Notification device and notification method

Abstract

To reliably report to a driver the presence of a peripheral target and an approaching target with a high risk level.SOLUTION: A reporting device performs first reporting processing when a reporting object satisfies a first reporting condition and performs second reporting processing when the reporting object satisfies a second reporting condition. In a first reporting state in which either the first reporting processing or the second reporting processing is performed by detection of the reporting object, the reporting device does not execute the first reporting processing with a second target as the reporting object even if the second object satisfies the first reporting condition when the second target is detected as the reporting object different from a first target which is the reporting object in a first reporting state, determines the priority of the second reporting processing for the first target and the second reporting processing for the second target when the second target satisfies the second reporting condition, and executes the second reporting processing for the second target when the priority of the second reporting processing for the second target is determined to be higher.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a notification device and a notification method, and more particularly to a technology for notifying a driver of a vehicle of surrounding objects and approaching objects.

Background Art

[0002] For example, Patent Document 1 discloses an apparatus that, when detecting a plurality of approaching objects approaching a host vehicle, changes the nature (pulse, tone color, frequency, etc.) of a sound emitted from a plurality of sound generation sources according to the degree of danger of each approaching object, thereby notifying the driver of the presence of the plurality of approaching objects.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] According to the apparatus described in Patent Document 1, it is possible to notify the driver of a plurality of approaching objects. However, for example, when a warning sound requiring a braking operation is sounding and a different warning sound is sounded, it may rather confuse the driver. Therefore, even when the warning targets are different, when the content to be notified to the driver (for example, a braking operation request, etc.) is the same, it is considered that sounding the same warning sound can prevent confusion of the driver. On the other hand, when the driver has recognized the warning target of the warning sound and a new surrounding object or approaching object with a high risk level appears while the vehicle is running without stopping, it is desirable to surely notify the driver of the new risk.

[0005] The technology of the present disclosure aims to effectively prevent causing confusion to the driver by sounding a plurality of notification sounds, and surely notify the driver of the presence of surrounding objects and approaching objects with a high risk level.

[0006] The vehicle notification device described herein is A notification device that detects surrounding targets or approaching targets located around the vehicle as notification targets, and performs a first notification process to the occupants of the vehicle when the notification target satisfies a first notification condition which is a predetermined first risk level notification condition, and performs a second notification process to the occupants when the risk level of the notification target satisfies a second notification condition which is a predetermined second risk level notification condition which is higher than the first risk level, The first notification process and the second notification process share a common first characteristic of the notification sound, but differ in a second characteristic that is different from the first characteristic. From an unnotified state in which neither the first notification process nor the second notification process is performed, to a first notification state in which either the first notification process or the second notification process is performed due to the detection of the notification target, If a second target is detected as a notification target different from the first target which is the notification target in the first notification state, Even if the second target satisfies the first notification conditions, the first notification process targeting the second target will not be executed. When the second target satisfies the second notification condition, the priority of the second notification process for the first target and the second notification process for the second target is determined based on the direction and risk level of the first and second targets relative to the vehicle. If it is determined that the second notification process for the second target has a high priority, the second notification process for the second target will be executed. The notification sound of the second notification process for the second target has the same second characteristic as the notification sound of the second notification process for the first target, and a third characteristic different from the second characteristic is set to be different between the notification sound of the second notification process for the first target and the notification sound of the second notification process for the second target. It is characterized by the following: [Brief explanation of the drawing]

[0007] [Figure 1]This is a schematic diagram showing the hardware configuration of a vehicle to which the control device according to this embodiment is applied. [Figure 2] This is a schematic diagram illustrating an example of the vehicle mounting position of each sensor in the external sensor device according to this embodiment. [Figure 3] This is a schematic diagram showing the software configuration of the control device according to this embodiment. [Figure 4] This is a schematic overview illustrating the alarm sound selection process by the control device according to this embodiment. [Figure 5] This is a flowchart illustrating the alarm processing flow by the control device according to this embodiment. [Modes for carrying out the invention]

[0008] The control device and control method of the vehicle according to this embodiment will be described below with reference to the drawings.

