Attention warning system and attention warning method

Abstract

To notify a driver of an own vehicle, of the magnitude of a temporally changing risk of collision between the own vehicle and a preceding vehicle, in a manner close to the perception of a skilled driver.SOLUTION: An attention calling system includes: a time headway (THW) acquisition unit that repeatedly acquires THW at predetermined time intervals, the THW being a value obtained by dividing an inter-vehicle distance between own vehicle and a preceding vehicle by vehicle speed of the own vehicle; an identification unit that identifies a type of the preceding vehicle; and a notification unit that outputs to an occupant of the own vehicle an approach alarm that notifies of an approach to the preceding vehicle when the THW becomes a first threshold or less. The notification unit outputs the approach alarm using the first threshold that takes different values depending on the type of the preceding vehicle, and / or by setting a saliency level that is a degree of saliency of the approach alarm to a first level that has different magnitudes depending on the type of the preceding vehicle.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to an attention calling system and an attention calling method for calling the attention of a vehicle driver. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into preventive safety technologies to further improve road safety and convenience.

[0003] Patent document 1 describes that when a preceding vehicle and a following vehicle are traveling in front of and behind the vehicle, braking control of the vehicle is performed based on the rear-end collision risk Rf calculated from the time gap THWf between the vehicle and the preceding vehicle and the time to collision TTCf, and the rear-end collision risk Rf with the following vehicle calculated from the time gap THWr between the vehicle and the following vehicle and the time to collision TTCr. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-262629 Summary of the Invention [Problem to be solved by the invention]

[0005] In preventive safety technology, from the standpoint of driver acceptability and understanding, it is a challenge to communicate to the driver of the vehicle the magnitude of the risk of contact between the vehicle and the preceding vehicle, which may change over time, in a manner similar to how the driver intuitively grasps the behavior of the preceding vehicle. A driver's subjective view of the risk of contact perceived by a preceding vehicle may differ depending on whether the driver is a skilled expert or a novice. If the subjective views of skilled expert drivers could be presented to ordinary drivers, including beginners, it is believed that traffic safety and convenience could be further improved. In order to solve the above-mentioned problems, the present application aims to communicate to the driver of the vehicle the magnitude of the collision risk between the vehicle and the preceding vehicle, which changes over time, in a manner that is close to the subjective perception of an experienced driver, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0006] One aspect of the present invention is The vehicle monitoring system includes a THW acquisition unit that repeatedly acquires a time interval between the host vehicle and a preceding vehicle, the time interval being a value obtained by dividing the inter-vehicle distance between the host vehicle and the preceding vehicle by the vehicle speed of the host vehicle, an identification unit that identifies the type of the preceding vehicle, and a notification unit that outputs a proximity alarm to an occupant of the host vehicle to notify the approach of the preceding vehicle when the inter-vehicle time becomes equal to or less than a predetermined first threshold, and the notification unit A saliency level, which is the degree of saliency of the approach warning, is set to a first level which has a magnitude that varies depending on the type of the preceding vehicle and which monotonically increases as the inter-vehicle time decreases. and outputting the proximity alarm. It is a warning system. Another aspect of the present invention is a vehicle control system including: a THW acquisition unit that repeatedly acquires a time headway, which is a value obtained by dividing the inter-vehicle distance between a host vehicle and a preceding vehicle by the vehicle speed of the host vehicle, at predetermined time intervals; an identification unit that identifies the type of the preceding vehicle; and a notification unit that outputs a proximity alarm to an occupant of the host vehicle to notify the approach of the preceding vehicle when the inter-vehicle time becomes equal to or less than a predetermined first threshold value. a TTC acquisition unit that repeatedly acquires, at predetermined time intervals, a time to collision that is a value obtained by dividing the inter-vehicle distance by the relative speed between the host vehicle and the preceding vehicle; and, The notification unit comprises: a first level that varies depending on the type of the preceding vehicle; When the inter-vehicle time is equal to or less than the first threshold and the time to collision is equal to or less than a second threshold, the saliency level is set to a third level obtained by adding a predetermined second level to the first level; and before The second threshold value is set to a different value depending on the type of the preceding vehicle, and / or the second level is set to a different magnitude depending on the type of the preceding vehicle. do , The system outputs the approach warning. According to another aspect of the present invention, the notification unit calculates the second level that monotonically increases as the time to collision decreases. According to another aspect of the present invention, the notification unit sets the second level to a larger value as the value of the time headway when the time to collision becomes equal to or smaller than a second threshold value decreases. According to another aspect of the present invention, when the vehicle type indicated by the type of preceding vehicle identified by the identification unit is a motorcycle, the notification unit sets the second level to a higher value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. According to another aspect of the present invention, the notification unit sets the second level to a smaller value as the vehicle size indicated by the type of the preceding vehicle identified by the identification unit increases. According to another aspect of the present invention, when the vehicle type of the preceding vehicle is a motorcycle, the notification unit sets the first threshold to a larger value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. According to another aspect of the present invention, when the vehicle type of the preceding vehicle is a motorcycle, the notification unit sets the first level to a higher value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. According to another aspect of the present invention, the notification unit sets the first threshold value to a larger value as the vehicle size of the preceding vehicle increases. Another aspect of the present invention is an attention-attracting method executed by a computer of an attention-attracting system, the method including: a THW acquisition step of repeatedly acquiring a time interval between vehicles, which is a value obtained by dividing the distance between a subject vehicle and a preceding vehicle by the speed of the subject vehicle, at predetermined time intervals; an identification step of identifying the type of the preceding vehicle; and predetermined a notification step of outputting an approach warning to an occupant of the host vehicle when the vehicle speed becomes equal to or less than a first threshold value, the approach warning notifying the occupant of the host vehicle of the approaching vehicle; ,before The degree of prominence of the approach warning is expressed as the prominence level. 、 The size of the vehicle varies depending on the type of preceding vehicle. and monotonically increases as the inter-vehicle time decreases. and outputs the proximity alarm. Yet another aspect of the present invention is an attention warning method executed by a computer of an attention warning system, the method including: a THW acquisition step of repeatedly acquiring, at predetermined time intervals, a time interval between vehicles, which is a value obtained by dividing the inter-vehicle distance between the host vehicle and a preceding vehicle by the vehicle speed of the host vehicle; an identification step of identifying the type of the preceding vehicle; a notification step of outputting a proximity alarm to an occupant of the host vehicle to notify the approach of the preceding vehicle when the inter-vehicle time becomes equal to or less than a predetermined first threshold; and a TTC acquisition step of repeatedly acquiring, at predetermined time intervals, a time to collision, which is a value obtained by dividing the inter-vehicle distance by the relative speed between the host vehicle and the preceding vehicle. In the notification step, the prominence level, which is the degree of prominence of the proximity warning, is set to a first level having a magnitude that varies depending on the type of the preceding vehicle, and the proximity warning is output, and when the inter-vehicle time is equal to or less than the first threshold and the collision margin time is equal to or less than a second threshold, the prominence level is set to a third level obtained by adding a predetermined second level to the first level, and the proximity warning is output using the second threshold having a value that varies depending on the type of the preceding vehicle, and / or by setting the second level to a magnitude that varies depending on the type of the preceding vehicle. [Effects of the Invention]

