Vehicle warning device

Abstract

To provide an alarm device for a vehicle capable of reducing possibility of generating an alarm that a driver feels troublesome.SOLUTION: When determining that an alarm target object is present, a vehicle control ECU 10 of an alarm device for a vehicle performs alarm of both an alarm sound alarm using an alarm sound generation device 71 and display alarm using a display device 81 during execution of movement support control (any one of parking support control and exit support control) in which there is high possibility that a driver does not notice the alarm target object. Further, when determining that an alarm target object is present, during non-execution of the movement support control, the vehicle control ECU 10 performs both alarm sound alarm and display alarm when "alarm sound prohibition conditions that are established when the driver highly possibly recognizes the alarm target object" is not established, and performs only display alarm without issuing alarm sound alarm when the alarm sound prohibition conditions are established.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle warning device that, when there is an object that the driver of the host vehicle should pay attention to, gives a warning to the driver using at least one of a display and an alarm sound.

Background Art

[0002] Conventionally, it has been determined based on information obtained by a vehicle surrounding sensor (information acquisition device) whether or not there is an object that the driver of the host vehicle should pay attention to, and when such an object exists, a vehicle warning device that warns the driver using both a display and an alarm sound has been known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, when the conventional device determines that there is an object that the driver of the host vehicle should pay attention to, it always gives a warning using both a display and an alarm sound. For example, when the driver is aware of such an object, the driver may find the "warning by the alarm sound" bothersome.

[0005] The present invention has been made to solve the above problems. That is, one of the objects of the present invention is to provide a vehicle warning device capable of reducing the possibility of generating a warning that the driver finds bothersome.

[0006] The vehicle warning device of the present invention (hereinafter, may be referred to as "the device of the present invention") includes an information acquisition device (15, 20, 25, 30, 35) that acquires vehicle surrounding information including information about an object existing around the host vehicle and information about a lane line on the road surface around the host vehicle, A controller (10) configured to be capable of executing movement support control for moving the host vehicle from the position of the host vehicle at the current time to a predetermined parking target position or a departure target position based on the vehicle surrounding information. A display device (81) capable of performing a display warning, which is a warning using display for the driver of the host vehicle. An alarm sound generating device (71) capable of performing an alarm sound warning, which is a warning using an alarm sound for the driver of the host vehicle. Comprising.

[0007] Furthermore, the controller (10) When it is determined that there is a warning target object, which is an object that the driver of the host vehicle should pay attention to, based on the vehicle surrounding information (step 340: Yes), When the movement support control is being executed (step 350: Yes), cause the display device to perform the display warning and cause the alarm sound generating device to perform the alarm sound warning (steps 360 and 370), When the movement support control is not being executed (step 350: No), if a predetermined alarm sound prohibition condition is satisfied (step 380: Yes), cause the display device to perform the display warning without causing the alarm sound generating device to perform the alarm sound warning (step 370), and if the alarm sound prohibition condition is not satisfied (step 380: No), cause the alarm sound generating device to perform the alarm sound warning and cause the display device to perform the display warning (steps 360 and 370). It is configured as described above.

[0008] According to this, during the execution of movement support control (parking support control and departure support control) in which there is a high possibility that the driver of the host vehicle has not noticed the presence of an object to be noted, both the display warning and the alarm sound warning are performed.

[0009] Also, when the movement support control is not being executed, if the alarm sound prohibition condition is not satisfied, both the alarm sound warning and the display warning are given. However, if the alarm sound prohibition condition is satisfied, only the display warning is given without the alarm sound warning being given. The alarm sound prohibition condition is predefined to be satisfied in a situation where there is a high possibility that the driver is aware of the presence of an object to be noted. Therefore, it is possible to reduce the possibility that a situation occurs in which the driver feels bothered by the alarm sound warning.

[0010] In the above description, for the purpose of assisting the understanding of the invention, reference numerals used in the description of the embodiment corresponding to the constituent elements of the invention described later are attached in parentheses. However, the constituent elements of the invention are not limited to the embodiments defined by the above reference numerals.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0012] The vehicle warning device according to an embodiment of the present invention (hereinafter, may be referred to as "the present device") is applied to a vehicle. Hereinafter, the vehicle equipped with the present device is referred to as the host vehicle.

[0013] (Configuration) As shown in FIG. 1, the present device DS has "various components including the vehicle control ECU 10". Hereinafter, specific explanations will be given.