[0009] [Hardware configuration] Figure 1 is a schematic diagram showing the hardware configuration of a vehicle VH to which the control device according to this embodiment is applied. Hereinafter, when it is necessary to distinguish vehicle VH from other vehicles, it may be referred to as "the vehicle itself."

[0010] Vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, ROM (Read Only Memory) 12, RAM (Random Access Memory) 13, and an interface device 14, etc. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data necessary for the CPU 11 to execute various programs. The RAM 13 is a volatile memory that provides a work area that is expanded when various programs are executed by the CPU 11. The interface device 14 is a communication device for communicating with external devices.

[0011] The ECU10 is a central device that performs driver assistance control and other related functions. Driver assistance control is a concept that includes autonomous driving control. The ECU10 is connected to the drive unit 20, steering unit 21, braking unit 22, transmission unit 23, internal sensor device 30, external sensor device 40, HMI (Human Machine Interface) 60, etc., in a communication manner.

[0012] The drive unit 20 generates driving force to be transmitted to the drive wheels of the vehicle VH. Examples of the drive unit 20 include an electric motor and an engine. In this embodiment, the vehicle VH may be a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), a battery electric vehicle (BEV), or an engine-powered vehicle. The steering unit 21 applies steering force to the wheels of the vehicle VH. The braking unit 22 applies braking force to the wheels of the vehicle VH. The transmission unit 23 transmits the rotational power output from the drive unit 20 to the drive wheels at a predetermined gear ratio.

[0013] The internal sensor device 30 consists of sensors that detect the state of the vehicle's vehicle speed (VH). Specifically, the internal sensor device 30 includes a vehicle speed sensor 31, an accelerator sensor 32, a brake sensor 33, a steering angle sensor 34, a shift sensor 35, and the like. The internal sensor device 30 transmits the state of the vehicle's VH detected by each of the sensors 31 to 35 to the ECU 10 at a predetermined interval.

[0014] The vehicle speed sensor 31 detects the vehicle speed (hereinafter referred to as vehicle speed) of the vehicle VH. The accelerator sensor 32 detects the amount of accelerator pedal operation by the driver (not shown). The brake sensor 33 detects the amount of brake pedal operation by the driver (not shown). The steering angle sensor 34 detects the rotation angle of the steering wheel or steering shaft of the vehicle VH, i.e., the steering angle (not shown). The shift sensor 35 detects the shift position of the transmission 23 (parking P, reverse R, neutral N, drive D, etc.).

[0015] The external sensor device 40 is a set of sensors that recognize object information relating to objects present around the vehicle VH. Specifically, the external sensor device 40 includes a front camera 41F, a rear camera 41R, a front radar sensor 42F, a left front side radar sensor 42FL, a right front side radar sensor 42FR, a left rear side radar sensor 42RL, a right rear side radar sensor 42RR, a left front side sonar sensor 43FL1, a right front side sonar sensor 43FR1, a left front sonar sensor 43FL2, a right front sonar sensor 43FR2, a left rear side sonar sensor 43RL1, a right rear side sonar sensor 43RR1, a left rear sonar sensor 43RL2, a right rear sonar sensor 43RR2, etc. Here, object information includes, for example, moving objects such as other vehicles and pedestrians, and stationary objects such as walls and poles. The external sensor device 40 repeatedly transmits the acquired object information to the ECU 10 at predetermined intervals.

[0016] In the following, when it is not necessary to distinguish between cameras 41F and 41R, they will simply be referred to as "camera 41." Similarly, when it is not necessary to distinguish between radar sensors 42F, 42FL, 42FR, 42RL, and 42RR, they will simply be referred to as "radar sensor 42." Furthermore, when it is not necessary to distinguish between sonar sensors 43FL1, 43FR1, 43FL2, 43FR2, 43RL1, 43RR1, 43RL2, and 43RR2, they will simply be referred to as "sonar sensor 43."

