Warning control device, vehicle, program, and warning control method

Abstract

To provide a warning control device, a vehicle, a program, and a warning control method for safely issuing warning while preventing a passenger from feeling discomfort.SOLUTION: A warning control device includes: an acquisition section for acquiring a prediction time until a vehicle has contact with an obstacle; and a warning control section for controlling an output of warning given to a passenger of the vehicle according to the prediction time. The warning control section changes a condition to determine whether the warning is to be output according to the prediction time. A warning control method includes the steps of: acquiring the prediction time until the vehicle has contact with the obstacle; and controlling the output of the warning given to the passenger of the vehicle. The step of controlling the output of the warning includes a step of changing the condition to determine whether the warning is to be output according to the prediction time.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a warning control device, a vehicle, a program, and a warning control method. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. To achieve this, we are focusing on research and development into preventive safety technologies to further improve traffic safety and convenience. Patent Document 1 describes technology that determines whether to issue a warning depending on the relative positions of one's own vehicle and other vehicles. [Prior art document] [Patent documents] [Patent Document 1] JP 2018-116628 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, preventive safety technology has a problem in that it is not easy to issue a safe warning without causing inconvenience to passengers. The present application aims to solve the above problem by issuing a warning safely without causing inconvenience to passengers, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0004] In a first aspect of the present invention, there is provided a warning control device. The warning control device includes an acquisition unit that acquires a predicted time until a vehicle comes into contact with an obstacle. The warning control device includes a warning control unit that controls output of a warning to an occupant of the vehicle in accordance with the predicted time. The warning control unit changes a condition for determining whether to output the warning in accordance with the predicted time.

[0005] The warning control unit may output the warning when a first condition is satisfied if the predicted time is equal to or less than a first time, and may output the warning when a second condition is satisfied if the predicted time exceeds the first time. The second condition may include a condition related to at least one operator provided in the vehicle, and the first condition may include a condition related to the at least one operator and a third condition related to another operator not included in the second condition.

[0006] The first condition may include the second condition and the third condition.

[0007] The at least one operator may include a brake pedal. A condition regarding the brake pedal included in the second condition may be a condition that is less likely to be met than a condition regarding the brake pedal included in the first condition.

[0008] The warning control unit may output the warning when a first condition is satisfied if the predicted time is equal to or less than a first time, and may output the warning when a second condition is satisfied if the predicted time exceeds the first time. The first condition may include at least one condition included in the second condition and a third condition not included in the second condition.

[0009] The first condition may include the second condition and the third condition.

[0010] The warning control unit may output the warning when a first condition is satisfied when the predicted time is equal to or less than a first time, and may output the warning when a second condition is satisfied when the predicted time exceeds the first time. The first condition may be a condition that is less likely to be satisfied than the second condition.

[0011] The first condition and the second condition may include a condition in which a brake operation is not being performed by an occupant of the vehicle.

[0012] The first condition may include an accelerator operation being performed by an occupant of the vehicle.

[0013] The warning control unit may change the type of the warning depending on the predicted time.

[0014] In a second aspect, a vehicle is provided, the vehicle including the warning control device described above.

[0015] In a third aspect, there is provided a program that causes a computer to function as the warning control device according to any one of claims 1 to 10.

[0016] In a fourth aspect, there is provided a warning control method, the warning control method including a step of obtaining a predicted time until a vehicle comes into contact with an obstacle, and a step of controlling output of a warning to an occupant of the vehicle in accordance with the predicted time, the step of controlling output of the warning including a step of changing a condition for determining whether to output the warning in accordance with the predicted time.

[0017] The above summary of the invention does not list all of the features of the present invention, and subcombinations of these features may also constitute inventions. [Brief explanation of the drawings]

[0018] [Figure 1] 2 is a diagram illustrating an operation of a warning control device 40 of a vehicle 20 according to an embodiment. [Figure 2] 2 shows a schematic diagram of the operation of the warning control device 40 of the vehicle 20. [Figure 3] 2 shows the system configuration of a vehicle 20. [Figure 4] Schematic diagram of a histogram of predicted time TTC when a subject performed a starting action. [Figure 5] 1 shows the data structure of warning control information stored in warning control device 40 in table format. [Figure 6]2 illustrates an example computer 2000 in which multiple embodiments of the present invention may be implemented in whole or in part. DETAILED DESCRIPTION OF THE INVENTION

[0019] 1 is a schematic diagram illustrating the operation of a warning control device 40 of a vehicle 20 according to one embodiment. The warning control device 40 provided in the vehicle 20 performs vehicle-to-vehicle communication with a vehicle 60, and acquires a predicted time TTC until the vehicle 20 collides with the vehicle 60.

