Notification device, notification method, and notification program

Abstract

PURPOSE: To provide a reporting device that can suppress the driver's attention to a stop signal that is irrelevant to an own vehicle's travel.SOLUTION: A reporting device 1 includes: an on-board sensor 20 that acquires information on object markers existing around an own vehicle; an information presentation device 30 that presents information to a driver of the own vehicle; and a processor that can execute alerting processing to alert the driver to a traffic signal by causing the information presentation device 30 to present prescribed information when detecting that a red light of the traffic signal located in front of the own vehicle is illuminated, based on the information acquired from the on-board sensor 20. The processor does not execute the alerting processing when a condition for recognizing that the red light of the traffic signal at a gate adjacent to a gate through which the own vehicle is expected to pass among the traffic signals at each of the gates installed in parallel is satisfied.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an information notification device, an information notification method, and an information notification program for presenting information to a driver of a host vehicle to alert the driver to a traffic signal when a red light of a traffic signal ahead of the host vehicle is on.

Background Art

[0002] When a red light of a traffic signal ahead of a host vehicle is on, an information notification device for presenting information to alert the driver of the host vehicle to the traffic signal has been proposed (see, for example, Patent Document 1 below). The information notification device of Patent Document 1 (hereinafter referred to as the "conventional device") includes a camera, a processor, and an information presentation device (a display, a buzzer, etc.). The camera supplies image data obtained by photographing the foreground of the host vehicle to the processor. The processor analyzes the acquired image data to recognize the lighting state of the traffic signal. When the processor detects that there is a traffic signal with a red light (hereinafter referred to as a "stop signal") on ahead of the host vehicle, the processor controls an information presentation device (for example, a display, a buzzer, etc.) to execute a cautionary notification process for presenting predetermined information. For example, the processor causes a predetermined cautionary notification image (for example, an icon of a red traffic light) to be displayed on the display device. Thereby, the safety of the host vehicle is enhanced.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] By the way, stop signals indicating that passage through each entrance gate or each exit gate of an expressway (toll road) is prohibited are installed. When the stop signal provided at the gate is off, passage through the gate is permitted. On the other hand, when the stop signal provided at the gate is on, passage through the gate is prohibited. While the host vehicle equipped with the above-described conventional device is traveling toward a specific first gate, the stop signal of not only the first gate but also the stop signal of a second gate adjacent to the first gate may enter the field of view of the camera of the conventional device. Here, a situation is assumed in which the stop signal of the first gate is off and the stop signal of the second gate is on. In this situation, the processor may detect that the stop signal of the second gate is on and execute a warning process. Thus, although passage through the first gate is permitted, there is a risk that the processor will execute a warning process and confuse the driver.

[0005] One object of the present invention is to provide a notification device capable of suppressing a notification for arousing a driver's attention to a stop signal unrelated to the travel of the host vehicle.

[0006] To achieve the above object, a notification device (1) of the present invention includes: an in-vehicle sensor (20) that acquires information about an object existing around the host vehicle; an information presentation device (30) that presents information to a driver of the host vehicle; a processor (10) capable of executing a warning process of presenting predetermined information to the information presentation device to arouse the driver's attention to a traffic signal when detecting that a red light device (S, S0, S1, SSa, SSb) of a traffic signal located in front of the host vehicle is on, based on the information acquired from the in-vehicle sensor; and is provided with. When a condition (A) for recognizing that a red lamp (S1) of a traffic signal of a gate (G1) adjacent to a gate (G0) predicted to be passed by the host vehicle is lit among traffic signals provided for gates arranged side by side is satisfied, the processor is configured not to execute the alert process. In addition, the processor is configured to determine that the condition (A) is satisfied when it detects that there is no lit red signal lamp within a predetermined area (SA) above the trajectory predicted to be passed by the host vehicle, and there is a lit red signal lamp to the left or right of the predetermined area, and further detects that there is a building structure between the lit red signal lamp and the predetermined area.

[0007] According to the notification device of the present invention, when the host vehicle passes through one of the gates arranged side by side, notification for arousing the driver's attention to a stop signal irrelevant to the travel of the host vehicle is suppressed.

[0009] According to this, the processor can relatively easily recognize that "among the traffic signals provided for the gates arranged side by side, the red lamp of the traffic signal of the gate adjacent to the gate predicted to be passed by the host vehicle is lit".