[0007] According to the present invention, the magnitude of the collision risk between the host vehicle and a preceding vehicle, which changes over time, can be communicated to the driver of the host vehicle in a manner that is close to the subjective perception of an experienced driver. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the configuration of an attention calling system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of a scene that the host vehicle encounters while traveling on a road. [Figure 3] FIG. 3 is a diagram for explaining an example of the time transition of the saliency level in the scene shown in FIG. [Figure 4] FIG. 4 is a diagram showing the difference in time transition of the saliency level between when the host vehicle is accelerating and when it is not accelerating. [Figure 5] FIG. 5 is a flowchart showing the procedure of the process of the attention calling method executed by the attention calling system according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing the configuration of an attention calling system according to the second embodiment of the present invention. [Figure 7] FIG. 7 is a diagram for explaining the tendency of risk perception among novice drivers in accordance with the type of preceding vehicle, in comparison with experienced drivers and the like. [Figure 8] FIG. 8 is a flowchart showing the procedure of the process of the attention calling method executed by the attention calling system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [First embodiment] FIG. 1 is a diagram showing the configuration of an attention calling system 1 according to a first embodiment of the present invention. The attention warning system 1 is installed in the host vehicle 2 and issues an approach warning to notify the driver of the host vehicle 2's approach to a preceding vehicle. Here, the term "host vehicle" refers to a vehicle in which the attention warning system 1 is installed.

[0011] The host vehicle 2 includes a vehicle speed sensor 3 that detects the vehicle speed of the host vehicle 2, an object detection device 4 that detects objects ahead of the host vehicle 2, and an HMI (Human Machine Interface) device 5 arranged in the cabin of the host vehicle 2. The object detection device 4 may include, for example, a camera, radar, lidar, and / or sonar. The HMI device 5 is, for example, a speaker. However, the speaker is just one example, and the HMI device 5 may be any device that can issue an approach warning in various ways to occupants, including the driver of the host vehicle 2. In addition to a speaker, the HMI device 5 may also be, for example, an electric seat belt that is provided in the driver's seat of the host vehicle 2 and can change the tension (or fastening force) of the seat belt, a vibration device that is provided in the steering wheel of the host vehicle 2 and can impart vibrations of various intensities to the steering wheel, or a display device.

[0012] The attention warning system 1 includes a processor 10 and a memory 11. The memory 11 is, for example, configured with a volatile and / or non-volatile semiconductor memory and / or a hard disk drive. The processor 10 is, for example, a computer including a CPU. The processor 10 may be configured to include a ROM in which a program is written, a RAM for temporarily storing data, and the like. The processor 10 includes, as functional elements or functional units, a THW acquisition unit 13, a TTC acquisition unit 14, and a notification unit 15.

[0013] These functional elements of the processor 10 are realized, for example, by the processor 10, which is a computer, executing a program 12 stored in a memory 11. The program 12 can be stored in any computer-readable storage medium. Alternatively, all or part of the functional elements of the processor 10 can be configured by hardware including one or more electronic circuit components.

[0014] The THW acquisition unit 13 repeatedly acquires, at predetermined time intervals, the THW (Time Headway) between the host vehicle 2 and a preceding vehicle traveling ahead of the host vehicle 2. For example, the THW acquisition unit 13 acquires, at predetermined time intervals, the current inter-vehicle distance between the preceding vehicle and the host vehicle 2 from the object detection device 4, and acquires the current vehicle speed of the host vehicle 2 from the vehicle speed sensor 3. Then, the THW acquisition unit 13 acquires the value obtained by dividing the current inter-vehicle distance by the current vehicle speed of the host vehicle 2 as the current THW.

[0015] The TTC acquisition unit 14 repeatedly acquires the current TTC (Time to Collision) of the host vehicle 2 relative to the preceding vehicle at predetermined time intervals. For example, the TTC acquisition unit 14 acquires the current inter-vehicle distance between the preceding vehicle and the host vehicle 2 from the object detection device 4 at predetermined time intervals. Then, the TTC acquisition unit 14 calculates the current relative speed between the preceding vehicle and the host vehicle 2 from the time change of the inter-vehicle distance acquired at the predetermined time intervals, and acquires the value obtained by dividing the current inter-vehicle distance by the calculated current relative speed as the current TTC.

[0016] The notification unit 15 outputs an approach warning to the occupants of the host vehicle 2 via the HMI device 5, notifying them of the approach of the host vehicle 2 to a preceding vehicle, based on the THW and TTC repeatedly acquired by the THW acquisition unit 13 and the TTC acquisition unit 14.

[0017] In this embodiment, in particular, the notification unit 15 determines the saliency level, which is the degree of saliency of the proximity warning, in accordance with the THW and TTC, and outputs the proximity warning of the determined saliency level by the HMI device.

[0018] As a result, the warning system 1 outputs an approach warning at a saliency level determined based on the THW, which indicates the sense of proximity to the preceding vehicle, and the TTC, which indicates the sense of approach to the preceding vehicle, so that the magnitude of the collision risk between the own vehicle and the preceding vehicle, which changes over time, can be communicated to the driver of the own vehicle in a manner that is highly consistent with the driver's subjective opinion.

[0019] Here, the degree of prominence of the proximity warning refers to the degree to which the proximity warning attracts or attracts a person's attention.

[0020] For example, when a proximity alarm is output as sound or vibration, the salience level is determined by the intensity, frequency, frequency change period, and repetition period of the sound or vibration. For a proximity alarm given as sound or vibration, the salience level is higher the greater the intensity, the higher the frequency, the shorter the frequency change period, and the shorter the repetition period.

[0021] Alternatively, when the approach warning is output as tension of the electric seat belt, the saliency level is determined by the magnitude of the tension, and the greater the tension, the higher the saliency level of the approach warning.

[0022] Alternatively, when the proximity warning is output as a graphic element such as a character or a figure displayed on a display device, the conspicuousness level may be determined by the brightness, the cycle of brightness change, the cycle of blinking, or the color of the displayed graphic element. For example, the higher the brightness, the shorter the cycle of brightness change or blinking, or the closer the color is to a warm color from a cool color, the higher the conspicuousness level of the proximity warning.