[0020] The warning control device 40 warns the occupants of the vehicle 20 of the risk of collision with a vehicle 60 traveling in a direction intersecting the vehicle 20, in accordance with the predicted time TTC. For example, the warning control device 40 outputs a warning when the predicted time TTC exceeds the first time T1, provided that no braking operation is performed.

[0021] Fig. 2 shows a schematic diagram of the operation of the warning control device 40 of the vehicle 20. Fig. 2 shows a case where the predicted time TTC acquired by the warning control device 40 is equal to or shorter than the first time T1. When the predicted time TTC is equal to or shorter than the first time T1, the warning control device 40 outputs a warning not only on the condition that there is no braking operation but also on the condition that there is an accelerator pedal depression operation.

[0022] Normally, even if a driver releases his / her foot from the brake pedal of a vehicle, the vehicle does not immediately move forward significantly unless the driver depresses the accelerator pedal, but rather moves forward relatively slowly due to the creep phenomenon. Therefore, in a situation where vehicle 60 passes in front of vehicle 20 in a short time, as shown in Figure 2, the driver often understands from experience that if he / she simply releases his / her foot from the brake pedal, he / she will not collide with vehicle 60. Therefore, the driver of vehicle 20 may release the brake and prepare to start moving before vehicle 60 passes, fully recognizing the position of vehicle 60 and fully recognizing that vehicle 60 will move forward to a certain extent due to the creep phenomenon.

[0023] Therefore, if the condition for outputting a warning is set to be only that there is no braking operation in a situation like that of Fig. 2, the warning may be bothersome to a driver who is aware of the vehicle 60. Therefore, in a situation like that of Fig. 2, the warning control device 40 outputs a warning not only on the condition that there is no braking operation but also on the condition that the accelerator pedal is depressed.

[0024] On the other hand, if the brake operation is released in a situation where it takes some time for vehicle 60 to pass in front of vehicle 20 as shown in Figure 1, vehicle 20 may move forward a certain distance before reaching in front of vehicle 20, potentially resulting in a collision with vehicle 60. Therefore, in a situation like that shown in Figure 1, the warning control device 40 outputs a warning when the condition that there is no brake operation is met. This ensures safety while preventing the warning from becoming an annoyance to the passengers of vehicle 20.

[0025] 3 shows the system configuration of vehicle 20. Vehicle 20 is equipped with sensor 29, brake pedal 27, accelerator pedal 28, sensors, communication device 26, and warning control device 40. Communication device 26 is responsible for inter-vehicle communication with vehicle 60.

[0026] The brake pedal 27 outputs the amount of operation of the brake pedal 27 by the occupant to the warning control device 40. The accelerator pedal 28 outputs the amount of operation of the accelerator pedal 28 by the occupant to the warning control device 40. The sensor 29 may include, for example, a camera, a vehicle speed sensor, a yaw rate sensor, a GNSS receiver, etc. The warning device 25 includes, for example, a pretensioner, meters including a multi-information display (MID), etc., a warning sound generator, etc.

[0027] The warning control device 40 includes a processing unit 200 and a storage unit 290. The processing unit 200 is realized by, for example, an arithmetic processing device including a processor. The storage unit 290 is realized by including a non-volatile storage medium. The processing unit 200 performs processing using information stored in the storage unit 290. The processing unit 200 may be realized by an ECU (Electronic Control Unit) including a microcomputer equipped with a CPU, ROM, RAM, I / O, buses, etc.

[0028] The processing unit 200 includes an acquisition unit 210 and a warning control unit 220. The acquisition unit 210 acquires a predicted time until the vehicle 20 comes into contact with an obstacle. The obstacle may be any moving object. The obstacle may be another vehicle 60. When the obstacle is a vehicle 60, the acquisition unit 210 may acquire the predicted time TTC based on information detected by the sensor 29 and information acquired from the vehicle 60 via the communication device 26.

[0029] The warning control unit 220 controls, in accordance with the predicted time, the output of a warning to the passengers of the vehicle 20. The warning control unit 220 changes the conditions for determining whether or not to output a warning, in accordance with the predicted time.