[0010] To achieve the above object, the notification device (1) of the present invention includes an in-vehicle sensor (20) that acquires information about objects existing around the host vehicle, an information presentation device (30) that presents information to the driver of the host vehicle, and a processor (10) capable of executing a warning process of causing the information presentation device to present predetermined information to arouse the driver's attention to the traffic signal when it detects that the red signal lamps (S, S0, S1, SSa, SSb) of the traffic signal located in front of the host vehicle are lit based on the information acquired from the in-vehicle sensor. The notification device is provided with the above components. The processor is configured not to execute the warning process when the condition (B) for recognizing that the red signal lamp (S1) of the traffic signal of the gate (G1) adjacent to the gate (G0) predicted to be passed by the host vehicle among the traffic signals provided for the juxtaposed gates is lit is satisfied. In addition, when the processor detects a sign (SB) indicating an automatic toll collection gate on a toll road, and detects that there is no lit red lamp in a predetermined area above the trajectory predicted to be passed by the host vehicle, and there is a lit red lamp to the left or right of the predetermined area, and further detects that there is a building structure between the lit red lamp and the predetermined area, it is configured to determine that the condition (B) is satisfied.

[0011] According to this, the processor can relatively easily recognize that "among the traffic signals provided for the gates arranged side by side, the red lamp of the traffic signal of the gate adjacent to the gate predicted to be passed by the host vehicle is lit".

[0012] In addition, the notification method and notification program of the present invention include steps executed by various devices provided in the above-described notification device.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0014] (Schematic) A notification device 1 according to an embodiment of the present invention is mounted on a vehicle V (hereinafter referred to as the "host vehicle") equipped with an automatic driving function. When the automatic driving function is disabled and the driver is mainly performing driving operations, and the host vehicle approaches a traffic signal and it is detected that the red light (stop signal S) of the traffic signal is lit, the notification device 1 has a function (warning function) of executing a warning process for calling the driver's attention to the stop signal.

[0015] (Specific Configuration) As shown in FIG. 1, the notification device 1 includes a notification ECU 10, an in-vehicle sensor 20, and an information presentation device 30.

[0016] The notification ECU 10 includes a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc. The notification ECU 10 is connected to other ECUs via CAN.

[0017] The vehicle-mounted sensor 20 includes a surrounding sensor that acquires information about objects existing around the host vehicle. The vehicle-mounted sensor 20 includes, for example, a millimeter-wave radar 21, a sonar 22, and a camera 23 as surrounding sensors.

[0018] The millimeter-wave radar 21 includes a transmission / reception unit and a signal processing unit. The transmission / reception unit radiates radio waves in the millimeter-wave band (hereinafter referred to as "millimeter waves") forward of the host vehicle and receives the millimeter waves (reflected waves) reflected by a three-dimensional object located within the radiation range. The signal processing unit recognizes the distance between the host vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the host vehicle, etc. based on the time from when the transmission / reception unit radiates the millimeter waves until the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation degree of the reflected waves, etc., and transmits the recognition result to the notification ECU 10.

[0019] The sonar 22 intermittently radiates ultrasonic waves to the peripheral area of the host vehicle and receives the ultrasonic waves (reflected waves) reflected by a three-dimensional object. The sonar 22 recognizes the distance between the host vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the host vehicle, etc. based on the time from when the ultrasonic waves are transmitted until the reflected waves are received, and transmits the recognition result to the notification ECU 10.

[0020] The camera 23 includes an imaging device and an image analysis device. The imaging device incorporates, for example, a CCD. The imaging device is installed at the front of the host vehicle. The imaging device captures the foreground of the host vehicle at a predetermined frame rate to acquire image data. The imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data to recognize an object existing in front of the host vehicle.

[0021] The image analysis device recognizes (identifies) three-dimensional objects such as, for example, guardrails, poles, curbstones, structures (walls, pillars) that make up the gates of highways (toll roads), and other vehicles traveling near the host vehicle. The image analysis device transmits information representing the type of the recognized three-dimensional object and its position (coordinates in the image) to the notification ECU 10.

[0022] The image analysis device recognizes the driving lane, for example, based on an image of a lane line drawn on the road surface in front of the host vehicle. The image analysis device transmits information representing the position of each recognized driving lane (the area occupied by the driving lane in the image) to the notification ECU 10.

