Attention wake-up device

Abstract

To appropriately attract attention while restricting a driver from feeling discomfort when attracting attention in response to turning-on of a yellow lamp.SOLUTION: An attention attracting device 1 includes: a lighting state recognition section 11 for recognizing a lighting state of a traffic light based on imaging information of a camera; a travel direction estimation section 12 for estimating a travel direction of a vehicle V; a determination section 15 for determining the necessity for calling for attention; and an attention attracting section 16 for attracting attention of a driver when the necessity of attracting attention is determined. The determination section 15 determines that calling for attention is not required when a yellow lamp is turned on and also when an arrow lamp in the estimated travel direction of the vehicle V is not turned on.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an attention calling device that calls the attention of a driver of a vehicle. [Background technology]

[0002] For example, Patent Document 1 describes a device that recognizes the illumination of red lights and arrow lights of a traffic light ahead based on image information from a camera that captures the image in front of the vehicle, and warns the driver of the vehicle depending on the illumination status of these lights. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-047565 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to encourage vehicles to stop when the yellow lights are on before an intersection (so-called "yellow stop"), it is conceivable to issue a warning when the yellow lights are on before an intersection. However, after the yellow lights are on, an arrow light indicating a right turn or the like may come on. If a warning is issued uniformly when the yellow lights are on, it will be an unnecessary warning for drivers of vehicles that are trying to turn right following the right turn arrow light, and the drivers will find it annoying.

[0005] For this reason, the present disclosure describes an attention warning device that can appropriately warn a driver in response to the lighting of a yellow light while suppressing the driver from feeling annoyed. [Means for solving the problem]

[0006] One aspect of the present disclosure is an attention warning device that warns a driver of a vehicle entering an intersection depending on the lighting state of a traffic light in front of the vehicle, the device comprising: a lighting state recognition unit that recognizes the lighting state of the main lights and arrow lights of the traffic light based on image information from a camera that images the area in front of the vehicle; a traveling direction estimation unit that estimates the traveling direction of the vehicle; a determination unit that determines whether or not a warning is necessary based on the recognition result of the lighting state recognition unit and the estimation result of the traveling direction estimation unit; and an attention warning unit that warns the driver when it is determined by the determination unit that a warning is necessary, wherein the determination unit determines that a warning is necessary when the yellow light of the main light is on and the arrow light in the estimated traveling direction of the vehicle was on immediately before the current yellow light was turned on, and determines that a warning is not necessary when the yellow light is on and the arrow light in the estimated traveling direction of the vehicle was not on immediately before the current yellow light was turned on.

[0007] In this attention-calling device, when the yellow lamp of the main lamp is on and the arrow lamp in the estimated vehicle travel direction is on immediately before the current yellow lamp is on, the driver is alerted. That is, the current yellow lamp is on after the arrow lamp in the direction in which the vehicle was going to travel is turned off, and after the current yellow lamp is turned on, the red lamp in which the vehicle should stop is turned on. Therefore, the attention call given in such a situation is an appropriate attention call to encourage the vehicle to stop. On the other hand, in this attention-calling device, when the yellow lamp is on and the arrow lamp in the estimated vehicle travel direction was not on immediately before the current yellow lamp is turned on, the attention call is not given. Here, if the arrow lamp in the estimated vehicle travel direction was not on immediately before the current yellow lamp is turned on, the arrow lamp in the direction in which the vehicle is going to travel may be turned on after the current yellow lamp is turned on (after the yellow lamp is turned on and then turned off). In this way, when the arrow light in the direction of travel lights up after the yellow light is turned on, if a warning to stop is issued just before the arrow light turns on (when the yellow light is on), the driver of the vehicle will find this warning annoying. Therefore, this warning device does not issue a warning in this situation. In this way, when issuing a warning in response to the lighting of the yellow light, this warning device can issue an appropriate warning while suppressing the driver from feeling that it is annoying.

[0008] The attention-calling device may further include a brake operation detection unit that detects a brake operation of the vehicle by the driver, and the determination unit may determine that a warning is unnecessary when the brake operation detection unit detects a brake operation by the driver. Here, a case where the driver performs a brake operation can be said to be a state in which the driver recognizes that it may be necessary to stop the vehicle at an intersection. Therefore, if a warning is given to a driver who recognizes the need to stop the vehicle, the driver may feel that the warning is bothersome. Therefore, the attention-calling device can suppress the driver from feeling that the warning is bothersome by not issuing a warning when a brake operation is detected.