[0030] The warning control unit 220 may output a warning if a first condition is satisfied when the predicted time is equal to or shorter than a first time, and may output a warning if a second condition is satisfied when the predicted time exceeds the first time. The second condition may include a condition related to at least one operator provided in the vehicle 20, and the first condition may include a condition related to at least one operator and a third condition related to another operator not included in the second condition. The at least one operator may include a brake pedal provided in the vehicle 20, and the condition related to the brake pedal included in the second condition is less likely to be met than the condition related to the brake pedal included in the first condition.

[0031] The warning control unit 220 outputs the warning when the predicted time is equal to or shorter than a first time and a first condition is satisfied, and outputs the warning when the predicted time exceeds the first time and a second condition is satisfied. Here, the first condition includes at least one condition included in the second condition and a third condition not included in the second condition. The first condition may be an AND condition of at least one condition included in the second condition and the third condition.

[0032] The first condition may include the second condition and the third condition. The first condition may be an AND condition of the second condition and the third condition. The first condition may be a condition that is less likely to be met than the second condition.

[0033] The first condition and the second condition may include a condition in which a brake operation is not being performed by an occupant of the vehicle 20. The first condition may further include a condition in which an accelerator operation is being performed by an occupant of the vehicle 20.

[0034] The warning control unit 220 may change the type of warning depending on the predicted time. For example, when the predicted time is equal to or shorter than a first time, the warning control unit 220 may output a warning by vibrating a pretensioner, a warning by displaying a meter, and a warning by sound. When the predicted time exceeds the first time, the warning control unit 220 may output a warning by displaying a meter and a warning by sound. Note that when the predicted time is equal to or shorter than the first time, the warning control unit 220 may output a warning by vibrating a pretensioner, a warning by displaying a meter, a warning by sound, a warning by displaying a HUD (Head Up Display), and a warning by displaying a DA (Display Audio).

[0035] Figure 4 shows a histogram of predicted time TTC when a subject performed starting behavior. The horizontal axis of the histogram in Figure 4 represents TTC, and the vertical axis represents the frequency of TTC occurrence. In this test, the subject's releasing the brakes of the vehicle in the presence of an intersecting vehicle traveling in the direction intersecting the subject's vehicle, as shown in Figures 1 and 2, was defined as starting behavior.

[0036] From the histogram in Figure 4, it can be said that the subjects generally recognized that the intersecting vehicle would not collide with their own vehicle even if they released the brakes when the TTC was greater than T2. ​​Also, it can be said that the subjects generally recognized that the intersecting vehicle could collide with their own vehicle if they released the brakes when the TTC was between T1 and T2. Furthermore, it can be said that some subjects recognized that when the TTC was less than T1, the intersecting vehicle would pass in front of their own vehicle before their own vehicle had advanced to a position where it would intersect with the intersecting vehicle's driving line, even if they released the brakes.

[0037] This shows that it is desirable not to output a warning when the TTC exceeds T2 even if the brake operation is released. Also, it is desirable to output a warning when the TTC exceeds T1 and is equal to or less than T2 when the brake operation is released.

[0038] When the TTC is T1 or less, it can be seen that, from the perspective of whether the passenger finds the warning annoying, it may be desirable not to output a warning even if the brake operation is released. Therefore, when the TTC is T1 or less, it is desirable not to output a warning just by releasing the brake operation, but to output a warning when the brake operation is released and the accelerator pedal is depressed. By adding accelerator pedal depression to the warning output conditions in this way, it becomes possible to appropriately output a warning when the passenger's clear intention to start driving is detected when the TTC is T1 or less.

[0039] FIG. 5 shows, in a table format, the data structure of warning control information stored in the warning control device 40. The warning control information is information that associates each of a condition and a warning means with a time range of TTC. The time range of TTC includes three time ranges of 0 < TTC ≦ T1, T1 < TTC ≦ T2, and T2 < TTC. The warning control information may be stored in the storage unit 290.

[0040] The warning control unit 220 refers to the warning control information, determines whether to output a warning based on the condition associated with the predicted time TTC, and selects, as the means for outputting the warning, the warning means associated with the predicted time TTC.