[0023] In addition, the image analysis device attempts to recognize, for example, the lighting state (lit or extinguished) of a stop signal S located in front of the host vehicle. When the image analysis device can recognize that the stop signal S is lit, it transmits information representing the position of the stop signal S (coordinates in the image) to the notification ECU 10. Note that when the image analysis device recognizes that a plurality of stop signals S are lit in the acquired image, it transmits information representing the positions of these stop signals S to the notification ECU 10 respectively.

[0024] Furthermore, the in-vehicle sensor 20 includes a speed sensor 24. The speed sensor 24 includes a wheel speed sensor that generates one pulse signal (wheel pulse signal) each time the wheel of the host vehicle rotates by a predetermined angle. The speed sensor 24 measures the number of pulses in the unit time of the wheel pulse signal transmitted from the wheel speed sensor, calculates the rotational speed (wheel speed) of each wheel based on the measured number of pulses, and calculates the speed (actual vehicle speed) of the host vehicle based on the wheel speeds of each wheel. The speed sensor 24 transmits the calculation result to the notification ECU 10.

[0025] The information presentation device 30 includes a display device composed of a liquid crystal display, an LED, etc. The display device displays a predetermined attention-arousing image in accordance with an attention-arousing start command received from the notification ECU 10. Also, the display device erases the attention-arousing image in accordance with an attention-arousing end command received from the notification ECU 10.

[0026] (Actuation) The notification ECU 10 acquires the analysis result (position) regarding the stop signal S from the camera 23 at a predetermined cycle and executes the following alert process.

[0027] [Alert Process] When the notification ECU 10 acquires the information (position) of the stop signal S from the camera 23, it acquires the speed vs of the host vehicle from the speed sensor 24. It determines whether the speed vs is less than the threshold value vsth.

[0028] Here, the threshold value vsth is the maximum value of the speed at which the driver can step on the brake pedal when receiving the alert described later and stop the host vehicle in front of the stop signal S. The threshold value vsth is set according to the distance ΔD between the stop signal S and the host vehicle. For example, the notification ECU 10 acquires the distance ΔD based on the recognition result obtained from the millimeter-wave radar 21. The notification ECU 10 acquires the threshold value vsth by referring to a database representing the relationship between the distance ΔD and the threshold value vsth. Also, the notification ECU 10 may acquire the threshold value vsth corresponding to the distance ΔD based on a predetermined arithmetic expression. Note that the above database and arithmetic expression are configured such that, for example, when the distance ΔD is relatively small, a relatively small value is assigned to the threshold value vsth, and when the distance ΔD is relatively large, a relatively large value is assigned to the threshold value vsth. Also, in a special operation mode (for example, an operation mode for elderly drivers), a value smaller than the standard value may be assigned to the threshold value vsth.

[0029] When the speed vs is less than the threshold value vsth, the notification ECU 10 controls the information presentation device 30 to present the driver with information indicating that "the nearest traffic signal prohibits the vehicle from passing" (alert process). Specifically, the notification ECU 10 transmits an alert start command to the display device. When the information presentation device 30 receives the alert start command, it displays a predetermined alert image (red signal icon).

[0030] However, when the following condition A for the stop signal S detected as being lit is satisfied, the notification ECU 10 does not execute a warning process for alerting the driver to the stop signal S.

[0031] <Condition A> There is no lit stop signal S in the area SA above the trajectory predicted to be passed by the host vehicle, and there is a lit stop signal S to the left or right of the area SA. Further, there is a structure of the building BD between the lit stop signal S and the area SA.

[0032] The notification ECU 10 determines whether or not condition A is satisfied as described below, and decides whether or not to execute the warning process according to the determination result.

[0033] When the notification ECU 10 acquires information (position) on the stop signal S from the camera 23, it acquires information on the driving lane from the same camera 23. Then, the notification ECU 10 recognizes the driving lane L0 on which the host vehicle is traveling based on the information on the driving lane. The notification ECU 10 predicts that the host vehicle will proceed along the driving lane L0. That is, the driving lane L0 is the trajectory predicted to be passed by the host vehicle. Note that the notification ECU 10 may recognize the driving lane L0 on which the host vehicle is traveling based on information (recognition results of guardrails, poles, etc.) acquired from the millimeter-wave radar 21 and / or the sonar 22.