[0023] The details of the approach warning mode (such as the intensity, frequency, tension, brightness, brightness change, etc. of the various approach warnings described above) can be predetermined according to the magnitude of the saliency level. The notification unit 15 can output the approach warning in the predetermined mode according to the magnitude of the saliency level defined as follows.

[0024] Specifically, when THW is equal to or less than a first threshold T1, the notification unit 15 sets the saliency level to a first level that monotonically increases as THW decreases. Then, when THW is equal to or less than the first threshold T1 and TTC is equal to or less than a second threshold T2, the notification unit 15 The salience level is The second level, which increases monotonically as the TTC decreases, is set to the magnitude of the third level, which is the sum of the first level and the second level.

[0025] As a result, until the TTC becomes equal to or less than the second threshold T2, a proximity warning is output at a salience level corresponding only to the THW, thereby preventing the driver from being annoyed by excessive proximity warnings during a period when the risk of contact between the preceding vehicle and the host vehicle 2 is relatively low. On the other hand, during a period when the TTC becomes equal to or less than the second threshold T2 and the risk of contact becomes imminent, a proximity warning is output at a salience level to which a level corresponding to the TTC is added, thereby conveying to the driver a sense of imminent risk of contact.

[0026] Furthermore, according to the above configuration, by setting the first threshold T1, the second threshold T2, the first level, the second level, and the third level to values ​​that are in line with the subjective views of experienced drivers, etc. regarding the risk of collision with a preceding vehicle, the magnitude of the collision risk can be communicated to the driver of the vehicle in a manner that is close to the above subjective views.

[0027] For example, the notification unit 15 calculates the first level so that it monotonically increases with the inverse of the inter-vehicle time, and calculates the second level so that it monotonically increases with the inverse of the time to collision. As a result, the saliency level does not increase linearly as the THW and TTC decrease, but rather the rate of increase increases as the THW and TTC decrease, so that the saliency level can change in a manner that more closely matches the driver's subjective feelings or sensations as the preceding vehicle approaches, thereby further increasing the driver's acceptability or persuasiveness of the proximity warning.

[0028] More specifically, the notification unit 15 calculates the first level value Lf, the second level value Ls, and the third level value Lt using the following equations. Lf=k1 / THW (1) Ls = k2 × k3 × (1 / TTC-1 / T2) (2) Lt = Lf + Ls (3) In the above equation, k1, k2, and k3 are proportionality coefficients.

[0029] Then, the notification unit 15 sets the saliency level SL as follows: When TTH≦T1 and TTC>T2: SL=Lf; When TTH≦T1 and TTC≦T2: SL=Lt (4)

[0030] When setting the saliency level, the notification unit 15 may set the second level Ls to a larger value as the value of THW becomes smaller when the TTC becomes equal to or smaller than the second threshold T2. As a result, the smaller the inter-vehicle distance when the TTC becomes equal to or smaller than the second threshold T2, the higher the saliency level of the subsequent proximity warning can be, thereby conveying to the driver a sense of imminent contact risk.

[0031] For example, the notification unit 15 calculates the proportionality coefficient k2 in equation (2) using the following equation. k2=1-T3 / C1 (5) Here, T3 is the value of THW when TTC becomes equal to or less than the second threshold T2, and C1 is a coefficient.

[0032] The notification unit 15 may also set the second level Ls to a smaller value when the host vehicle 2 is accelerating than when the host vehicle is not accelerating. As a result, when the driver is intentionally accelerating the host vehicle 2, such as when the host vehicle 2 is attempting to overtake a preceding vehicle, the saliency level of the proximity warning is lower than when the host vehicle 2 is not accelerating, thereby preventing the driver from being annoyed by excessive proximity warnings.

[0033] For example, the notification unit 15 determines the proportionality coefficient k3 in the equation (2) as follows: When the host vehicle 2 is not accelerating: k3=1, and When the host vehicle 2 is accelerating: k3 < 1 (for example, k3 = 0.8) (6)

[0034] The notification unit 15 can determine that the host vehicle 2 is accelerating when, for example, the value of the acceleration calculated from the value of the vehicle speed acquired at a predetermined time interval from the vehicle speed sensor 3 is equal to or greater than a predetermined threshold value. Instead of this, the notification unit 15 can determine that the host vehicle 2 is accelerating when, based on the information from an accelerator pedal sensor (not shown) provided in the host vehicle 2, the amount of change in the depression amount of the accelerator pedal is equal to or greater than a predetermined threshold value.

[0035] Next, an example of the time transition of the saliency level of the approach warning output by the notification unit 15 will be described using FIGS. 2 and 3. FIG. 2 is a diagram showing an example of a scene encountered by the host vehicle 2 during road travel. FIG. 3 is a diagram for explaining an example of the time transition of the saliency level in the scene shown in FIG. 2.

[0036] In FIG. 2, diagrams showing the positions of the host vehicle 2 and the preceding vehicle 20 traveling on the road 25 at times t0, t1, t2, and t3 are arranged side by side from the uppermost row to the lowermost row. In FIG. 3, the horizontal axis represents time, the vertical axis represents the saliency level, and the graphs 30, 31, and 32 show the time change of the saliency level.<0000​​​​​​​​​​After that, while the host vehicle 2 is maintaining a constant speed, the preceding vehicle 20 starts to decelerate from the vehicle speed V20, and the TTC between the preceding vehicle 20 and the host vehicle 2 crosses the second threshold value T2 at time t2 (the third row in FIG. 2), and further decreases. After that, after the vehicle speed of the preceding vehicle 20 reaches V21 (<V20), at time t3, the host vehicle 2 starts to decelerate from the vehicle speed V10, and the TTC starts to increase (the bottom row in FIG. 2).

[0039] The graphs 30, 31, and 32 shown in FIG. 3 show the time changes of the respective saliency levels for three cases where the value of THW when the TTC crosses the second threshold value T2 at time t2 is different depending on, for example, the magnitude of the speed difference between the vehicle speed V10 of the host vehicle 2 and the vehicle speed V20 of the preceding vehicle 20.

[0040] The value of THW when the TTC crosses the second threshold value T2 is the largest in the graph 32 shown in FIG. 3, the smallest in the graph 30, and an intermediate value in the graph 31. Here, since the saliency level in the period from time t1 to t2 is set to the first level Lf of the formula (1) proportional to the reciprocal of THW, the graph 32 with the largest THW at time t2 shows the lowest saliency level compared to the other graphs 30 and 31. Note that the graphs 30, 31, and 32 schematically show the change in the saliency level, and the actual saliency level may change curvilinearly.