[0017] Camera 41 can be, for example, a stereo camera or a monocular camera, and can be a digital camera having an image sensor such as a CMOS or CCD. Camera 41 takes pictures of the area around vehicle VH and processes the captured image data to acquire target information around vehicle VH. Target information includes information such as the type of target detected around vehicle VH, the relative distance between vehicle VH and the target, and the relative speed between vehicle VH and the target. The type of target can be recognized, for example, by machine learning such as pattern matching.

[0018] The radar sensor 42 detects targets existing around the vehicle VH. The radar sensor 42 includes a millimeter-wave radar and / or a lidar. The millimeter-wave radar emits radio waves (millimeter waves) in the millimeter-wave band, and receives the millimeter waves (reflected waves) reflected by the targets existing within the radiation range. The millimeter-wave radar obtains the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc., based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves. The lidar sequentially scans pulsed laser light having a shorter wavelength than millimeter waves in a plurality of directions, and receives the reflected light reflected by the target, thereby obtaining the shape of the target detected around the vehicle VH, the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc.

[0019] The sonar sensor 43 is a well-known sensor that uses ultrasonic waves. The sonar sensor 43 emits ultrasonic waves to a predetermined range around the vehicle VH. The sonar sensor 43 receives the reflected waves reflected by the targets existing within the radiation range of the ultrasonic waves, and detects the presence or absence of the targets and the distance between the vehicle VH and the targets, etc., based on the time from transmitting the ultrasonic waves to receiving them. The sonar sensor 43 can detect the targets located substantially in the front by emitting highly directional ultrasonic waves.

[0020] FIG. 2A is a schematic diagram showing an example of the in-vehicle positions of the front camera 41F, the rear camera 41R, the front radar sensor 42F, the left front side radar sensor 42FL, the right front side radar sensor 42FR, the left rear side radar sensor 42RL, and the right rear side radar sensor 42RR.

[0021] As shown in FIG. 2A, the front camera 41F is provided, for example, at the center in the vehicle width direction at the upper part of the front window of the vehicle VH. The imaging area AF of the front camera 41F is a wide-angle area that extends forward from the substantially central part in the vehicle width direction of the front window toward the front of the vehicle VH. The rear camera 41R is provided, for example, at the substantially central part in the vehicle width direction of the rear bumper of the vehicle VH. The imaging area AR of the rear camera 41R is a wide-angle area that extends rearward from the substantially central part in the vehicle width direction of the rear bumper toward the rear of the vehicle VH.

[0022] The front radar sensor 42F is located, for example, approximately in the center of the vehicle width direction within the front bumper. The detection area BF of the front radar sensor 42F is a wide-angle area that extends from approximately in the center of the vehicle width direction within the front bumper toward the front of the vehicle VH. The left front side radar sensor 42FL is located at the left end of the front bumper, and the right front side radar sensor 42FR is located at the right end of the front bumper. The detection area BFL of the left front side radar sensor 42FL is a wide-angle area that extends from the left end of the front bumper toward the left front side. The detection area BFR of the right front side radar sensor 42FR is a wide-angle area that extends from the right end of the front bumper toward the right rear side. The left rear side radar sensor 42RL is located at the left end of the rear bumper, and the right rear side radar sensor 42RR is located at the right end of the rear bumper. The detection area BRL of the left rear side radar sensor 42RL is a wide-angle area that extends from the left edge of the rear bumper toward the left rear side. The detection area BRR of the right rear side radar sensor 42RR is a wide-angle area that extends from the right edge of the rear bumper toward the right rear side.

[0023] Figure 2B is a schematic diagram showing an example of the vehicle mounting positions of the left front side sonar sensor 43FL1, right front side sonar sensor 43FR1, left front sonar sensor 43FL2, right front sonar sensor 43FR2, left rear side sonar sensor 43RL1, right rear side sonar sensor 43RR1, left rear sonar sensor 43RL2, and right rear sonar sensor 43RR2.