[0034] Here, there may be a case where the driving lane L0 recognized by the notification ECU 10 is interrupted in front of the host vehicle (when the lane lines recognized by the image analysis device of the camera 23 are interrupted in front). In this case, the notification ECU 10 calculates the curvature of the currently recognized driving lane L0, and performs interpolation calculation (extrapolation) on the portion obtained by extending the driving lane L0 forward based on the calculation result. Further, when the notification ECU 10 cannot recognize the driving lane L0 because there are no lane lines or guardrails, it may acquire the steering angle of the host vehicle from a steering sensor (not shown), and calculate (extrapolate) the driving lane L0 (the trajectory predicted to be passed by the host vehicle) based on the steering angle.

[0035] Next, the notification ECU 10 acquires (calculates) the positional relationship between the area SA above the driving lane L0 and the stop signal S based on the information (position) regarding the stop signal S acquired from the camera 23. Note that the notification ECU 10 may acquire (calculate) the position of the stop signal S based on the information acquired from the millimeter-wave radar 21 and / or the sonar 22 in addition to the information acquired from the camera 23.

[0036] When the lit stop signal S does not exist within the area SA and exists to the left or right of the area SA, the notification ECU 10 acquires information regarding solid objects (buildings) existing around the host vehicle from the millimeter-wave radar 21, the sonar 22, and the camera 23. When the notification ECU 10 detects, based on the said information, that there are structures (such as walls and pillars) constituting the building BD between the stop signal S and the area SA, it determines that the above condition A is satisfied. In this case, the lit stop signal S is highly likely to indicate that the passage of the gate adjacent to the gate the host vehicle is about to enter is prohibited. Therefore, when the notification ECU 10 determines that the condition A is satisfied, it does not execute a warning process for calling the driver's attention to the stop signal S.

[0037] Next, with reference to FIG. 2, the operation of the notification device 1 when the host vehicle enters the highway gate G0 will be described. In this example, the host vehicle is traveling on the driving lane L0 of a road composed of two driving lanes L0 and L1. The driving lane L0 communicates with the gate G0, and the driving lane L1 communicates with the gate G1. Also, the stop signal S0 of the gate G0 is off, and the stop signal S1 of the gate G1 is on. Note that the speed vs of the host vehicle is less than the threshold value vsth.

[0038] The camera 23 recognizes that the stop signal S1 is lit, acquires the position of the stop signal S1, and transmits it to the notification ECU 10. Since the stop signal S0 is off, the camera 23 does not transmit information regarding the stop signal S0 to the notification ECU 10. Further, the camera 23 acquires the positions of the driving lanes L0 and L1 (the regions occupied by the driving lanes L0 and L1 in the image) and transmits them to the notification ECU 10. The notification ECU 10 recognizes the lane located at approximately the center in the lateral direction of the viewing angle of the camera 23 as the lane on which the host vehicle is traveling (i.e., the driving lane L0). Further, based on the information acquired from the camera 23, the notification ECU 10 recognizes that the stop signal S1 is not in the region SA above the driving lane L0 but is located to the right of the region SA (above the driving lane L1). Next, the notification ECU 10 acquires information regarding a structure in front of the host vehicle from the millimeter-wave radar 21, the sonar 22, and the camera 23. Based on the information, the notification ECU 10 recognizes that a structure (wall or pillar) of the building BD exists between the stop signal S1 and the region SA. Therefore, in this case, the notification ECU 10 determines that the condition A is satisfied. That is, the notification ECU 10 recognizes that "the stop signal S1 indicates that the passage of the gate G1 adjacent to the gate G0 into which the host vehicle is about to enter is prohibited", and does not execute a warning process for calling the driver's attention to the stop signal S.

[0039] Next, with reference to FIG. 3, the operation of the notification device 1 when the host vehicle enters the intersection X will be described. In this example, the host vehicle is traveling in the travel lane La of a road composed of two travel lanes La and Lb. At the intersection X, two traffic lights Sa and Sb for indicating whether vehicles traveling in the travel lane La can proceed are provided. The traffic light Sa is provided in the area SA above the travel lane La, and the traffic light Sb is provided above (to the right of the area SA) the travel lane Lb. The traffic light Sb is provided in front of (a position closer to the host vehicle than) the traffic light Sa. The red lights (stop signals SSa) of the traffic light Sa and the red lights (stop signals SSb) of the traffic light Sb are lit. There is no structure (wall or pillar) of the building BD between the traffic light Sb (stop signal SSb) and the area SA above the travel lane La.