[0041] For example, the acquisition unit 210 continuously collects TTC, and the warning control unit 220 continuously collects information indicating the presence or absence of a brake operation and the presence or absence of an accelerator depression operation. When the warning control unit 220 determines that the predicted time TTC acquired by the acquisition unit 210 belongs to the time range of 0 < TTC ≦ T1, the warning control unit 220 refers to the condition associated with the time range to which the predicted time TTC belongs in the warning control information, and determines to output a warning when there is no brake operation and there is an accelerator depression operation. Further, the warning control unit 220 selects, as the warning means, the warning means by pretension, meter, and voice, which are the means associated with the time range to which the predicted time TTC belongs. Note that "no brake operation" may include not only the case where the brake is not depressed but also the case where a brake release operation (an operation to release the brake after the brake is depressed) is performed.

[0042] When the warning control unit 220 determines that the TTC acquired by the acquisition unit 210 belongs to the time range of T1 < TTC ≤ T2, it determines to output a warning when there is no braking operation by referring to the conditions associated with the time range to which the predicted time TTC belongs in the warning control information. Further, as a warning means, the warning control unit 220 selects a warning means by a meter and voice associated with the time range to which the predicted time TTC belongs. Note that "no braking operation" may include not only the case where the brake is not depressed but also the case where a brake release operation (an operation to release the brake after the brake is depressed) is performed. Also, the condition of "no braking operation" corresponding to the time range of 0 < TTC ≤ T1 and the condition of "no braking operation" corresponding to the time range of T1 < TTC ≤ T2 may differ in terms of whether they include the case where the brake is not depressed and the case where a brake release operation is performed. For example, the condition of "no braking operation" corresponding to one time range may be satisfied when a brake release operation is performed, and the "no braking operation" in the other condition may be satisfied when the brake is not depressed.

[0043] When the warning control unit 220 determines that the TTC acquired by the acquisition unit 210 belongs to the time range of T2 < TTC, it determines not to output a warning based on the warning control information.

[0044] As described above, the warning control device 40 changes the conditions for determining whether to output a warning depending on the TTC, so that it can determine whether to output a warning without bothering the occupants of the vehicle 20 while ensuring safety. Furthermore, when the TTC is equal to or less than the first time T1, instead of simply releasing the brakes and not outputting a warning unless the accelerator is depressed, as a warning means when the accelerator is depressed, in addition to the warning means that can be selected when the TTC is equal to or greater than the first time T1, a warning can be issued using pretension as an additional warning means that is not included in the warning means selected when the TTC is equal to or greater than the first time T1. This makes it possible to select an appropriate warning means depending on the TTC when it is determined that the occupant has a clear intention to start moving.

[0045] Vehicle 20 is a vehicle as an example of transportation equipment. The vehicle may be an automobile equipped with an internal combustion engine, an electric vehicle, a fuel cell vehicle (FCV), or the like. Automobiles include buses, trucks, two-wheeled vehicles, and the like. The vehicle may be a saddle-ride vehicle, or a motorcycle. Transportation equipment includes, in addition to vehicles, aircraft including unmanned aerial vehicles, ships, and other equipment. Transportation equipment may be any equipment that transports people or goods. Transportation equipment is an example of a mobile object. A mobile object is not limited to transportation equipment, and may be any mobile equipment.

[0046] 6 shows an example of a computer 2000 in which multiple embodiments of the present invention may be embodied, in whole or in part. A program installed on the computer 2000 may cause the computer 2000 to function as a system, such as a control system, or each part of a system, or an apparatus, such as the warning control device 40, or each part of the apparatus, perform operations associated with the system, each part of the system, or the apparatus, and / or perform a process or steps of the process, according to an embodiment. Such a program may be executed by the CPU 2012 to cause the computer 2000 to perform specific operations associated with some or all of the processing procedures and blocks of the block diagrams described herein.

[0047] The computer 2000 according to this embodiment includes a CPU 2012 and a RAM 2014, which are interconnected by a host controller 2010. The computer 2000 also includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the host controller 2010 via the input / output controller 2020.

[0048] The CPU 2012 operates according to programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0049] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a boot program and the like executed by the computer 2000 upon activation, and / or programs dependent on the hardware of the computer 2000. The input / output chip 2040 may also connect various input / output units such as a keyboard, mouse, and monitor to the input / output controller 2020 via input / output ports such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, an HDMI (registered trademark) port, etc.