[0009] This attention-calling device further includes a vehicle speed detection unit that detects the vehicle speed of the vehicle, and the judgment unit judges whether or not a warning is required based on the recognition result of the lighting state recognition unit and the estimation result of the traveling direction estimation unit when the vehicle speed at a judgment point set in advance before the intersection is equal to or greater than a predetermined judgment speed threshold based on the detection result of the vehicle speed detection unit, and may judge that a warning is unnecessary when the vehicle speed at the judgment point is less than the judgment speed threshold. Here, when the vehicle speed at the judgment point is less than the judgment speed threshold, the vehicle is sufficiently decelerated and there may be cases where a warning is not required. For this reason, when the vehicle speed at the judgment point is less than the judgment speed threshold, the attention-calling device does not issue a warning. As a result, the attention-calling device can appropriately issue a warning while suppressing the driver from feeling annoyed.

[0010] In this attention warning device, the determination unit may determine that a warning is necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated vehicle traveling direction is not on, and may determine that a warning is not necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated vehicle traveling direction is on. In this case, the attention warning device can issue a warning while taking into consideration the lighting state of the arrow lamp when the red lamp is on. Effect of the Invention

[0011] According to one aspect of the present disclosure, when issuing a warning in response to the illumination of a yellow light, it is possible to appropriately issue a warning while preventing the driver from feeling annoyed. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram illustrating an example of an attention calling device according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing an example of a traffic light equipped with arrow lights. [Diagram 3] FIG. 3 is a diagram illustrating changes in the lighting pattern of a traffic light equipped with an arrow light. [Figure 4] FIG. 4 is a flowchart showing the flow of an attention calling process performed by the attention calling device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, exemplary embodiments will be described with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and duplicated explanations will be omitted.

[0014] The attention warning device 1 shown in Fig. 1 is mounted on a vehicle V. The attention warning device 1 warns the driver of the vehicle V entering an intersection according to the illumination state of a traffic light ahead of the vehicle V. The vehicle V is a manually driven vehicle that is driven by a driver. The intersection here is not limited to a crossroads where two roads intersect, but refers to a point including one or more branching lanes, such as a Y-junction or a T-junction.

[0015] The attention warning device 1 includes a camera 2, a brake sensor 3, a vehicle speed sensor 4, an alarm 5, and an attention warning ECU (Electronic Control Unit) 10.

[0016] The camera 2 is an imaging device that captures an image of the external environment in front of the vehicle V. For example, the camera 2 is provided behind the windshield of the vehicle V and captures an image in front of the vehicle. The camera 2 transmits captured image information to the attention calling ECU 10. In this embodiment, the camera 2 can capture at least an image of a traffic light in front of the vehicle V.

[0017] The brake sensor 3 detects whether or not the driver operates the brakes of the vehicle V. For example, the brake sensor 3 may be provided near a brake pedal of the vehicle V and detect the movement of the brake pedal. The brake sensor 3 transmits the detection result of the brake operation to the attention alert ECU 10.

[0018] The vehicle speed sensor 4 is a detector that detects the vehicle speed of the vehicle V. As the vehicle speed sensor 4, a wheel speed sensor that is provided on the wheels of the vehicle V or a drive shaft that rotates integrally with the wheels and detects the rotation speed of each wheel can be used. The vehicle speed sensor 4 transmits the detected vehicle speed information (wheel speed information) to the attention alert ECU 10.

[0019] The alarm 5 is a device that issues a notification to the driver of the vehicle V. For example, the alarm 5 can be an indicator such as a display or a meter panel, a lamp, a speaker, or other device. The alarm 5 is used when the attention calling device 1 calls the driver's attention.

[0020] The attention ECU 10 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. In the attention ECU 10, for example, various functions are realized by the CPU executing a program recorded in the ROM or the RAM. The attention ECU 10 may be composed of multiple electronic units.

[0021] The attention calling ECU 10 functionally includes a lighting state recognition unit 11, a traveling direction estimation unit 12, a brake operation detection unit 13, a vehicle speed detection unit 14, a judgment unit 15, and an attention calling unit 16.

[0022] The lighting state recognition unit 11 recognizes the lighting states of the main lights and arrow lights of the traffic lights ahead of the vehicle V, based on image information of the area ahead of the vehicle V captured by the camera 2. Here, the lighting state recognition unit 11 recognizes the lighting states of the traffic lights installed at the intersection where the vehicle V is about to enter.