[0014] The vehicle control ECU 10 is an ECU that executes driving support control including "warning control for the driver, parking support control, and departure support control".

[0015] In this specification, "ECU" is an electronic control device (Electronic Control Unit) mainly including a microcomputer, and is also referred to as a controller. The microcomputer includes a CPU (processor), ROM, RAM, non-volatile memory, interface I / F, etc. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. Some or all of the vehicle control ECU 10 and a plurality of ECUs described later may be integrated into one ECU.

[0016] The vehicle state sensor 11 includes the following plurality of sensors and switches. The vehicle control ECU 10 is configured to receive the detection values or output values of these sensors and switches.

[0017] · A vehicle speed sensor that detects the speed (vehicle speed SPD) of the host vehicle. · A yaw rate sensor that detects the yaw rate Yr of the host vehicle. · A lateral acceleration sensor that detects the lateral acceleration Gy of the host vehicle. · A steering angle sensor that detects the steering angle of the host vehicle. · A shift position sensor that detects the shift position of the transmission of the host vehicle. The shift position includes a parking position (P), a neutral position (N), a forward position (D), and a reverse position (R).

[0018] The parking support switch 12 is a switch that is operated when the driver requests the vehicle control ECU 10 to execute and stop parking support control, departure support control, etc. Note that the parking support control and the departure support control will be briefly described later. Both are well-known and are controls that automatically or semi-automatically move the host vehicle from the current position to the target position at a low vehicle speed without requiring the driver to perform a driving operation of the host vehicle (that is, movement support control of the host vehicle).

[0019] The front camera device 15 includes a front camera 16 and a front image recognition ECU 17. As shown in FIG. 2, the front camera 16 is provided at a substantially central portion in the vehicle width direction of the front bumper FB, and captures an image of the front of the host vehicle HV to acquire image data. The front image recognition ECU 17 acquires camera information about the front of the host vehicle HV based on the image data acquired by the front camera 16. The camera information includes "information representing the position and shape of an object in the vicinity of the host vehicle HV with respect to the host vehicle HV, the type of the object, and the position and shape of the lane lines (for example, lane lines defining lanes and lane lines partitioning parking areas, etc.) drawn on the road surface around the host vehicle HV with respect to the host vehicle HV".

[0020] The left camera device 20 includes a left camera 21 and a left image recognition ECU 22. As shown in FIG. 2, the left camera 21 is provided on the left door mirror LM, and captures an image of the left side of the host vehicle HV to acquire image data. The left image recognition ECU 22 acquires camera information about the left side of the host vehicle HV based on the image data acquired by the left camera 21.

[0021] The right camera device 25 includes a right camera 26 and a right image recognition ECU 27. As shown in FIG. 2, the right camera 26 is provided on the right door mirror RM, and captures an image of the right side of the host vehicle HV to acquire image data. The right image recognition ECU 27 acquires camera information about the right side of the host vehicle HV based on the image data acquired by the right camera 26.

[0022] The rear camera device 30 includes a rear camera 31 and a rear image recognition ECU 32. As shown in FIG. 2, the rear camera 31 is provided on the wall of the rear trunk RT, and captures the rear of the host vehicle HV to acquire image data. The rear image recognition ECU 32 acquires camera information about the rear of the host vehicle HV based on the image data acquired by the rear camera 31.

[0023] The front camera information, the left camera information, the right camera information, and the rear camera information are integrated by the vehicle control ECU 10 to become "surrounding camera information".

[0024] The ultrasonic detection device 35 includes a plurality of ultrasonic sensors 36a - 36l and an ultrasonic processing ECU 37. The plurality of ultrasonic sensors 36a - 36l are attached at the positions shown in FIG. 2, transmit ultrasonic waves in a pulsed manner to the outside of the host vehicle HV, and receive the reflected waves reflected by the target. Each ultrasonic sensor acquires the distance between the "reflection point", which is the point on the target where the transmitted ultrasonic wave is reflected, and each ultrasonic sensor based on the time from the transmission to the reception of the ultrasonic wave. The ultrasonic processing ECU 37 acquires information (hereinafter referred to as "ultrasonic sensor information") about the position and shape of the target around the host vehicle HV with respect to the host vehicle HV based on the distances transmitted from each of the ultrasonic sensors 36a - 36l.