[0041] As described above, since the notification unit 15 sets the second level Ls shown in the formula (2) to a larger value as the value of THW when the TTC becomes less than or equal to the second threshold value T2 is smaller, by the proportionality coefficient k2 shown in the formula (5), the slope in the period from time t2 to t3 is the largest for the graph 30 and the smallest for the graph 32.

[0042] Note that since the host vehicle 2 starts to decelerate at time t3, the graphs 30, 31, and 32 will each have the saliency level starting to decrease from time t3 (not shown). [[ID=--]] [[ID=--]]

[0043] [[ID=--]] In the scene shown in Fig. 2, the cause of the TTC crossing the second threshold T2 at time t2 is assumed to be deceleration of the preceding vehicle 20, but it may also be acceleration of the host vehicle 2. Fig. 4 is a diagram showing the difference in the time progression of the saliency level between when the host vehicle 2 is accelerating and when it is not accelerating at time t2 when the TTC crosses the second threshold T2. The vertical and horizontal axes in Fig. 4 are the same as those in Fig. 3.

[0044] Graph 30 shown in Fig. 4 is the same as graph 30 shown in Fig. 3, and shows the time progression of the saliency level in the scene of Fig. 2 where the host vehicle 2 is traveling at a constant speed at time t2. In contrast, graph 40 shown in Fig. 4 shows the time progression of the saliency level in the case where the host vehicle 2 is accelerating at time t2.

[0045] As described above, the notification unit 15 sets the second level Ls shown in equation (2) to a smaller value when the vehicle 2 is accelerating than when the vehicle is not accelerating, using the proportionality coefficient k3 shown in equation (6), so the slope of graph 40 during the period from time t2 to t3 is smaller than that of graph 30.

[0046] Next, the operational procedure of the attention calling system 1 will be described. 5 is a flowchart showing the procedure of the process of the attention method executed by the processor 10, which is the computer of the attention system 1. This process is repeatedly executed at predetermined time intervals.

[0047] When the process starts, the notification unit 15 determines whether or not there is a preceding vehicle ahead of the host vehicle 2 based on information from the object detection device 4 that detects an object ahead of the host vehicle 2 (S100). If there is no preceding vehicle ahead of the host vehicle 2 (NO in S100), the notification unit 15 ends this process.

[0048] On the other hand, if there is a preceding vehicle ahead of the host vehicle 2 (S100, YES), the THW acquisition unit 13 acquires the THW between the host vehicle and the preceding vehicle (S102), and the TTC acquisition unit 14 acquires the TTC between the host vehicle and the preceding vehicle (S104). As described above, this process shown in FIG. 5 is repeatedly executed at predetermined time intervals, so that the THW and TTC are repeatedly acquired at the predetermined time intervals by steps S102 and S104. Here, steps S102 and S104 correspond to the THW acquisition step and the TTC acquisition step, respectively, in the present disclosure. Furthermore, the processes from step S106 to step S126, which will be described later, correspond to the notification step in the present disclosure.

[0049] Next, the notification unit 15 determines whether the THW acquired in step S102 is equal to or less than the first threshold T1 (S106). If the THW is not equal to or less than the first threshold T1 (NO in S106), the notification unit 15 ends this process.

[0050] On the other hand, if THW is equal to or less than the first threshold value T1 (S106, YES), the notification unit 15 calculates the first level Lf by the above-mentioned formula (1) (S108).

[0051] Next, the notification unit 15 determines whether the TTC acquired in step S104 is equal to or less than the second threshold value T2 (S110). If the TTC is greater than the second threshold value T2 (S108, NO), the notification unit 15 determines whether the TTC calculated in step S108 is equal to or less than the second threshold value T2 (S110). First-Level Values Lf is set as the salience level SL (S114), and a proximity alarm is output at the set salience level SL (S126), after which the process ends.

[0052] On the other hand, if the TTC is equal to or less than the second threshold T2 (S110, YES), the notification unit 15 calculates the coefficient k2 used to calculate the second level Ls using the above-mentioned equation (5) (S112).

[0053] Next, the notification unit 15 determines whether the host vehicle 2 is accelerating (S116). Then, in accordance with the above-mentioned formula (6), if the host vehicle 2 is not accelerating (S116, NO), the notification unit 15 sets the coefficient k3 used in calculation of the second level Ls to 1 (S118), and if the host vehicle 2 is accelerating (S116, YES), the notification unit 15 sets the coefficient k3 to a value smaller than 1, for example, 0.8 (S120).

[0054] Next, the notification unit 15 calculates the second level Ls and the third level Lt using the above-mentioned formulas (2) and (3) (S122), sets the calculated third level Lt as the saliency level SL (S124), and outputs a proximity alarm at the set saliency level SL (S126), after which the process ends.

[0055] [Second embodiment] Next, a second embodiment of the present invention will be described. Fig. 6 is a diagram showing the configuration of an attention calling system 51 according to the second embodiment. In Fig. 6, the same components as those shown in Fig. 1 are denoted by the same reference numerals as those in Fig. 1, and the above description of Fig. 1 is used.

[0056] 6 has the same configuration as the attention calling system 1 shown in FIG. 1, but differs in that it includes a processor 52 instead of the processor 10. The processor 52 has the same configuration as the processor 10, but differs in that it further includes an identification unit 53 as a functional element or functional unit, and includes an alarm unit 54 instead of the alarm unit 15.

[0057] The identification unit 53, the notification unit 54, and other functional elements of the processor 52 are realized, for example, by the processor 52, which is a computer, executing a program 55 stored in the memory 11. The program 55 can be stored in any computer-readable storage medium. Alternatively, all or part of the functional elements of the processor 52 can be configured by hardware including one or more electronic circuit components.

[0058] The identification unit 53 identifies the type of the preceding vehicle. Here, the "type" of the preceding vehicle refers to the vehicle category of the preceding vehicle, which is classified based on predetermined items including the vehicle type (e.g., bicycle, motorcycle, car, truck, bus, etc.) and / or the vehicle size (e.g., large vehicle, medium-sized vehicle, small vehicle, etc.).

[0059] For example, the identification unit 53 may identify the type of preceding vehicle according to conventional technology by performing image processing such as template matching or feature point matching based on an image of an object ahead of the host vehicle 2 and / or distance measurement information to the object, etc., from the object detection device 4. Note that instead of or in addition to the identification unit 53 itself performing the image recognition processing to identify the type of preceding vehicle, the identification unit 53 may acquire from another device the identification result of the type of preceding vehicle that the other device has performed.

[0060] The notification unit 54 has the same configuration as the notification unit 15 according to the first embodiment, but differs in that it issues an approach warning based also on the type of preceding vehicle identified by the identification unit 53.