[0023] Here, the main light and the arrow light of the traffic signal will be described. As shown in FIG. 2, a traffic signal 20 as an example of a traffic signal is provided with a main light 21 (three-light light) and an arrow light 22. The main light 21 is a main signal and is provided with a blue (green) light 21B, a yellow light 21Y, and a red light 21R. The arrow light 22 is an auxiliary signal and is a right-turn arrow light in this example. Note that the traffic signal 20 is not limited to being provided with only the right-turn arrow light 22 as shown in FIG. 2, but may be provided with arrow lights 22 other than those for right turn, and may be provided with a plurality of arrow lights 22 each indicating a different direction. In this embodiment, a traffic signal 20 provided with a right-turn arrow light 22 as shown in FIG. 2 will be described as an example.

[0024] The travel direction estimation unit 12 estimates the travel direction of the vehicle V. In this embodiment, the travel direction estimation unit 12 can estimate the travel direction of the vehicle V based on the image information of the camera 2, for example. Here, arrows indicating traffic divisions such as going straight and turning right in each lane may be attached to the road surface of each lane. In addition, road signs indicating arrows indicating traffic divisions such as going straight and turning right in each lane may be installed on the roadside or above the road. The travel direction estimation unit 12 recognizes an arrow indicating the traffic division of the lane in which the vehicle V is traveling based on the image information of the camera 2. The travel direction estimation unit 12 can estimate the direction indicated by the arrow of the traffic division of the lane in which the recognized vehicle V is traveling as the travel direction of the vehicle V at the intersection.

[0025] In addition, for example, when the driver is driving in accordance with guidance from a navigation system, the travel direction estimation unit 12 may obtain a guidance direction at an intersection from the navigation system and estimate the obtained direction as the travel direction of the vehicle V.

[0026] The brake operation detection unit 13 detects whether or not the driver has operated the brakes on the vehicle V based on the detection result of the brake sensor 3. Note that the brake operation detection unit 13 is not limited to using the detection result of the brake sensor 3, and may detect whether or not the brakes have been operated using other methods.

[0027] The vehicle speed detection unit 14 detects the speed of the vehicle V based on the detection result of the vehicle speed sensor 4. The vehicle speed detection unit 14 is not limited to using the detection result of the vehicle speed sensor 4, and may detect the vehicle speed using other methods.

[0028] The determination unit 15 determines whether or not it is necessary to issue a warning to the driver of the vehicle V entering the intersection, based on the recognition result of the lighting state recognition unit 11 and the estimation result of the traveling direction estimation unit 12. The warning here refers to a warning to encourage the driver to stop. More specifically, if the traffic light is a traffic light with only main lights and no arrow lights, the determination unit 15 determines that a warning is necessary when the yellow light is on and when the red light is on.

[0029] Furthermore, in cases where the traffic light is equipped with an arrow light, the determination unit 15 determines whether or not a warning is required, taking into consideration the lighting state of the arrow light. Here, the determination unit 15 determines that a warning is required when the yellow light of the main light is on and the arrow light in the estimated traveling direction of the vehicle V was on immediately before the current yellow light was turned on. On the other hand, the determination unit 15 determines that a warning is not required when the yellow light of the main light is on and the arrow light in the estimated traveling direction of the vehicle V was not on immediately before the current yellow light was turned on.

[0030] Furthermore, the determination unit 15 determines that a warning is necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle V is not on. On the other hand, the determination unit 15 determines that a warning is not necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle V is on.

[0031] Hereinafter, the attention alert issued by the attention alert device 1 will be specifically described using as an example a case where the vehicle V turns right at an intersection and a traffic light 20 shown in Fig. 2 is provided before the intersection. Here, it is assumed that the lighting state of the traffic light 20 shown in Fig. 2 is switched in sequence from lighting pattern 1 to lighting pattern 5 shown in Fig. 3. It is also assumed that the traveling direction estimation unit 12 is in a state where it has been estimated that the vehicle V will turn right at the intersection.

[0032] 3, lighting pattern 1 is a state in which only the blue light 21B is lit. Lighting pattern 2 is a state in which only the yellow light 21Y is lit. Lighting pattern 3 is a state in which the red light 21R and the right turn arrow light 22 are lit. Lighting pattern 4 is a state in which only the yellow light 21Y is lit. Lighting pattern 5 is a state in which only the red light 21R is lit.