[0025] The power management ECU 40 is connected to the power train actuator 41. The power train actuator 41 is an actuator that changes the torque generated by the drive device (e.g., internal combustion engine and / or electric motor) of the host vehicle HV. Therefore, the power management ECU 40 can control the driving force of the host vehicle HV by controlling the drive device using the power train actuator 41. Further, in this example, the power train actuator 41 can change the shift position of a transmission (not shown). That is, the power management ECU 40 can perform shift control using the power train actuator 41.

[0026] The brake ECU 45 is connected to the brake actuator 46. The brake actuator 46 is an actuator that controls the friction brake device (braking device) disposed on each wheel of the host vehicle HV to change the braking force applied to the vehicle. Therefore, the brake ECU 45 can control the braking force applied to the host vehicle HV by controlling the braking device using the brake actuator 46.

[0027] The steering ECU 50 is connected to the motor drive circuit (inverter) 51 of an assist motor (not shown). The assist motor is incorporated in the steering mechanism of the host vehicle HV. The steering ECU 50 can change the steering angle of the host vehicle HV by controlling the motor drive circuit 51.

[0028] The navigation ECU 60 is connected to the GPS receiver 61, the map database 62, and the touch panel 63. The GPS receiver 61 receives a GPS signal for specifying the position (latitude and longitude) where the vehicle is located. The map database 62 is a storage device that stores map information. The map information includes information for specifying parking lots, intersections, and the like. The touch panel 63 is a display that displays various types of information including maps and touch buttons. The navigation ECU 60 acquires the current position of the host vehicle HV based on the GPS signal transmitted from the GPS receiver 61. Further, the navigation ECU 60 performs well-known route guidance based on the destination input via the touch panel 63, the current position of the host vehicle HV, and the map information stored in the map database 62.

[0029] The warning ECU 70 is connected to a buzzer (warning sound generating device) 71 and can generate a "warning sound for the driver of the host vehicle HV" by sounding the buzzer 71.

[0030] The display ECU 80 is connected to a display device (panoramic view display device) 81 which is a display. The display ECU 80 can perform a "warning display for the driver of the host vehicle HV (a display notifying that an object is approaching)" on the display device 81. Further, the display ECU 80 can display, on the display device 81, a landscape image in the traveling direction of the host vehicle HV, an overhead view image of the host vehicle HV and its surroundings, etc. based on the camera surrounding information.

[0031] The CGW·ECU 90 is a control gateway ECU and is an ECU that controls the transmission and reception of information among a plurality of ECUs. That is, the above-described plurality of ECUs can transmit and receive information via the CGW·ECU 90, the first communication line C1, and the second communication line C2.

[0032] Note that the above-described vehicle control ECU 10 draws, on a two-dimensional map every time a predetermined time t elapses, the position and shape of an object around the host vehicle HV with respect to the host vehicle HV, and the position and shape of the lane lines drawn on the road surface around the host vehicle HV with respect to the host vehicle HV, etc., based on the camera surrounding information and the ultrasonic sensor information. This two-dimensional map has the central position in the vehicle width direction at the front end of the host vehicle HV as the origin, has a coordinate system with the longitudinal axis direction of the host vehicle HV as the X-axis and the vehicle width direction of the host vehicle HV as the Y-axis.

[0033] Furthermore, when the two-dimensional map is updated, the vehicle control ECU 10 estimates the "moving direction and moving speed" of the target based on the position of the target depicted in the updated two-dimensional map, the position of the target depicted in the two-dimensional map before a predetermined time t, the "vehicle speed SPD and yaw rate Yr" of the host vehicle HV at the current time, and so on.

[0034] (Operation) The CPU of the vehicle control ECU 10 (hereinafter simply referred to as "CPU") executes the routine shown by the flowchart in FIG. 3 every time a predetermined time elapses.

[0035] Therefore, when an appropriate time comes, the CPU starts processing from step 300 in FIG. 3 and proceeds to step 310. At step 310, the CPU determines whether or not at least one of the "intersection target object and collision target object" described below exists based on the "moving direction and moving speed" of the target and the "vehicle speed SPD and yaw rate Yr" of the host vehicle HV, etc.