[0024] As shown in Figure 2B, the left front side sonar sensor 43FL1 is located at the left end of the front bumper, and the right front side sonar sensor 43FR1 is located at the right end of the front bumper. The detection area CFL1 of the left front side sonar sensor 43FL1 is a relatively narrow area extending from the left end of the front bumper toward the left front side. The detection area CFR1 of the right front side sonar sensor 43FR1 is a relatively narrow area extending from the right end of the front bumper toward the right front side. The left front sonar sensor 43FL2 is located between the left end of the front bumper and the center in the vehicle width direction, and the right front sonar sensor 43FR2 is located between the right end of the front bumper and the center in the vehicle width direction. The detection area CFL2 of the left front sonar sensor 43FL2 is a relatively narrow area extending from between the left end and the center of the front bumper toward the left front. The detection area CFR2 of the right front sonar sensor 43FR2 is a relatively narrow area extending from between the right edge and the center of the front bumper toward the right rear.

[0025] The left rear side sonar sensor 43RL1 is located at the left end of the rear bumper, and the right rear side sonar sensor 43RR1 is located at the right end of the rear bumper. The detection area CRL1 of the left rear side sonar sensor 43RL1 is a relatively narrow area extending from the left end of the rear bumper toward the left rear side. The detection area CRR1 of the right rear side sonar sensor 43RR1 is a relatively narrow area extending from the right end of the rear bumper toward the right rear side. The left rear sonar sensor 43RL2 is located between the left end of the rear bumper and the center in the vehicle width direction, and the right rear sonar sensor 43RR2 is located between the right end of the rear bumper and the center in the vehicle width direction. The detection area CRL2 of the left rear sonar sensor 43RL2 is a relatively narrow area extending from between the left end and the center of the rear bumper toward the left rear. The detection area CRR2 of the right rear sonar sensor 43RR2 is a relatively narrow area extending from the right edge to the rear right, between the right edge and the center of the rear bumper.

[0026] Returning to Figure 1, the HMI 60 is an interface for inputting and outputting information between the ECU 10 and the driver, and includes input and output devices. Examples of input devices include a touch panel, switches, and a voice-gathering microphone. Examples of output devices include a display device 61, a speaker 62, and a buzzer 63. The display device 61 is, for example, a center display, multi-information display, head-up display, or navigation system display installed on the instrument panel. The speaker 62 is, for example, a speaker in an audio system or navigation system.

[0027] [Software Configuration] Figure 3 is a schematic diagram showing the software configuration of the ECU 10 according to this embodiment. As shown in Figure 3, the ECU 10 includes a target recognition unit 100, an alarm control unit 110, an alarm sound selection unit 120, and other functional elements. Each of these functional elements 100 to 120 is realized by the CPU 11 of the ECU 10 reading a program stored in the ROM 12 into the RAM 13 and executing it. Note that all or part of each of the functional elements 100 to 120 may be provided in another ECU separate from the ECU 10, or in an information processing device of a facility (such as a management center) that can communicate with the vehicle VH.

[0028] The object recognition unit 100 recognizes surrounding objects such as stationary objects present around the vehicle VH, and approaching objects such as other vehicles and pedestrians approaching the vehicle VH, based on the detection results of the external sensor device 40. While the vehicle VH is traveling at a predetermined low speed, the object recognition unit 100 recognizes the distance between the vehicle VH and surrounding objects present around the vehicle VH, and the direction of the surrounding objects relative to the vehicle VH, based on the detection results of the sonar sensor 43. Furthermore, while the vehicle VH is traveling at a predetermined low speed, the object recognition unit 100 recognizes the distance between the vehicle VH and approaching objects approaching the vehicle VH, and the direction of the approaching objects relative to the vehicle VH, based on the detection results of the radar sensor 42 and / or the camera 41. The object recognition unit 100 transmits the recognition results (distance, direction, etc.) of surrounding objects and approaching objects to the alarm control unit 110.