[0050] The programs are provided via a computer-readable storage medium such as a CD-ROM, a DVD-ROM, or a memory card, or via a network. The RAM 2014, the ROM 2026, or the flash memory 2024 are examples of computer-readable storage media. The programs are installed in the flash memory 2024, the RAM 2014, or the ROM 2026 and executed by the CPU 2012. Information processing described in these programs is read by the computer 2000, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or a method may be configured by implementing operations or processing of information in accordance with the use of the computer 2000.

[0051] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014 and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 2014 or flash memory 2024, transmits the read transmission data to a network, and writes received data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0052] The CPU 2012 may also cause all or a necessary portion of a file or database stored on a recording medium such as the flash memory 2024 to be read into the RAM 2014, and perform various types of processing on the data on the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0053] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 2012 may perform various types of processing on data read from the RAM 2014, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described herein and specified by the instruction sequences of the programs, and write the results back to the RAM 2014. The CPU 2012 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored on the recording medium, the CPU 2012 may search for an entry that matches a condition specified by the attribute value of the first attribute from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0054] The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable storage medium. The programs stored in the computer-readable storage medium may be provided to the computer 2000 via a network.

[0055] A program installed in the computer 2000 and causing the computer 2000 to function as the warning control device 40 may act on the CPU 2012 or the like to cause the computer 2000 to function as each unit of the warning control device 40. When the information processing described in these programs is loaded into the computer 2000, the computer 2000 functions as each unit of the warning control device 40, which is a specific means formed by the software and the various hardware resources described above working together. These specific means then perform calculations or processing of information according to the intended use of the computer 2000 in this embodiment, thereby constructing a specific warning control device 40 according to the intended use.

[0056] Various embodiments have been described with reference to block diagrams. In the block diagrams, each block may represent (1) a stage of a process where an operation is performed or (2) a portion of an apparatus responsible for performing the operation. Particular stages and portions may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuitry may include digital and / or analog hardware circuitry, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuitry may include reconfigurable hardware circuitry including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, flip-flops, registers, memory elements such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0057] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that the computer-readable storage medium with instructions stored thereon constitutes at least a portion of an article of manufacture containing instructions that can be executed to provide means for performing the operations specified in a process or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc, memory stick, integrated circuit card, etc.

[0058] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0059] The computer-readable instructions may be provided to a processor or programmable circuitry of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, either locally or over a wide-area network (WAN) such as a local area network (LAN), the Internet, etc., and executed to provide means for performing the operations specified in the process steps or block diagrams described. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0060] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0061] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0062] 20 vehicles 25 Warning device 26 Communication equipment 27 Brake pedal 28 Accelerator pedal 29 Sensors 40 Warning control device 60 vehicles 200 Processing section 210 Acquisition Department 220 Warning control section 290 Storage section 2000 Computer 2010 Host Controller 2012 CPU 2014 RAM 2020 Input / Output Controller 2022 Communication Interface 2024 flash memory 2026 ROM 2040 Input / Output Chip

Claims

1. an acquisition unit that acquires a predicted time until the vehicle comes into contact with an obstacle; a warning control unit that controls output of a warning to an occupant of the vehicle in accordance with the predicted time; Equipped with The warning control unit When the predicted time is equal to or shorter than a first time, outputting the warning when the occupant of the vehicle is not performing a brake operation but is performing an accelerator pedal depression operation, and not outputting the warning when the occupant of the vehicle is not performing a brake operation or is performing an accelerator pedal depression operation, When the predicted time exceeds the first time, if the brake operation is not performed by the occupant of the vehicle, the warning is output. Warning control device.

2. The warning control unit changes the type of the warning depending on the predicted time. The warning control device according to claim 1 .

3. A vehicle equipped with the warning control device according to claim 1 or 2.

4. A program for causing a computer to function as the warning control device according to claim 1 or 2.

5. obtaining a predicted time until the vehicle contacts an obstacle; controlling output of a warning to an occupant of the vehicle in response to the predicted time; Equipped with The step of controlling the output of the warning includes: When the predicted time is equal to or shorter than a first time, outputting the warning when the occupant of the vehicle is not performing a brake operation but is performing an accelerator pedal depression operation, and not outputting the warning when the occupant of the vehicle is not performing a brake operation or is performing an accelerator pedal depression operation, When the predicted time exceeds the first time, if the brake operation is not performed by the occupant of the vehicle, the warning is output. Warning control methods.