding of alarms targeting these vehicles can effectively prevent drivers from feeling annoyed or confused.

[0037] In this disclosure, prioritizing notification processing (sounding an alarm) may include not only sounding the alarm with higher priority, but also increasing the volume of the alarm with higher priority.

[0038] Next, a specific example of the priority setting process performed by the priority setting unit 120 will be explained based on Figures 3 to 5.

[0039] Figure 3(A) shows the vehicle VH moving forward (shift position: drive D), and the notification control unit 110 is alerted to a forward target (direction of travel target OJ). A During forward notification processing targeting ), the target recognition unit 100 detects a lateral target (opposite direction of travel target OJ) that poses a higher risk than the forward target. B This is an example of when a vehicle VH is recognized. When the vehicle VH is moving forward, that is, when the direction of travel is forward, the priority setting unit 120 treats the lateral direction as the rear. In this case, the lateral object becomes a new approaching object that is approaching from a different direction than the forward object where the forward object is located. For this reason, if the lateral object poses a high risk, the priority setting unit 120 sets the priority of the lateral object higher than that of the forward object. In other words, the sounding of an alarm targeting a lateral object takes precedence over the sounding of an alarm targeting a forward object.

[0040] This allows drivers to notice newly occurring lateral hazards while paying attention to what's ahead. Furthermore, instead of sounding both alarms simultaneously, prioritizing the alarm for lateral targets deemed to pose a high level of danger effectively reduces driver annoyance and confusion caused by an increase in alarm sounds.

[0041] Figure 3(B) shows the vehicle VH moving forward (shift position: drive D), and the notification control unit 110 is alerted to a side target (opposite direction target OJ). B During the execution of lateral notification processing targeting ), the target recognition unit 100 detects a forward target (direction of travel target OJ) that poses a higher risk than the lateral target. A This is an example of what happens when a vehicle VH is recognized. When the vehicle VH is moving forward, the priority setting unit 120 treats the lateral direction as the rear, so the forward target becomes a new approaching target that is approaching from a different direction than the lateral direction where the lateral target is located. For this reason, if the forward target is of high danger, the priority setting unit 120 sets the priority of the forward target higher than that of the lateral target. In other words, the sounding of the alarm targeting the forward target takes precedence over the sounding of the alarm targeting the lateral target.

[0042] This allows drivers to notice newly occurring hazards ahead while paying attention to the sides. Furthermore, by prioritizing the sounding of the warning for forward targets deemed to be of high risk, rather than sounding both warnings simultaneously, it is possible to effectively suppress driver annoyance and confusion caused by an increase in the number of warning sounds.

[0043] Figure 4(A) shows the vehicle VH in reverse (shift position: reverse R), and the notification control unit 110 is alerted to a rear target (direction of travel target OJ). A During the execution of rearward notification processing targeting the rearward target, the target recognition unit 100 detects a lateral target (opposite direction of travel target OJ) that poses a higher risk than the rearward target. B This is an example of when a vehicle VH is recognized. When the vehicle VH is moving in reverse, that is, when the direction of travel is backward, the priority setting unit 120 treats the lateral direction as forward. In this case, the lateral object becomes a new approaching object that is approaching from a different direction than the rear object where the rear object is located. For this reason, if the lateral object poses a high risk, the priority setting unit 120 sets the priority of the lateral object higher than that of the rear object. In other words, the sounding of an alarm targeting a lateral object takes precedence over the sounding of an alarm targeting a rear object.

[0044] This allows drivers to notice newly occurring lateral hazards while paying attention to the rear. Furthermore, by prioritizing the sounding of the lateral hazard that is determined to be of high risk, rather than sounding both alarms simultaneously, it is possible to effectively suppress driver annoyance and confusion caused by an increase in the number of alarm sounds.