[0036] The intersection target object is an object that approaches the predicted travel path of the host vehicle HV so as to intersect with the predicted travel path of the host vehicle HV. The predicted travel path of the host vehicle HV is the future path of the host vehicle HV that the center of gravity point of the host vehicle HV will pass through in a predetermined prediction period assuming that the host vehicle HV maintains the "vehicle speed SPD and yaw rate Yr" at the current time. The prediction period is the period from the "current time" to the time when a predetermined fixed time elapses from the current time. Note that the length of the predicted travel path of the host vehicle HV is set to a length equal to or greater than a predetermined fixed minimum length (for example, several meters). The CPU estimates the future path (predicted movement path) of the target in the prediction period of the target based on the "moving direction and moving speed" of the target. The predicted movement path of the target is obtained by calculation assuming that the target maintains the current motion state (moving direction and speed). The CPU determines that an intersection target object exists when the predicted movement path intersects with the predicted travel path of the host vehicle HV.

[0037] The object target of conflict is a target located within the vehicle passage area generated by expanding the predicted travel route of the host vehicle HV to the vehicle width of the host vehicle. That is, when there is a target within the vehicle passage area of the host vehicle, the CPU determines that there is an object target of conflict.

[0038] When there is no object target of intersection and no object target of conflict, the CPU determines "No" in step 310 and directly proceeds to step 395 to temporarily end this routine. Therefore, in this case, no alarm is issued.

[0039] On the other hand, when at least one of the object target of intersection and the object target of conflict exists, the CPU determines "Yes" in step 310 and proceeds to step 320, calculates the estimated time to crossing (ETC) of the object target of intersection (when there are multiple object targets of intersection, each of the object targets of intersection), and calculates the time to collision (TTC) of the object target of conflict (when there are multiple object targets of conflict, each of the object targets of conflict).

[0040] The estimated time to crossing (ETC) is the time required for the object target of intersection to reach the position where the predicted travel route of the host vehicle HV and the predicted travel route of the object target of intersection intersect (hereinafter referred to as the "predicted intersection position"). The estimated time to crossing (ETC) is a well-known time obtained by dividing the distance from the current position of the object target of intersection to the predicted intersection position by the magnitude of the velocity component of the object target of intersection toward the predicted intersection position.

[0041] The time to collision (TTC) is a well-known time obtained by dividing the distance from the current position of the host vehicle HV to the position (hereinafter referred to as the "predicted collision position") where it is predicted that the host vehicle HV and the object target of conflict will collide by the velocity of the object target of conflict relative to the host vehicle HV (relative velocity).

[0042] Next, the CPU proceeds to step 330, identifies the minimum time from among the collision margin time TTC and the intersection prediction time ETC, and adopts that minimum time as the determination time Tdet.

[0043] Next, the CPU proceeds to step 340 and determines whether the determination time Tdet is less than or equal to the threshold time Tdetth. That is, at step 340, the CPU determines whether there is an object for which it is necessary to give an alarm to the driver of the host vehicle HV (that is, an alarm target object for which the determination time Tdet is less than or equal to the threshold time Tdetth).

[0044] Note that the method for determining whether each of the intersection target object, the collision target object, and the alarm target object exists is not limited to the above example, and other well-known methods may be followed (for example, refer to Japanese Unexamined Patent Application Publication Nos. 2019-52987, 2017-107328, 2014-2610, and 2021-64084, etc.).

[0045] When the determination time Tdet is greater than the threshold time Tdetth, the CPU determines "No" at step 340 and proceeds directly to step 395 to temporarily end this routine. Therefore, in this case, no alarm is given.

[0046] On the other hand, when the determination time Tdet is less than or equal to the threshold time Tdetth, the CPU determines "Yes" at step 340 and proceeds to step 350. At step 350, the CPU determines whether the current time is during the execution of at least one of "parking support control and departure support control". Note that each of the parking support control and the departure support control may be referred to as movement support control.

[0047] If either the parking support control or the departure support control is being executed at the current time, the CPU determines "Yes" at step 350, performs the alarm processes of steps 360 and 370 described below in order, and then proceeds to step 395 to temporarily end this routine.

[0048] Step 360: The CPU transmits an instruction signal to the warning ECU 70 to sound the buzzer 71. That is, the CPU issues an alarm (alarm sound warning) using sound (alarm sound) by generating an alarm sound for the driver of the host vehicle HV. Step 370: The CPU transmits an instruction signal to the display ECU 80 to cause the display device 81 to display an alarm display for the driver of the host vehicle HV. That is, the CPU issues an alarm (display alarm) using display (light) by performing a display to notify that an object is approaching.