[0061] Specifically, the notification unit 54 outputs the proximity warning using a first threshold value that varies depending on the type of preceding vehicle identified by the identification unit 53, and / or by setting the salience level, which is the degree of salience of the proximity warning, to a first level that varies depending on the type of preceding vehicle. Note that the values ​​set for the first threshold value and / or the first level may be determined in advance for each type of preceding vehicle.

[0062] As a result, when the warning system 1 issues an approach warning based on the THW, which indicates the sense of proximity to the preceding vehicle, the first threshold value and the saliency level of the approach warning can be set based on the intuitive risk perception of an experienced driver or model driver (hereinafter referred to as an experienced driver, etc.) depending on the type of preceding vehicle, so that the magnitude of the collision risk between the vehicle and the preceding vehicle, which changes over time, can be communicated to the driver of the vehicle in a manner close to the subjective perception of an experienced driver, etc.

[0063] In this embodiment, the notification unit 54 uses a first threshold value T1 that varies depending on the type of preceding vehicle, and sets the first level value Lf using the following equation (7) instead of the above-mentioned equation (1). Lf=kc1×k1 / THW (7) Here, kc1 is a coefficient determined depending on the type of preceding vehicle, and k1 is the same as k1 in the above-mentioned equation (1). In this embodiment, the notification unit 54 sets the saliency level of the approach warning to a first level that varies depending on the type of preceding vehicle and that monotonically increases as the inter-vehicle time decreases. Note that kc1 may be predetermined for each type of preceding vehicle, for example.

[0064] The notification unit 54 also uses a second threshold value that differs depending on the type of preceding vehicle, and / or sets the second level to a different magnitude depending on the type of preceding vehicle. Note that the values ​​set for the second threshold value and / or the second level may be determined in advance for each type of preceding vehicle. As a result, in the attention warning system 1, the second threshold and the second level that defines the saliency level of the approach warning can be set based on the manner in which an experienced driver or the like intuitively grasps risk according to the type of preceding vehicle. Therefore, when the saliency level of the approach warning is changed and issued based on the TTC that indicates the sense of approach to the preceding vehicle, the collision risk can be reduced. At the time Intermediate changes can be communicated to the driver of the vehicle in a manner closer to the subjective opinion of an experienced driver or the like.

[0065] In this embodiment, the notification unit 54 uses a second threshold value T2 that varies depending on the type of preceding vehicle, and sets the second level value Ls using the following equation (8) instead of the above-mentioned equation (2). Ls=kc2×k2×k3×(1 / TTC-1 / T2) (8) Here, kc2 is a coefficient determined depending on the type of preceding vehicle. As a result, in this embodiment, the notification unit 54 sets the value of the second level to have a different magnitude depending on the type of preceding vehicle and to monotonically increase as the TTC decreases. It should be noted that kc2 may be determined in advance for each type of preceding vehicle, for example.

[0066] Furthermore, in equation (8), k2 and k3 are the same as k2 and k3 in equation (2) above, and can be calculated by equations (5) and (6) above, respectively. That is, by determining k2 using equation (5), the notifier 54 sets the second level value Ls to a larger value as the value of THW when TTC becomes equal to or smaller than the second threshold value T2 becomes smaller.

[0067] FIG. 7 is a diagram illustrating trends in risk perception among novice drivers according to the type of preceding vehicle, in comparison with experienced drivers. The top row of the table in FIG. 7 shows examples of the types of preceding vehicles, which, from left to right, are motorcycles with two tires, four-wheeled vehicles with four tires, and medium-sized or large vehicles. Here, four-wheeled vehicles typically refer to standard-sized automobiles and may include light vehicles and compact cars. Medium-sized and large vehicles refer to vehicles that are larger and heavier than standard-sized automobiles and may include medium-sized trucks, medium-sized buses, large trucks, large buses, etc. The second to fourth rows of FIG. 7 show trends in risk perception among novice drivers. In this table, as an example, risk perception is divided into three categories: timing of risk perception, perceived risk magnitude, and perception of increased risk as the time between vehicles decreases, and these categories are shown in the second to fourth rows, respectively. For example, the word "late" in the second row of the table indicates that novice drivers tend to recognize risks later than experienced drivers.

[0068] Generally, novice drivers who have gradually become accustomed to driving after their first experience driving on public roads tend to become overconfident and careless about avoiding danger. In addition, novice drivers tend to be self-centered when it comes to recognizing danger, and may tend to focus on, for example, the extent of damage they will suffer in the event of a collision.

[0069] For this reason, when the preceding vehicle is a motorcycle that appears smaller than a four-wheeled vehicle (the second column from the left in Figure 7), the timing of risk recognition by a novice driver (i.e., the timing of recognizing that they need to pay special attention in anticipation of the possibility of a future collision) is likely to be delayed compared to the timing of risk recognition by an experienced driver. Also, for the same reason, the magnitude of risk perceived by a novice driver may be smaller than the degree of risk perceived by an experienced driver. Furthermore, novice drivers are more likely to underestimate the increased risk associated with a decrease in the time interval between their own vehicle and the other vehicle than experienced drivers.

[0070] On the other hand, when the preceding vehicle is a four-wheeled vehicle, which is frequently encountered on public roads (third column in the table in Figure 7), the timing of risk recognition, the perceived magnitude of the risk, and the recognition of the increased risk associated with a decrease in inter-vehicle time may be roughly the same for novice drivers and experienced drivers.

[0071] On the other hand, when the preceding vehicle is a medium-sized or large vehicle (e.g., a medium-sized or large truck) that is larger and heavier than a typical four-wheeled vehicle (standard-sized automobile) (the far right column of the table in Figure 7), the timing of risk recognition is similar for novice drivers and experienced drivers, but in terms of the perceived magnitude of risk and the recognition of the increased risk associated with a decrease in inter-vehicle time, novice drivers tend to rate the risk as greater than experienced drivers. This is because experienced drivers often intuitively understand that as the vehicle size increases from a four-wheeled vehicle to a medium-sized vehicle to a large vehicle, the magnitude of acceleration during sudden acceleration or deceleration generally decreases, whereas novice drivers often perceive a threat in proportion to the apparent size of the preceding vehicle.

[0072] The notification unit 54 in this embodiment changes the value of the first threshold that determines the timing of issuing an approach warning based on THW, the value of the second threshold that determines the timing of changing the increase rate of the saliency level based on TTC, and the magnitude of the first level and second level that determine the height of the saliency level of the approach warning according to the type of preceding vehicle, thereby communicating the magnitude of the collision risk between the subjective view of the subjective view of an experienced driver or the like as described above to the driver of the subjective view ... an experienced driver or the like as described above.