[0033] 3, when the lighting pattern is switched from lighting pattern 1 to lighting pattern 5 in order, the yellow light 21Y is turned on in lighting patterns 2 and 4. When the yellow light 21Y is turned on, the determination unit 15 issues a warning according to the lighting state of the right-turn arrow light 22 immediately before the lighting of the current yellow light 21Y.

[0034] Here, when the yellow light 21Y is turned on in the lighting pattern 2, the right turn arrow light 22 is not turned on immediately before the lighting of the yellow light 21Y in the current lighting pattern 2. In other words, in the state of the lighting pattern 1 immediately before the lighting of the current yellow light 21Y, the right turn arrow light 22, which is the estimated traveling direction of the vehicle V, is not turned on. For this reason, when the lighting state of the traffic light 20 is the lighting pattern 2, the determination unit 15 determines that a warning is not necessary.

[0035] Furthermore, when the yellow light 21Y is turned on in the lighting pattern 4, the right turn arrow light 22 was turned on immediately before the lighting of the yellow light 21Y in the current lighting pattern 4. That is, in the state of the lighting pattern 3 immediately before the lighting of the current yellow light 21Y, the right turn arrow light 22, which is the estimated traveling direction of the vehicle V, was turned on. For this reason, when the lighting state of the traffic light 20 is the lighting pattern 4, the determination unit 15 determines that a warning is necessary.

[0036] 3, when the lighting pattern is switched from lighting pattern 1 to lighting pattern 5, the red light 21R is turned on in lighting patterns 3 and 5. When the red light 21R is turned on, the determination unit 15 issues a warning according to the lighting state of the right turn arrow light 22, which is the estimated traveling direction of the vehicle V.

[0037] Here, when the red light 21R is turned on in lighting pattern 3, the right turn arrow light 22, which is the estimated traveling direction of the vehicle V, is turned on. Therefore, when the lighting state of the traffic light 20 is lighting pattern 3, the judgment unit 15 judges that a warning is not necessary. Also, when the red light 21R is turned on in lighting pattern 5, the right turn arrow light 22, which is the estimated traveling direction of the vehicle V, is not turned on. Therefore, when the lighting state of the traffic light 20 is lighting pattern 5, the judgment unit 15 judges that a warning is necessary.

[0038] Furthermore, as described above, even if the lighting pattern of the traffic light is one that is determined to require a warning, if the brake operation detection unit 13 detects a brake operation by the driver, the determination unit 15 can determine that a warning is unnecessary. The brake operation here refers to a brake operation performed when entering an intersection. In other words, the determination unit 15 determines that a warning is unnecessary when the yellow lamp of the main lamp is on, the arrow lamp in the estimated traveling direction of the vehicle V was on immediately before the current lighting of the yellow lamp, and the brake operation detection unit 13 has detected a brake operation.

[0039] Furthermore, even if the lighting pattern of the traffic light is one that is determined to require a warning as described above, the determination unit 15 can determine that a warning is unnecessary based on the vehicle speed detected by the vehicle speed detection unit 14. Here, the determination unit 15 determines that a warning is unnecessary when the vehicle speed at a judgment point set in advance before the intersection is less than a judgment speed threshold. This judgment speed threshold may be set based on the speed at which the vehicle V can stop at a stop line set before the intersection, for example. In other words, a case in which the vehicle speed at the judgment point is equal to or greater than the judgment speed threshold can be a case in which the brakes are applied too late (for example, a case in which the brakes are not applied in time and the vehicle enters the intersection (crosses the stop line)).

[0040] A plurality of judgment points may be set toward the intersection. A judgment speed threshold may be set for each judgment point. In this case, for example, the judgment speed threshold may be set so that a judgment point farther from the intersection has a larger value than a judgment point closer to the intersection. The judgment unit 15 can compare the judgment speed threshold with the vehicle speed at each judgment point and judge whether or not a warning is necessary.

[0041] In addition, when the vehicle speed at the judgment point is equal to or greater than a predetermined judgment speed threshold, the judgment unit 15 judges whether or not a warning is necessary based on the recognition result of the lighting state recognition unit 11 and the estimation result of the traveling direction estimation unit 12, as described above.

[0042] 3 indicates the case where the driver's brake operation is not detected and the vehicle speed at the judgment point is equal to or higher than the judgment speed threshold. Depending on the presence or absence of the brake operation and the vehicle speed at the judgment point, it may be determined that the warning is unnecessary in the illumination patterns 4 and 5.