[0049] On the other hand, at the current time, if none of the parking support control and the departure support control are being executed, the CPU determines "No" in step 350 and proceeds to step 360. In step 360, the CPU determines whether or not the alarm sound prohibition condition is satisfied. The alarm sound prohibition condition is predefined to be satisfied in a situation where there is a high possibility that the driver of the host vehicle HV is aware of the existence of a "target to be noted (alarm target object)". For example, the alarm sound prohibition condition is satisfied when at least one of the following condition A and condition B is satisfied. That is, the alarm sound prohibition condition is a condition having at least one of condition A and condition B as a satisfaction condition.

[0050] <Alarm sound prohibition condition> (Condition A) The host vehicle HV is stopped (the vehicle speed SPD is "0"). (Condition B) The current position of the host vehicle HV is outside the area registered in the map database as a parking lot and the shift position is in the forward position (D).

[0051] If the alarm sound prohibition condition is satisfied, the CPU determines "Yes" in step 380 and performs the process of step 370 (alarm using display) described above. Then, the CPU proceeds to step 395 to temporarily end this routine. In this case, since the process of step 360 is not performed, the alarm using sound (alarm sound) is not performed.

[0052] On the other hand, when the alarm sound prohibition condition is not satisfied, the CPU determines "No" in step 380, sequentially performs the above-described "processing of steps 360 and 370", and then proceeds to step 395 to temporarily end this routine. In this case, since the processing of both steps 360 and 370 is performed, both the alarm using the alarm sound (sound) and the alarm using the display (light) are executed.

[0053] Here, the above parking support control will be briefly described. The CPU starts the parking support control when, for example, all of the following conditions 1 to 4 are satisfied. (Condition 1) The parking support mode is selected by performing a predetermined operation on the parking support switch 12. (Condition 2) The current position of the shift lever is in the forward position (D). (Condition 3) The vehicle speed SPD is equal to or lower than a predetermined vehicle speed (for example, 30 [km / h]). (Condition 4) An area (candidate area) in which the host vehicle HV can be parked has been detected based on the surrounding information of the camera.

[0054] When the CPU starts the parking support control, it determines the area occupied by the host vehicle HV when it is assumed that the host vehicle HV is parked within the candidate area as the parking target area P, and sets the center of gravity position of the host vehicle HV when parked in the parking target area P as the parking target position.

[0055] The CPU determines a target route for moving the host vehicle HV from the current position to the parking target position. The target route can be calculated by one of various known calculation methods (for example, the method proposed in Japanese Patent Laid-Open No. 2015-3565).

[0056] Thereafter, the CPU performs movement control to move the host vehicle HV along the target route. The movement control includes shift control, steering angle automatic control, driving force control, braking force control, etc. (see, for example, Japanese Patent Application Laid-Open Nos. 2019-202697, 2019-189134, and 2005-41373). Note that the CPU may not perform braking force control and may instruct the driver of the host vehicle HV to operate the brake pedal using the display 81. In this case, when the driver releases the brake pedal, the host vehicle HV moves along the target route.

[0057] The CPU terminates the parking support control, for example, when at least one of the following described Condition 5 and Condition 6 is satisfied. The CPU determines that the parking support control is being executed during the period from the start to the end of the parking support control. (Condition 5) The host vehicle HV has moved to the parking target position by the parking support control. (Condition 6) The parking support control has been forcibly terminated by performing a predetermined operation on the parking support switch 12.

[0058] Next, the above-described stock-out support control will be briefly described. The CPU starts the stock-out support control, for example, when all of the following described Condition 7 and Condition 8 are satisfied. (Condition 7) The host vehicle HV is stopped (the vehicle speed SPD is "0"). (Condition 8) The stock-out support mode has been selected by performing a predetermined operation on the parking support switch 12.

[0059] When the CPU starts the stock-out support control, it determines the stock-out target position and determines the target route for moving the host vehicle HV from the current position to the stock-out target position. Thereafter, the CPU performs movement control to move the host vehicle HV along the target route in the same manner as the parking support control (see, for example, Japanese Patent Application Laid-Open Nos. 2017-128213, 2019-209946, and 2020-152294). Also in this case, the CPU may not perform braking force control and may instruct the driver of the host vehicle HV to operate the brake pedal using the display 81.

[0060] When at least one of the following Condition 9 and Condition 10 is satisfied, for example, the CPU terminates the shipping support control. The CPU determines that the shipping support control is being executed during the period from the start to the end of the shipping support control. (Condition 9) The host vehicle HV has moved to the shipping target position by the shipping support control. (Condition 10) The driver of the host vehicle HV operates either the accelerator pedal or the steering wheel, and the host vehicle HV deviates from the target route by a predetermined distance or more.