[0045] Figure 4(B) shows that the vehicle VH is moving in reverse (shift position: reverse R), and the notification control unit 110 is alerted to a side target (opposite direction target OJ). B During the execution of the lateral notification process targeting ), the target recognition unit 100 detects a rear target (direction target OJ) that poses a higher risk than the lateral target. A This is an example of what happens when a rear target is recognized. When the vehicle VH is moving in reverse, the priority setting unit 120 treats the lateral direction as the front, so the rear target becomes a new approaching target that is approaching from a different direction than the lateral direction where the lateral target is located. For this reason, if the rear target poses a high risk, the priority setting unit 120 sets the priority of the rear target higher than that of the lateral target. In other words, the alarm sounding for the rear target takes precedence over the alarm sounding for the lateral target.

[0046] This allows drivers to notice newly occurring hazards behind them while they are paying attention to the sides. Furthermore, by prioritizing the sounding of the warning for rear targets deemed to be of high risk, rather than sounding both warnings simultaneously, it is possible to effectively suppress driver annoyance and confusion caused by an increase in the number of warning sounds.

[0047] Figure 5(A) shows the vehicle VH in reverse (shift position: reverse R), and the notification control unit 110 is alerted to a rear target (direction of travel target OJ). A During the execution of rearward notification processing targeting ), the target recognition unit 100 detects a new rearward target (direction of travel target OJ AThis is an example of a case where the system recognizes a target in the same direction. In this case, since both targets are in the same direction, the priority setting unit 120 will not change the alarm sound if the danger level of the new rear target is less than or equal to the danger level of the rear target currently being processed for notification. This effectively prevents the alarm sound from changing in directions that the driver is paying sufficient attention to. In other words, it becomes possible to suppress the annoyance and confusion of the driver caused by unnecessary changes in the alarm sound.

[0048] Figure 5(B) shows the vehicle VH in reverse (shift position: reverse R), and the notification control unit 110 is alerted to a side target (opposite direction target OJ). B While the lateral notification process is being executed for the target, the target recognition unit 100 detects a new forward target (opposite direction of travel target OJ) in front of it. B This is an example of when a vehicle VH is recognized. When the vehicle VH is moving in reverse, the priority setting unit 120 treats the lateral direction (side) as the front. In this case, both the lateral object currently being processed for notification and the new forward object are in directions different from the direction of travel of the vehicle VH. However, when the vehicle VH is moving in reverse, the driver is expected to be paying sufficient attention to areas other than the direction of travel where these objects exist, as they are concerned with the difference in outer wheel speed, etc. In this case, the priority setting unit 120 will not change the alarm sound if the danger level of the new forward object is less than or equal to the danger level of the lateral object currently being processed for notification. This effectively prevents the alarm sound from changing in directions that the driver is paying sufficient attention to. In other words, it becomes possible to effectively suppress the annoyance and confusion of the driver caused by unnecessary changes in the alarm sound.

[0049] Figure 6 is a flowchart illustrating the priority setting and notification processing routines executed by the CPU 11 of the ECU 10. This routine is started, for example, when the vehicle VH starts moving.

[0050] In step S100, the ECU 10 determines, based on the detection result of the shift sensor 35, whether the shift position is drive D, that is, whether the direction of travel of the vehicle VH is forward. If the shift position is drive D (Yes), that is, if the direction of travel of the vehicle VH is determined to be forward, the ECU 10 proceeds to the process in step S110. On the other hand, if the shift position is not drive D (No), that is, if the direction of travel of the vehicle VH is determined to be backward (shift position is reverse R), the ECU 10 proceeds to the process in step S120.

[0051] In step S110, the ECU 10 recognizes the forward target based on the detection result of the forward target detection sensor 40A and sets the forward target OJ to the direction of travel. A It will be treated as such. In addition, the ECU10 will treat the rear target recognized based on the detection result of the rear target detection sensor 40B and the side target recognized based on the detection result of the left side target detection sensor 40C or the right side target detection sensor 40D as the opposite direction of travel target OJ B Treat it as such.

[0052] Meanwhile, in step S120, the ECU 10 recognizes the rear target based on the detection result of the rear target detection sensor 40B and directs it to the target in the direction of travel OJ A It will be treated as such. In addition, the ECU10 will treat the forward target recognized based on the detection result of the forward target detection sensor 40A and the side target recognized based on the detection result of the left side target detection sensor 40C or the right side target detection sensor 40D as the opposite direction of travel target OJ B Treat it as such.