[0043] The attention calling unit 16 calls the attention of the driver of the vehicle V when the determination unit 15 determines that a warning is necessary. Here, the attention calling unit 16 issues a warning through the alarm 5 by issuing an instruction to the alarm 5. For example, the attention calling unit 16 can call the attention by using a display on a display device or light emission from a lamp as the alarm 5, and / or by outputting a sound from a speaker.

[0044] Next, the flow of the attention calling process performed by the attention calling ECU 10 of the attention calling device 1 will be described with reference to the flowchart of Fig. 4. Note that when the process shown in Fig. 4 reaches an end, the process is restarted from the start after a predetermined time. Also, this process may be executed only when approaching an intersection.

[0045] As shown in Fig. 4, the brake operation detection unit 13 determines whether or not a brake operation by the driver has been detected (S101). If a brake operation is detected (S101: YES), the determination unit 15 determines that a warning is unnecessary (S107). On the other hand, if a brake operation is not detected (S101: NO), the vehicle speed detection unit 14 determines whether or not the vehicle speed at the judgment point is less than the judgment speed threshold (S102). Note that, if the vehicle V has not reached the judgment point, it is determined that the vehicle speed at the judgment point is not less than the judgment speed threshold. If the vehicle speed at the judgment point is less than the judgment speed threshold (S102: YES), the determination unit 15 determines that a warning is unnecessary (S107).

[0046] If the vehicle speed at the judgment point is not less than the judgment speed threshold (S102: NO), the judgment unit 15 judges whether or not the lighting state of the traffic light recognized by the lighting state recognition unit 11 is a state in which only the red light is on (S103). If only the red light is on (S103: YES), the judgment unit 15 judges that a warning is necessary (S108). On the other hand, if only the red light is not on (S103: NO), the judgment unit 15 judges whether or not the lighting state of the traffic light recognized by the lighting state recognition unit 11 is a state in which the yellow light is on (S104).

[0047] If the yellow lamp is not on (S104: NO), the determination unit 15 determines that a warning is not required (S107). On the other hand, if the yellow lamp is on (S104: YES), the determination unit 15 determines whether the traffic light ahead recognized by the lighting state recognition unit 11 is a traffic light equipped with an arrow lamp (S105).

[0048] If the traffic light is not equipped with an arrow light (S105: NO), the judgment unit 15 judges that a warning is necessary (S108). On the other hand, if the traffic light is equipped with an arrow light (S105: YES), the judgment unit 15 judges whether or not an arrow light in the travel direction of the vehicle V estimated by the travel direction estimation unit 12 was lit immediately before the current yellow light was lit (S106). If an arrow light in the estimated travel direction of the vehicle V was not lit immediately before the current yellow light was lit (S106: NO), the judgment unit 15 judges that a warning is unnecessary (S107).

[0049] If an arrow lamp in the estimated traveling direction of the vehicle V was on immediately before the current lighting of the yellow lamp (S106: YES), the determination unit 15 determines that a warning is necessary (S108). After it is determined in S108 that a warning is necessary, the warning unit 16 uses the alarm 5 to warn the driver of the vehicle V (S109).

[0050] As described above, the attention warning device 1 issues a warning to the driver when the yellow lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle V is on immediately before the current yellow lamp is turned on. In other words, the current yellow lamp is turned on after the arrow lamp in the direction in which the vehicle V was planning to travel is turned off, and after the current yellow lamp is turned on, the red lamp in which the vehicle should stop is turned on. Therefore, a warning issued in such a situation is an appropriate warning to encourage the vehicle V to stop.

[0051] On the other hand, the attention calling device 1 does not issue a warning when the yellow light is on and the arrow light in the estimated traveling direction of the vehicle V is not on immediately before the current yellow light is turned on. Here, if the arrow light in the estimated traveling direction of the vehicle V is not on immediately before the current yellow light is turned on, the arrow light in the direction in which the vehicle V is going to travel may be turned on after the current yellow light is turned on (after the yellow light is turned on and then turned off). In this case where the arrow light in the direction in which the vehicle V is going to travel turns on after the yellow light is turned on, if a warning to stop the vehicle is issued immediately before the arrow light is turned on (when the yellow light is turned on), the driver of the vehicle V will find this warning annoying. For this reason, the attention calling device 1 does not issue a warning in such a situation. In this way, when the attention calling device 1 issues a warning in response to the lighting of the yellow light, it is possible to appropriately issue a warning while suppressing the driver from feeling that it is annoying.