[0040] The camera 23 recognizes that the stop signals SSa and SSb are lit, acquires the positions of the stop signals SSa and SSb, and transmits them to the notification ECU 10. Further, the camera 23 acquires the positions of the travel lanes La and Lb and transmits them to the notification ECU 10. The notification ECU 10 recognizes, based on the information acquired from the camera 23, that the host vehicle is traveling in the travel lane La. Further, the notification ECU 10 recognizes, based on the information acquired by the camera 23, that the stop signal SSa is located within the area SA and that the stop signal SSb is located to the right of the area SA. In this case, the condition A is not satisfied. Therefore, the notification ECU 10 recognizes that "the stop signal SSb is not a traffic light indicating that the passage of the gate adjacent to the gate that the host vehicle is about to enter is prohibited", and executes a warning process for calling the driver's attention to the stop signal S.

[0041] In this example, the stop signal SSb is located in front of the stop signal SSa. Therefore, a situation is assumed where the camera 23 detects that the stop signal SSb is on, and does not recognize that the stop signal SSa is on. In this case, based on the information obtained from the camera 23, the notification ECU 10 recognizes that the stop signal SSb is located to the right of the area SA. Next, the notification ECU 10 acquires information about a building existing in front of the host vehicle from the millimeter-wave radar 21, the sonar 22, and the camera 23. Based on the information, the notification ECU 10 recognizes that there is no structure (wall or pillar) of the building BD between the stop signal SSb and the area SA. Therefore, in this case, the condition A is not satisfied. Thus, the notification ECU 10 recognizes that "the stop signal SSb is not a traffic signal indicating that the passage of the gate adjacent to the gate that the host vehicle is about to enter is prohibited", and executes a warning process to arouse the driver's attention to the stop signal S.

[0042] After the notification ECU 10 executes the above warning process, when a predetermined warning end condition is satisfied, the notification ECU 10 causes the display device to erase the warning image. For example, when the duration T of a state where information about the stop signal S cannot be acquired from the camera 23 (a state where the camera 23 does not recognize the stop signal S) exceeds the threshold value Tth, the warning end condition is satisfied.

[0043] Next, with reference to FIGS. 4 and 5, programs PR1 and PR2 executed by the CPU 10a (hereinafter simply referred to as "CPU") of the notification ECU 10 will be described in order to realize the above warning function. Here, in the programs PR1 and PR2, a flag F indicating whether or not the condition A is satisfied is used. When the condition A is satisfied, the flag F is "1", and when the condition A is not satisfied, the flag F is "0".

[0044] The CPU executes the program PR1 shown in FIG. 4 at a predetermined cycle. The CPU starts the execution of the program PR1 from step 100 and proceeds to step 101.

[0045] When the CPU proceeds to step 101, it executes the program PR2 shown in FIG. 5 to determine the value of the flag F. That is, the CPU determines whether condition A is satisfied, and assigns "1" or "0" to the flag F according to the result.

[0046] The CPU starts executing the program PR2 from step 200 and proceeds to step 201.

[0047] When the CPU proceeds to step 201, based on the information acquired from the camera 23, it recognizes the area SA above the driving lane L0 on which the host vehicle is traveling (discriminates between the area SA and other areas). Then, the CPU proceeds to step 202.

[0048] When the CPU proceeds to step 202, it determines whether it has detected that the lit stop signal S does not exist within the area SA. If the CPU has detected that the lit stop signal S does not exist within the area SA (202: Yes), it proceeds to step 203. On the other hand, the CPU determines whether it has detected that the lit stop signal S does not exist within the area SA. If the CPU has not detected that the lit stop signal S does not exist within the area SA (202: No), it proceeds to step 206 described later.

[0049] When the CPU proceeds to step 203, based on the information acquired from the camera 23, it determines whether it has detected that the lit stop signal S exists to the left or right of the area SA. If the CPU has detected that the lit stop signal S exists to the left or right of the area SA (203: Yes), it proceeds to step 204. On the other hand, if the CPU has not detected that the lit stop signal S exists to the left or right of the area SA (203: No), it proceeds to step 205.