[0061] According to the present implementation device configured as described above, for example, in the following scenes illustrated in FIGS. 4 to 6, both an alarm using an alarm sound (i.e., an alarm sound alarm) and an alarm using a display (i.e., a display alarm) are executed.

[0062] Scene of FIG. 4: A scene in which pedestrians Pd1 and Pd2, which are alarm target objects, exist when the host vehicle HV in which parking support control is being executed is moving forward to a turning point for parking. Scene of FIG. 5: A scene in which a pedestrian Pd, which is an alarm target object, exists when the host vehicle HV in which parking support control is being executed is moving backward for parking. Scene of FIG. 6: A scene in which a pedestrian Pd, which is an alarm target object, exists when the host vehicle HV in which shipping support control is being executed is about to move forward for shipping.

[0063] On the contrary, according to the present implementation device, for example, in the following scenes illustrated in FIGS. 7 and 8, an alarm using an alarm sound is not performed, and only an alarm using a display is executed.

[0064] Scene of FIG. 7: A scene in which a pedestrian Pd, which is an alarm target object, exists when the host vehicle HV not in a state where either parking support control or shipping support control is being executed stops in front of a crosswalk. Scene of FIG. 8: A scene where the host vehicle HV, which is not in a state where either parking support control or departure support control is being executed, is stopped while attempting to turn right at an intersection and there is another vehicle OV which is an object to be warned.

[0065] As described above, when the present implementation device determines that there is an object to be warned, it gives both an audible warning and a display warning during the execution of movement support control when it is highly likely that the driver has not noticed the object to be warned. Further, when the present implementation device determines that there is an object to be warned, during the non-execution of movement support control, if the "audible warning prohibition condition that holds when it is highly likely that the driver has recognized the object to be warned" does not hold, it gives both an audible warning and a display warning, and if the audible warning prohibition condition holds, it gives only a display warning without giving an audible warning. Therefore, the possibility that the driver feels annoyed by the audible warning can be reduced.

[0066] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention. For example, the present implementation device may further include one or both of a radar and a LiDAR, and may detect an intersection object target and a collision object target using the information acquired by them. Further, the object to be warned may be a target other than the intersection object target and the collision object target (for example, a target within a predetermined distance from the host vehicle HV, etc.) (see, for example, Japanese Unexamined Patent Application Publication No. 2021-64085). Further, the warning using a display may be executed by lighting or flashing a warning lamp disposed in a combination meter (not shown). The vehicle control ECU 10 may be configured to execute only one of parking support control and departure support control as movement support control.

[0067] The above-described audible warning prohibition condition may include, for example, only one of the above-described condition A and condition B, or may further include at least one of the following condition C and condition D. (Condition C) The position of the host vehicle HV is within the intersection. (Condition D) The shift position of the host vehicle HV is either the parking position (P) or the neutral position (N). That is, the alarm sound prohibition condition may be any combination of one or more of the above conditions A to D.

Explanation of symbols

[0068] 10… Vehicle control ECU, 15… Front camera device, 20… Left camera device, 25… Right camera device, 30… Rear camera device, 35… Ultrasonic detection device, 70… Alarm ECU, 71… Buzzer (alarm sound generation device), 80… Display ECU, 81… Display device (panoramic view display device, display alarm display device).

Claims

【Claim 1】 An information acquisition device that acquires vehicle surrounding information including information about objects existing around the vehicle and information about lane lines on the road surface around the vehicle; A controller configured to be able to execute movement support control for moving the vehicle from the current position of the vehicle to a predetermined parking target position or a departure target position based on the vehicle surrounding information; A display device capable of performing a display warning, which is a warning using a display, to the driver of the vehicle; An alarm sound generating device capable of performing an alarm sound warning, which is a warning using an alarm sound, to the driver of the vehicle; Comprising: The controller: When it is determined based on the vehicle surrounding information that there is a warning target object, which is an object that the driver of the vehicle should pay attention to, When the movement support control is being executed, cause the display device to perform the display warning and cause the alarm sound generating device to perform the alarm sound warning; When the movement support control is not being executed, if a predetermined alarm sound prohibition condition is satisfied, cause the display device to perform the display warning without causing the alarm sound generating device to perform the alarm sound warning, and if the alarm sound prohibition condition is not satisfied, cause the alarm sound generating device to perform the alarm sound warning and cause the display device to perform the display warning; Configured as such, A vehicle warning device.

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