[0073] For example, when the vehicle type indicated by the type of preceding vehicle identified by the identification unit 53 is a motorcycle, the notification unit 54 sets the first threshold value T1 to a larger value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. As a result, when the preceding vehicle is a motorcycle, the timing of issuing an approach warning based on the THW is earlier than when the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle (i.e., the approach warning is issued when the preceding vehicle is farther away), and even novice drivers who tend to underestimate the risk of colliding with motorcycles compared to four-wheeled vehicles, medium-sized vehicles, or large vehicles can be made aware of the risk of colliding with a motorcycle in a manner similar to the risk awareness held by experienced drivers.

[0074] Furthermore, when the vehicle type of the preceding vehicle is a motorcycle, the notification unit 54 sets the first level Lf to a larger value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. As a result, when the vehicle type of the preceding vehicle is a motorcycle, the saliency level of the approach warning that is initiated based on the THW is higher than when the vehicle type is a four-wheeled vehicle, medium-sized vehicle, or large vehicle.This makes it possible to alert novice drivers, who tend to underestimate the risk of collision with motorcycles compared to four-wheeled vehicles, medium-sized vehicles, or large vehicles, to the risk of collision with motorcycles in a manner similar to the level of risk awareness that experienced drivers have toward motorcycles.

[0075] Furthermore, the larger the size of the preceding vehicle, the larger the value the notifying unit 54 sets the first threshold T1 to. That is, the larger the size of the preceding vehicle, the earlier the timing of issuing the approach warning based on the THW by the notifying unit 54. This makes it possible to alert potentially dangerous drivers who tend to underestimate the risk of collision with medium-sized and large vehicles, such as trucks and buses, to the risk of collision with medium-sized and large vehicles in a manner similar to the risk awareness held by experienced drivers.

[0076] Furthermore, when the vehicle type indicated by the type of preceding vehicle identified by the identification unit 53 is a motorcycle, the notification unit 54 sets the second level Ls to a larger value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. As a result, for example, when the vehicle type of the preceding vehicle is a motorcycle, the rate of increase in the saliency level based on the TTC is higher than when the vehicle type is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle, and it is possible to alert novice drivers, who tend to underestimate the risk of collision with motorcycles compared to four-wheeled vehicles, medium-sized vehicles, or large vehicles, to the risk of collision with a motorcycle in a manner similar to the level of risk awareness that experienced drivers have when approaching a motorcycle.

[0077] Furthermore, the larger the vehicle size indicated by the type of preceding vehicle identified by the identification unit 53, the smaller the value the notification unit 54 sets the second level Ls to. As a result, the larger the vehicle size of the preceding vehicle, the more gradual the rate of increase in the saliency level based on the TTC becomes, and this makes it possible to present the risk recognition behavior of an experienced driver to a novice driver who is easily distracted by the vehicle size of the preceding vehicle and tends to overestimate the risk, and to use this as a reference for driving.

[0078] Next, the operation procedure of the attention warning system 51 will be described. Fig. 8 is a flow diagram showing the procedure of the processing of the attention method executed by the processor 52, which is the computer of the attention system 51. This processing is executed repeatedly at predetermined time intervals. In Fig. 8, steps that perform the same processing as the steps of the attention method executed by the attention system 1 according to the first embodiment shown in Fig. 5 are indicated by the same reference numerals as those shown in Fig. 5, and the above description of Fig. 5 is used.

[0079] The attention drawing method of Fig. 8 executed by the attention drawing system 51 is similar to the attention drawing method of Fig. 5 executed by the attention drawing system 1, but differs in that it further includes steps S200 and S202 and has steps S204 and S206 instead of steps S108 and S122. Here, step S200 corresponds to the identification step in the present disclosure. Furthermore, the processes of steps S202, S204, S206, and steps S106 to S126 correspond to the notification step executed by the computer of the attention drawing system 51 in the present disclosure.

[0080] When there is a preceding vehicle ahead of the host vehicle 2 (S100, YES), the attention warning system 51 acquires the THW with the preceding vehicle using the THW acquisition unit 13 (S102), acquires the TTC with the preceding vehicle using the TTC acquisition unit 14 (S104), and then identifies the type of preceding vehicle using the identification unit 53 (S200). Next, the notification unit 54 sets the first threshold T1, the second threshold T2, the coefficient kc1, and / or the coefficient kc2 to values ​​according to the type of preceding vehicle (S202).

[0081] Thereafter, the notification unit 54 calculates the first level value Lf using the above-mentioned formula (7) (S204). The notification unit 54 also calculates the second level value Ls using the above-mentioned formula (8) and calculates the third level value Lt using the formula (3) (S206).

[0082] [Other embodiments] In the second embodiment described above, the notification unit 54 sets the first threshold value T1, the second threshold value T2, the coefficient Kc1, and the coefficient Kc2 to values ​​corresponding to the type of preceding vehicle, but it may also set at least one of T1, T2, Kc1, and kc2 to a value corresponding to the type of preceding vehicle. In this case, although the degree of effect is limited compared to the second embodiment, by using any of the parameters (i.e., T1, T2, Kc1, and kc2) set to a value corresponding to the type of preceding vehicle, it is possible to convey to the driver of the host vehicle 2 to some extent the magnitude of the collision risk between the host vehicle and the preceding vehicle, which changes over time, in a manner close to the subjective opinion of an experienced driver.

[0083] In addition, when kc1 or kc2 is not set to a value according to the type of preceding vehicle, in the flow diagram shown in Figure 8, the notification unit 54 can execute step S108 or S122 in Figure 5, instead of step S204 or S206, to calculate the first level value Lf or the second level value Ls using equation (1) or equation (2), respectively.

[0084] 7 shows examples of preceding vehicle types including motorcycles, four-wheeled vehicles, medium-sized vehicles, and large vehicles, but the types and number of preceding vehicle types identified by the identification unit 53 are not limited to these and may be any type and number. The notification unit 54 may set the first threshold value T1, the second threshold value T2, the coefficient Kc1, and / or the coefficient kc2 according to each preceding vehicle type identified by the identification unit 53. For example, the preceding vehicle types that may be identified may include various types with different uses, sizes, and / or shapes, such as bicycles, electric kick scooters, motorcycles with sidecars, light trucks, microbuses, medium-sized buses, large buses, and vehicles carrying hazardous materials.

[0085] The present invention is not limited to the configurations of the above-described embodiments, and can be implemented in various forms without departing from the spirit of the present invention.

[0086] [Configuration supported by the above embodiment] The above-described embodiment supports the following configurations.