[0050] When the CPU proceeds to step 204, it determines whether there is a structure of the building BD between the lit stop signal S and the area SA based on the information acquired from any one or a plurality of devices among the millimeter-wave radar 21, the sonar 22, and the camera 23. If the CPU determines that the structure exists (204: Yes), it proceeds to step 205. On the other hand, if the CPU determines that the structure does not exist (204: No), it proceeds to step 206.

[0051] When the CPU proceeds to step 205, it determines that condition A is satisfied and assigns "1" to the flag F. Then, the CPU proceeds to step 207, ends the execution of program PR2, and proceeds to step 102 of program PR1 (Figure 4).

[0052] When the CPU proceeds to step 206, it determines that condition A is not satisfied and assigns "0" to the flag F. Then, the CPU proceeds to step 207, ends the execution of program PR2, and proceeds to step 102 of program PR1 (Figure 4).

[0053] When the CPU proceeds to step 102, it determines whether the flag F is "1" (whether condition A is satisfied). If the flag F is "1" (102: Yes), the CPU proceeds to step 106 and ends the execution of program PR1. That is, in this case, the CPU does not execute the alert processing. In other words, the CPU skips the alert processing (step 105 described later). On the other hand, if the flag F is "0" (102: No), the CPU proceeds to step 103.

[0054] When the CPU proceeds to step 103, it acquires the speed vs from the speed sensor 24 and determines whether the speed vs is less than the threshold value vsth. If the speed vs is less than the threshold value vsth (103: Yes), the CPU proceeds to step 104. On the other hand, if the speed vs is greater than or equal to the threshold value vsth (103: No), the CPU proceeds to step 106.

[0055] When the CPU proceeds to step 104, it determines whether the information presentation device 30 is displaying a warning image. If the information presentation device 30 is displaying a warning image (104: Yes), the CPU proceeds to step 106 and ends the execution of program PR1. On the other hand, if the information presentation device 30 is not displaying a warning image (104: No), the CPU proceeds to step 105.

[0056] When the CPU proceeds to step 105, it sends a warning start command to the information presentation device 30 to display a warning image. Then, the CPU proceeds to step 106 and ends the execution of program PR1.

[0057] Note that while the CPU is executing the above program PR1 (PR2), when the warning end condition is satisfied, it executes a program (not shown) to erase the displayed warning image.

[0058] (Effect) As described above, when condition A is satisfied, the stop signal S is likely to be a traffic signal indicating that passage through the gate adjacent to the gate (toll gate on a highway (toll road)) that the host vehicle is about to enter is prohibited. When condition A is satisfied, the notification ECU 10 is configured not to execute the warning process. According to the notification device 1 according to the present embodiment, notification for arousing the driver's attention to a stop signal unrelated to the running of the host vehicle is suppressed.

[0059] Note that the present invention is not limited to the above embodiment, and various modifications can be adopted within the scope of the present invention.

[0060] <Modification Example> The image analysis device of the camera 23 may be able to recognize, for example, a sign SB (such as "ETC", "E-Z Pass", etc., indicating an automatically toll-collectible gate) installed at the entrance or exit of a highway (toll road). When the camera 23 recognizes the sign SB, it transmits the recognition result to the notification ECU 10. The notification ECU 10 does not execute the warning process when the following condition B is satisfied.

[0061] <Condition B> There is a sign SB in front of the host vehicle, there is no stop signal S that is lit in the area SA above the trajectory predicted to be passed by the host vehicle, and there is a stop signal S that is lit on the left or right side of the area SA. Further, there is a structure of a building BD between the lit stop signal S and the area SA.

[0062] In this case, the CPU executes the program PR2a shown in FIG. 6 instead of the program PR2. The CPU starts the execution of the program PR2a from step 200 and proceeds to step 200a.

[0063] When the CPU proceeds to step 200a, it determines whether or not the sign SB has been detected. When the CPU detects the sign SB (200a: Yes), it proceeds to step 201. On the other hand, when the CPU has not detected the sign SB (200a: No), it proceeds to step 205. The processing after step 201 is the same as the processing after step 201 of the program PR2 shown in FIG. 5.