[0053] In step S130, the ECU10 processes the direction of travel target OJ, which is the subject of the notification process. A Determine whether or not it has been detected. The target of the notification process is the object OJ in the direction of travel. A If it detects (Yes), the ECU10 proceeds to step S140. Meanwhile, the target of the notification process is the direction of travel target OJ A If it does not detect (No), ECU10 proceeds to step S180.

[0054] In step S180, the ECU10 processes the object OJ in the opposite direction of travel, which is the target of the notification process. B It is determined whether or not the object OJ in the opposite direction of travel is detected in step S180. B If it is determined that a target OJ in the opposite direction of travel has been detected (Yes), that is, the target OJ will be subject to notification processing. B If only is detected, the ECU10 proceeds to step S170, and the object OJ is detected in the opposite direction of travel. B The notification process (sounding of an alarm) is performed for the target. After that, the ECU10 returns to this routine. Meanwhile, in step S180, the object OJ in the opposite direction of travel that is the target of the notification process is... B If it is determined that no object is detected (No), that is, the target of the direction of travel OJ will be subject to notification processing. A And, the object OJ in the opposite direction of travel B If none of these are detected, the ECU10 returns this routine without performing any notification processing.

[0055] When the process proceeds from step S130 to step S140, the ECU 10 checks the object OJ in the opposite direction of travel, which is the target of the notification process. B It is determined whether or not the object OJ in the opposite direction of travel is detected in step S140. B If it is determined that the object OJ in the direction of travel has been detected (Yes), then the object OJ A and the object OJ in the opposite direction of travel B If both are detected, the ECU 10 proceeds to step S150. Meanwhile, in step S140, the object OJ in the opposite direction of travel that is the target of the notification process is detected. B If it is determined that no object is detected (No), that is, the target of the direction of travel OJ will be subject to notification processing. A If only is detected, the ECU10 proceeds to step S160, and the direction of travel target OJ A The program executes notification processing (sounding an alarm) targeting the device. After that, ECU10 returns from this routine.

[0056] When the process proceeds from step S140 to step S150, the ECU10 checks the object OJ in the opposite direction of travel. BThe degree of danger is the direction of travel, target OJ A Determine whether the risk level is higher than that of the target OJ in the opposite direction of travel. B The degree of danger is the direction of travel, target OJ A If it is determined that the risk level is not higher than (No), the ECU10 proceeds to step S160. That is, the target OJ in the direction of travel. A The notification process (sounding of an alarm) is performed for the target. Meanwhile, in step S150, the object OJ in the opposite direction of travel is targeted. B The degree of danger is the direction of travel, target OJ A If the ECU determines that the risk level is higher than (Yes), the ECU 10 proceeds to step S170. In step S170, the ECU 10 checks the object OJ in the opposite direction of travel. B The notification process (sounding an alarm) targeting the specified item is executed first, and then this routine returns.

[0057] Although the notification device and notification method according to this embodiment have been described above, this disclosure is not limited to the above embodiments, and various modifications are possible without departing from the purpose of this disclosure.

[0058] For example, while your vehicle VH is in motion, the direction of travel marker OJ A and the object OJ in the opposite direction of travel B If both are detected, the target OJ in the direction of travel detected at the later timing A Or, an object OJ in the opposite direction of travel. B The priority setting process described above may be performed only when the risk level is above a predetermined level. Furthermore, the technology of this disclosure can also be applied to autonomous vehicles that perform some or all of the driving operations automatically. In this case, the disclosure should be made to function when the driving operation is switched from autonomous driving to manual driving.