[0087] (Configuration 1) An attention warning system comprising a THW acquisition unit that repeatedly acquires a time gap, which is the value obtained by dividing the inter-vehicle distance between the subject vehicle and a preceding vehicle by the vehicle speed of the subject vehicle, at predetermined time intervals; an identification unit that identifies the type of the preceding vehicle; and an alarm unit that outputs a proximity warning to occupants of the subject vehicle to notify them of the approach of the preceding vehicle when the time gap becomes equal to or less than a first threshold value, wherein the alarm unit outputs the proximity warning using the first threshold value which has a different value depending on the type of the preceding vehicle, and / or by setting a salience level, which is the degree of salience of the proximity warning, to a first level which has a magnitude which varies depending on the type of the preceding vehicle. According to the warning system of configuration 1, when an approach warning is issued based on the THW indicating the sense of closeness to the preceding vehicle, the first threshold and the first level that defines the salience level of the approach warning can be set based on the intuitive risk perception of an experienced driver or model driver (an experienced driver, etc.) depending on the type of preceding vehicle, so that the magnitude of the collision risk between the own vehicle and the preceding vehicle, which changes over time, can be communicated to the driver of the own vehicle in a manner that is close to the subjective perception of an experienced driver, etc.

[0088] (Configuration 2) The warning system described in Configuration 1, wherein the notification unit sets the salience level, which is the degree of salience of the approach warning, to a first level that has different magnitudes depending on the type of the preceding vehicle and that monotonically increases as the inter-vehicle time decreases. According to the attention warning system of configuration 2, the saliency level of the proximity warning increases as the THW decreases with the decrease in the inter-vehicle distance from the preceding vehicle, and therefore can change in a manner consistent with the driver's subjective perception or sensation as the preceding vehicle approaches. Therefore, the attention warning system of configuration 2 can increase the driver's satisfaction with the proximity warning.

[0089] (Configuration 3) An attention warning system as described in configuration 1 or 2, which includes a TTC acquisition unit that repeatedly acquires a time to collision, which is the value obtained by dividing the inter-vehicle distance by the relative speed between the vehicle and the preceding vehicle, at a predetermined time interval, and the notification unit sets the salience level to a third level, which is the first level plus a predetermined second level, when the inter-vehicle time is less than or equal to a first threshold and the time to collision is less than or equal to a second threshold, and the notification unit uses the second threshold of a different value depending on the type of the preceding vehicle, and / or sets the second level to a different magnitude depending on the type of the preceding vehicle. According to the warning system of configuration 3, the second threshold and the second level that determines the saliency level of the approach warning can be set based on the intuitive risk perception of an experienced driver, etc., depending on the type of preceding vehicle.Therefore, when the saliency level of the approach warning is changed and issued based on the TTC, which indicates the sense of approach to the preceding vehicle, the change in collision risk over time can be communicated to the driver of the vehicle in a manner that is closer to the subjective perception of an experienced driver, etc.

[0090] (Configuration 4) The attention drawing system according to Configuration 3, wherein the notification unit calculates the second level to monotonically increase as the time to collision decreases. According to the attention warning system of configuration 4, the value of the second level that defines the saliency level of the proximity warning increases as the TTC, which is the time until collision with the preceding vehicle, decreases, and changes in a manner consistent with the subjective feelings or sensations of the driver as the time until collision decreases. Therefore, the attention warning system of configuration 4 can increase the driver's acceptance of the increase in the level of the proximity warning based on the TTC.

[0091] (Configuration 5) The warning system described in Configuration 3 or 4, wherein the notification unit sets the second level to a larger value as the value of the inter-vehicle time when the collision time to collision becomes equal to or less than a second threshold value becomes smaller. According to the warning system of configuration 5, the smaller the inter-vehicle distance when the TTC falls below the second threshold, the higher the salience level of the subsequent approach warning can be, thereby conveying to the driver a sense of imminent risk of contact.

[0092] (Configuration 6) An attention warning system described in any one of configurations 3 to 5, wherein the notification unit sets the second level to a higher value when the vehicle type indicated by the type of preceding vehicle identified by the identification unit is a motorcycle, compared to when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. According to the warning system of configuration 6, when the vehicle type of the preceding vehicle is a motorcycle, the rate of increase in the salience level based on the TTC is higher than when the vehicle type is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle, and even for novice drivers who tend to underestimate the risk of collision with a motorcycle compared to a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle, the driver can be alerted to the risk of collision with a motorcycle in a manner similar to the level of risk awareness that experienced drivers have when approaching a motorcycle.

[0093] (Configuration 7) The attention warning system according to any one of configurations 3 to 6, wherein the notification unit sets the second level to a smaller value as the vehicle size indicated by the type of the preceding vehicle identified by the identification unit increases. According to the warning system of configuration 7, the larger the size of the preceding vehicle, the more gradual the rate of increase in the salience level based on the TTC becomes. This allows novice drivers, who are easily distracted by the size of the preceding vehicle and tend to overestimate the risk, to be presented with the risk perception patterns of experienced drivers, etc., and can use this as a reference for driving.

[0094] (Configuration 8) An attention warning system described in any one of configurations 1 to 7, wherein the notification unit sets the first threshold to a larger value when the vehicle type of the preceding vehicle is a motorcycle compared to when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. According to the warning system of configuration 8, when the preceding vehicle is a motorcycle, the timing of issuing an approach warning based on the THW is earlier than when the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle (i.e., the approach warning is issued when the preceding vehicle is farther away), and even novice drivers who tend to underestimate the risk of collision with a motorcycle compared to a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle can be alerted to the risk of collision with a motorcycle in a manner similar to the risk awareness held by experienced drivers, etc.

[0095] (Configuration 9) An attention warning system described in any one of configurations 1 to 8, wherein the notification unit sets the first level to a higher value when the vehicle type of the preceding vehicle is a motorcycle compared to when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. According to the warning system of configuration 9, when the vehicle type of the preceding vehicle is a motorcycle, the level of salience of the approach warning that is initiated based on the THW is higher than when the vehicle type is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. This makes it possible to alert novice drivers, who tend to underestimate the risk of collision with motorcycles compared to four-wheeled vehicles, medium-sized vehicles, or large vehicles, to the risk of collision with motorcycles in a manner similar to the level of risk awareness that experienced drivers have toward motorcycles.

[0096] (Configuration 10) The attention drawing system according to any one of configurations 1 to 9, wherein the notification unit sets the first threshold value to a larger value as the vehicle size of the preceding vehicle increases. According to the warning system of configuration 10, the larger the size of the preceding vehicle, the earlier the timing of issuing an approach warning based on the THW. Therefore, even potentially dangerous drivers who tend to underestimate the risk of medium-sized vehicles such as trucks and buses or large vehicles can be alerted to the risk of collision in a manner similar to the risk awareness held by experienced drivers.