[0064] In the notification device 1 according to this modification example, the notification ECU 10 determines whether or not a sign SB (for example, "ETC", "E-Z Pass", etc.) has been detected. Based on the determination result, the CPU can accurately detect whether the host vehicle is located near the entrance or exit of a highway (toll road). The notification ECU 10 is configured not to execute the attention-grabbing process when it detects that the host vehicle is located near a highway (toll road) and the same conditions as condition A are satisfied. According to the notification device 1 according to the present embodiment, the notification for arousing the driver's attention to a stop signal unrelated to the running of the host vehicle is suppressed.

Description of Reference Numerals

[0065] 1... Notification device, 10... Notification ECU, 20... In-vehicle sensor, 30... Information presentation device

Claims

1. An in-vehicle sensor that acquires information regarding an object existing around the host vehicle, An information presentation device that presents information to the driver of the host vehicle, Based on the information acquired from the in-vehicle sensor, when it is detected that the red light of a traffic signal located in front of the host vehicle is lit, a processor capable of causing the information presentation device to present predetermined information to arouse the driver's attention to the traffic signal, and execute an attention-arousing process, A notification device comprising: The processor is configured such that: When a condition for recognizing that the red light of a traffic signal of a gate adjacent to the gate predicted to be passed by the host vehicle among the traffic signals provided for the gates arranged side by side is lit is satisfied, the attention-arousing process is not executed. In addition, When it is detected that there is no lit red light in a predetermined area above the trajectory predicted to be passed by the host vehicle, and there is a lit red light to the left or right of the predetermined area, and further, when it is detected that there is a building structure between the lit red light and the predetermined area, it is determined that the condition is satisfied. A notification device configured as such.

2. An in-vehicle sensor that acquires information regarding an object existing around the host vehicle, An information presentation device that presents information to the driver of the host vehicle, Based on the information acquired from the in-vehicle sensor, when it is detected that the red light of a traffic signal located in front of the host vehicle is lit, a processor capable of causing the information presentation device to present predetermined information to arouse the driver's attention to the traffic signal, and execute an attention-arousing process, A notification device comprising: The processor is configured such that: When a condition for recognizing that the red light of a traffic signal of a gate adjacent to the gate predicted to be passed by the host vehicle among the traffic signals provided for the gates arranged side by side is lit is satisfied, the attention-arousing process is not executed. In addition, When a sign indicating an automatic toll collection gate on a toll road is detected, and it is detected that there is no lit red light in a predetermined area above the trajectory predicted to be passed by the host vehicle, and there is a lit red light to the left or right of the predetermined area, and further, when it is detected that there is a building structure between the lit red light and the predetermined area, it is determined that the condition is satisfied. A notification device configured as such.

3. An information acquisition step of acquiring information regarding an object existing around the host vehicle; An attention arousal step of, when it is detected based on the information acquired in the information acquisition step that the red light of a traffic signal located in front of the host vehicle is lit, causing a predetermined information to be presented to an information presentation device mounted on the host vehicle to arouse the driver's attention to the traffic signal; A notification method including: When a condition for recognizing that the red light of a traffic signal of a gate adjacent to the gate predicted to be passed by the host vehicle among the traffic signals provided for the juxtaposed gates is lit is satisfied, including a step of skipping the attention arousal step, and further configured to: When it is detected that there is no lit red light in a predetermined area above the trajectory predicted to be passed by the host vehicle, and there is a lit red light to the left or right of the predetermined area, and further when it is detected that there is a building structure between the lit red light and the predetermined area, including a step of determining that the condition is satisfied. A notification method configured as such.

4. A notification program that causes a computer included in the host vehicle to: Execute an information acquisition step of acquiring information regarding an object existing around the host vehicle; Execute an attention arousal step of, when it is detected based on the information acquired in the information acquisition step that the red light of a traffic signal located in front of the host vehicle is lit, causing a predetermined information to be presented to an information presentation device mounted on the host vehicle to arouse the driver's attention to the traffic signal; The notification program is configured to: When a condition for recognizing that the red light of a traffic signal of a gate adjacent to the gate predicted to be passed by the host vehicle among the traffic signals provided for the juxtaposed gates is lit is satisfied, include a step of skipping the attention arousal step, and further configured to: When it is detected that there is no lit red light in a predetermined area above the trajectory predicted to be passed by the host vehicle, and there is a lit red light to the left or right of the predetermined area, and further when it is detected that there is a building structure between the lit red light and the predetermined area, include a step of determining that the condition is satisfied. A notification program configured as such.

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