[0052] In the attention warning device 1, the determination unit 15 determines that a warning is unnecessary when a brake operation by the driver is detected. Here, when the driver performs a brake operation, it can be said that the driver recognizes that it may be necessary to stop the vehicle V at an intersection. Therefore, if a warning is given to a driver who recognizes the need to stop the vehicle, the driver may feel that the warning is bothersome. Therefore, the attention warning device 1 does not issue a warning when a brake operation is detected, thereby suppressing the driver from feeling that the warning is bothersome.

[0053] In the attention warning device 1, the judgment unit 15 judges that a warning is unnecessary when the vehicle speed at the judgment point is less than the judgment speed threshold. Here, when the vehicle speed at the judgment point is less than the judgment speed threshold, the vehicle V is sufficiently decelerated and there are cases where a warning is not necessary. For this reason, the attention warning device 1 does not issue a warning when the vehicle speed at the judgment point is less than the judgment speed threshold. In this way, the attention warning device 1 can appropriately issue a warning while suppressing the driver from feeling annoyed.

[0054] The attention warning device 1 issues a warning when the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle is not on. Also, the attention warning device 1 does not issue a warning when the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle V is on. In this case, when the red lamp is on, the attention warning device 1 can issue a warning taking into consideration the lighting state of the arrow lamp.

[0055] Although the embodiments of the present disclosure have been described above, the present invention is not limited to the above-described embodiments.

[0056] Furthermore, the determination unit 15 may determine not to issue a warning when the traveling direction of the vehicle V cannot be estimated by the traveling direction estimation unit 12. In this case, the warning device 1 does not issue an unnecessary warning, so that it is possible to suppress the driver from feeling that the warning is annoying. [Explanation of symbols]

[0057] 1: Attention warning device, 2: Camera, 11: Lighting state recognition unit, 12: Travel direction estimation unit, 13: Brake operation detection unit, 14: Vehicle speed detection unit, 15: Determination unit, 16: Attention warning unit, 20: Traffic light, 21: Main light unit, 21B: Blue light unit, 21R: Red light unit, 21Y: Yellow light unit, 22: Arrow light unit. V: Vehicle.

Claims

1. An attention warning device that warns a driver of a vehicle entering an intersection according to a lighting state of a traffic light ahead of the vehicle, a lighting state recognition unit that recognizes lighting states of main lamps and arrow lamps of the traffic signal based on image information from a camera that captures an image of the area ahead of the vehicle; a traveling direction estimating unit that estimates a traveling direction of the vehicle; a determination unit that determines whether or not the warning is required based on a recognition result of the lighting state recognition unit and an estimation result of the traveling direction estimation unit; an attention calling unit that issues the attention to the driver when the determination unit determines that the attention is necessary; a brake operation detection unit that detects a brake operation of the vehicle by the driver; a vehicle speed detection unit for detecting a vehicle speed of the vehicle; Equipped with The determination unit is When the yellow lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle was on immediately before the current lighting of the yellow lamp, it is determined that the warning is necessary, When the yellow light is on and the arrow light in the estimated traveling direction of the vehicle was on immediately before the current lighting of the yellow light, and further when the brake operation detection unit detects the brake operation by the driver and the vehicle speed at a predetermined judgment point before the intersection is less than a predetermined judgment speed threshold, it is determined that the warning is unnecessary, When the yellow light is on and the arrow light in the estimated traveling direction of the vehicle was on immediately before the current lighting of the yellow light, and further when the brake operation detection unit detects the brake operation by the driver and the vehicle speed at the judgment point is equal to or greater than the judgment speed threshold, it is determined that the warning is necessary; The attention warning device determines that the warning is unnecessary when the yellow light is on and, immediately before the current lighting of the yellow light, the arrow light in the estimated direction of travel of the vehicle was not on.

2. The judgment point is set in a plurality of positions before the intersection, The attention warning device according to claim 1 , wherein the determination speed threshold is set for each of the determination points, and a larger value is set for a determination point farther from the intersection than for a determination point closer to the intersection.

3. The warning device described in claim 1, wherein the travel direction estimation unit obtains a guidance direction at the intersection from a navigation system that guides the vehicle, and estimates the obtained direction as the travel direction of the vehicle.

4. The determination unit is When the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle is not on, it is determined that the warning is necessary; The warning device according to any one of claims 1 to 3, wherein when the red lamp of the main lamp is on and the arrow lamp in the estimated direction of travel of the vehicle is on, it is determined that the warning is unnecessary.

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