[0097] (Configuration 11) An attention warning method executed by a computer of an attention warning system, comprising: a THW acquisition step of repeatedly acquiring a time gap, which is the value obtained by dividing the inter-vehicle distance between the host vehicle and a preceding vehicle by the vehicle speed of the host vehicle, at predetermined time intervals; an identification step of identifying the type of the preceding vehicle; and a notification step of outputting a proximity warning to occupants of the host vehicle to notify them of the approach of the preceding vehicle when the time gap becomes less than or equal to a first threshold value, wherein in the notification step, the proximity warning is output using the first threshold value which differs depending on the type of the preceding vehicle, and / or by setting a salience level, which is the degree of salience of the proximity warning, to a first level which has a magnitude which differs depending on the type of the preceding vehicle. According to the warning method of configuration 11, when an approach warning is issued based on the THW indicating the sense of closeness to the preceding vehicle, the first threshold value and the saliency level of the approach warning can be set according to the intuitive risk perception of an experienced driver or model driver (an experienced driver, etc.) depending on the type of preceding vehicle, so that the magnitude of the collision risk between the own vehicle and the preceding vehicle, which changes over time, can be communicated to the driver of the own vehicle in a manner close to the subjective perception of an experienced driver, etc. [Explanation of symbols]

[0098] 1, 51...attention warning system, 2...own vehicle, 3...vehicle speed sensor, 4...object detection device, 5...HMI device, 10, 52...processor, 11...memory, 12, 55...program, 13...THW acquisition unit, 14...TTC acquisition unit, 15, 54...alarm unit, 20...preceding vehicle, 25...road, 53...recognition unit.

Claims

1. A THW acquisition unit that repeatedly acquires a time gap between a vehicle and a preceding vehicle at predetermined time intervals, the time gap being a value obtained by dividing the inter-vehicle distance between the vehicle and the preceding vehicle by the vehicle speed of the vehicle; an identification unit for identifying the type of the preceding vehicle; a notification unit that outputs an approach warning to an occupant of the host vehicle to notify the occupant of the host vehicle of an approach to the preceding vehicle when the inter-vehicle time becomes equal to or less than a predetermined first threshold; Equipped with the notification unit sets a salience level, which is a degree of salience of the proximity warning, to a first level which has a magnitude that varies depending on the type of the preceding vehicle and which monotonically increases as the inter-vehicle time decreases, and outputs the proximity warning. Attention warning system.

2. A THW acquisition unit that repeatedly acquires a time gap between a vehicle and a preceding vehicle at predetermined time intervals, the time gap being a value obtained by dividing the inter-vehicle distance between the vehicle and the preceding vehicle by the vehicle speed of the vehicle; an identification unit for identifying the type of the preceding vehicle; a notification unit that outputs an approach warning to an occupant of the host vehicle to notify the occupant of the host vehicle of an approach to the preceding vehicle when the inter-vehicle time becomes equal to or less than a predetermined first threshold; a TTC acquisition unit that repeatedly acquires, at predetermined time intervals, a time to collision that is a value obtained by dividing the inter-vehicle distance by a relative speed between the host vehicle and the preceding vehicle; Equipped with The notification unit a first level that varies depending on the type of the preceding vehicle; When the time headway is equal to or less than the first threshold and the time to collision is equal to or less than a second threshold, the saliency level is set to a third level obtained by adding a predetermined second level to the first level; and Using different values ​​of the second threshold depending on the type of the preceding vehicle, and / or setting different magnitudes of the second level depending on the type of the preceding vehicle, outputting the proximity alarm; Attention warning system.

3. The notification unit calculates the second level, which monotonically increases as the time to collision decreases. The warning system according to claim 2 .

4. The notification unit sets the second level to a larger value as the value of the time headway when the time to collision becomes equal to or less than a second threshold becomes smaller. The warning system according to claim 2 .

5. When the vehicle type indicated by the type of the preceding vehicle identified by the identification unit is a motorcycle, the notification unit sets the second level to a larger value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. The warning system according to claim 3 .

6. the notification unit sets the second level to a smaller value as the vehicle size indicated by the type of the preceding vehicle identified by the identification unit increases. The warning system according to claim 2 .

7. When the vehicle type of the preceding vehicle is a motorcycle, the notification unit sets the first threshold to a larger value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. The warning system according to claim 1 .

8. When the vehicle type of the preceding vehicle is a motorcycle, the notification unit sets the first level to a larger value than when the vehicle type of the preceding vehicle is a four-wheeled vehicle, a medium-sized vehicle, or a large vehicle. The warning system according to claim 1 .

9. The notification unit sets the first threshold value to a larger value as the vehicle size of the preceding vehicle increases. The warning system according to claim 1 .

10. An attention method executed by a computer of an attention system, a THW acquisition step of repeatedly acquiring a time headway, which is a value obtained by dividing the inter-vehicle distance between the host vehicle and a preceding vehicle by the vehicle speed of the host vehicle, at predetermined time intervals; an identification step of identifying the type of the preceding vehicle; a notification step of outputting an approach warning to an occupant of the host vehicle to notify the occupant of the host vehicle of an approach to the preceding vehicle when the inter-vehicle time becomes equal to or less than a predetermined first threshold value; and In the notification step, a salience level, which is a degree of salience of the proximity warning, is set to a first level which has a magnitude which varies depending on the type of the preceding vehicle and which monotonically increases as the inter-vehicle time decreases, and the proximity warning is output. How to get attention.

11. An attention-attention method executed by a computer of an attention-attention system, comprising: a THW acquisition step of repeatedly acquiring a time headway, which is a value obtained by dividing the inter-vehicle distance between the host vehicle and a preceding vehicle by the vehicle speed of the host vehicle, at predetermined time intervals; an identification step of identifying the type of the preceding vehicle; a notification step of outputting an approach warning to an occupant of the host vehicle to notify the occupant of the host vehicle of an approach to the preceding vehicle when the inter-vehicle time becomes equal to or less than a predetermined first threshold value; a TTC acquisition step of repeatedly acquiring a time to collision (Time to Collision) at predetermined time intervals, the time to collision being a value obtained by dividing the inter-vehicle distance by a relative speed between the host vehicle and the preceding vehicle; and In the notification step, setting a saliency level, which is a degree of saliency of the proximity warning, to a first level having a magnitude that varies depending on the type of the preceding vehicle, and outputting the proximity warning; When the time headway is equal to or less than the first threshold and the time to collision is equal to or less than a second threshold, the saliency level is set to a third level obtained by adding a predetermined second level to the first level; and Using different values ​​of the second threshold depending on the type of the preceding vehicle, and / or setting different magnitudes of the second level depending on the type of the preceding vehicle, outputting the proximity alarm; How to get attention.

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