Claims

1. A warning device comprising: a forward object detection unit for detecting forward objects within a predetermined range in front of the vehicle; a rear object detection unit for detecting rear objects within a predetermined range behind the vehicle; a side object detection unit for detecting side objects within a predetermined range to the left and right sides of the vehicle; and a control unit that performs a warning process to alert the occupants of the vehicle when an object detected by at least one of the forward object detection unit, the rear object detection unit, and the side object detection unit satisfies predetermined notification conditions, The control unit, A predetermined area in the direction of travel of the vehicle is set as the direction of travel area, and a predetermined area around the vehicle other than the direction of travel area is set as the opposite direction of travel area. When the direction of travel is forward, the forward target detected by the forward target detection unit is treated as a target in the direction of travel that exists in the direction of travel region, and the rear target detected by the rear target detection unit and the side target detected by the side target detection unit are treated as targets in the opposite direction of travel that exist in the opposite direction of travel region. When the direction of travel is rearward, the rearward target detected by the rearward target detection unit is treated as a target in the direction of travel within the direction of travel region, and the forward target detected by the forward target detection unit and the side target detected by the side target detection unit are treated as targets in the opposite direction of travel within the opposite direction of travel region. If specific conditions are met during the vehicle's movement that cause the detection of the forward-direction target and the counter-direction target, a priority is set based on the relative positional relationship between the forward-direction target and the counter-direction target with respect to the vehicle, and the notification process is executed targeting the forward-direction target or the counter-direction target according to the set priority. A notification device characterized by the following features.

2. A notification device according to claim 1, The control unit, when the specific condition is met, If the object in the opposite direction of travel is detected at a later timing than the object in the direction of travel, and the relative distance between the vehicle and the object in the opposite direction of travel is less than or equal to the relative distance between the vehicle and the object in the direction of travel, the notification process targeting the object in the opposite direction of travel is given priority. If the object in the direction of travel is detected at a later timing than the object in the opposite direction of travel, and the relative distance between the vehicle and the object in the direction of travel is less than or equal to the relative distance between the vehicle and the object in the opposite direction of travel, the notification process targeting the object in the direction of travel shall be prioritized. A notification device characterized by the following features.

3. A notification device according to claim 1, The control unit, If, after detecting the first directional marker as the directional marker, a second directional marker as the directional marker is detected, and the relative distance of the second directional marker to the vehicle is greater than the relative distance of the first directional marker to the vehicle, the notification process targeting the first directional marker is continued without prioritizing the second directional marker. If, after detecting the first object in the opposite direction of travel as the object in the opposite direction of travel, a second object in the opposite direction of travel is detected as the object in the opposite direction of travel, and the relative distance of the second object in the opposite direction of travel to the vehicle is greater than the relative distance of the first object in the opposite direction of travel to the vehicle, the notification process targeting the first object in the opposite direction of travel is continued without prioritizing the second object in the opposite direction of travel. A notification device characterized by the following features.

4. A notification device according to claim 1, The control unit recognizes the direction of travel as forward when the shift position of the vehicle's transmission is in drive, and recognizes the direction of travel as rearward when the shift position is in reverse. A notification device characterized by the following features.

5. A notification method that detects at least one of the following: a forward target located within a predetermined range in front of the vehicle, a rear target located within a predetermined range behind the vehicle, and a side target located within a predetermined range to the left and right sides of the vehicle, and performs a notification process that notifies the occupants of the vehicle of a warning when the detected target satisfies predetermined notification conditions, A predetermined area in the direction of travel of the vehicle is set as the direction of travel area, and a predetermined area around the vehicle other than the direction of travel area is set as the opposite direction of travel area. If the direction of travel is forward, the detected forward target is treated as a target in the direction of travel within the region of the direction of travel, and the detected rear target and the lateral target are treated as targets in the opposite direction of travel within the region of the opposite direction of travel. If the direction of travel is rearward, the detected rearward target is treated as a target in the direction of travel within the region of travel, and the detected forward target and lateral target are treated as targets in the opposite direction of travel within the region of travel in the opposite direction. If the vehicle detects an object in the direction of travel and an object in the opposite direction of travel while it is in motion, a priority is set based on the relative positional relationship between the object in the direction of travel and the object in the opposite direction of travel with respect to the vehicle, and the notification process is executed targeting the object in the direction of travel or the object in the opposite direction of travel according to the set priority. A notification method characterized by the following:

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