[0029] The alarm control unit 110 performs a warning process to notify the driver that surrounding targets or approaching targets are approaching the vehicle VH, based on the distance between the vehicle VH and surrounding targets and the distance between the vehicle VH and approaching targets recognized by the target recognition unit 100. In this embodiment, the alarm control unit 110 performs the warning process in two stages: a "cautionary warning" and a "brake operation request warning." The cautionary warning is an example of the "first notification process" in this disclosure, and the brake operation request warning is an example of the "second notification process" in this disclosure. The brake operation request warning is a warning with a higher risk level than the cautionary warning.

[0030] When the alarm control unit 110 detects that the distance between the vehicle VH and a surrounding target, or the distance between the vehicle VH and an approaching target is less than or equal to a predetermined first threshold D1, it activates a warning by sounding a first alarm tone from the speaker 62 or buzzer 63. The first alarm condition is an example of the "first notification condition" in this disclosure. The first alarm tone is sounded as a unified alarm tone with common characteristics (e.g., frequency) regardless of differences in surrounding targets or approaching targets (differences in detected sensors) or differences in direction (e.g., front, rear, left, or right). The common characteristics referred to here are an example of the "first characteristics" in this disclosure.

[0031] Furthermore, when a second alarm condition is met, such that the distance between the vehicle VH and a surrounding target, or the distance between the vehicle VH and an approaching target, is less than or equal to a predetermined second threshold D2 which is smaller than the first threshold D1, the alarm control unit 110 sounds a second alarm sound from the speaker 62 or buzzer 63 to trigger a brake operation request alarm. The second alarm condition is an example of the "second notification condition" in this disclosure. The second alarm sound, like the first alarm sound, is sounded as a unified alarm sound with common characteristics (e.g., frequency) regardless of differences in surrounding targets or approaching targets, or differences in direction (e.g., front, rear, left, or right).

[0032] The first and second alarm sounds need to make the driver recognize the difference in risk levels. For this reason, the first and second alarm sounds are sounded as alarm sounds with different characteristics. The different characteristics referred to here are an example of the "second characteristic" in this disclosure. In this embodiment, the first alarm sound is sounded as an intermittent sound from speaker 62 or buzzer 63, and the second alarm sound is sounded as a continuous sound from speaker 62 or buzzer 63.

[0033] However, if the object recognition unit 100 recognizes multiple surrounding objects or approaching objects, and the alarm control unit 110 executes an alarm process for all of them, multiple warning sounds will be emitted simultaneously, which may cause confusion for the driver. For this reason, for example, if the first and second objects are located in the same direction relative to the vehicle's VH, and the second object is further away than the first object, it is desirable to perform an alarm process for the first object, which is closer to the vehicle's VH, and not for the second object, which is further away. However, if the risk level of the second object becomes higher than that of the first object due to the movement of the second object, it is necessary to reliably inform the driver of the risk of the second object.

[0034] To address these issues, the alarm sound selection unit 120, upon detecting multiple alarm targets, determines a priority based on the direction of each target relative to the vehicle's VH and their risk levels, and appropriately selects an alarm sound to sound according to the determined priority. The specific alarm sound selection process will be explained below with reference to Figure 4.

[0035] Let's assume a state where, from a no-alarm state where neither the first alarm condition nor the second alarm condition is met, the target recognition unit 100 recognizes a first target approaching the vehicle VH, the alarm control unit 110 performs a first alarm process targeting the first target, and then executes a second alarm process (an example of the first notification state in this disclosure). As shown in Figure 4A, an example of such a state is when the vehicle VH is moving into a garage in the rear, the right rear side sonar sensor 43RR1 detects a stationary object OJ1 to the right rear side of the vehicle VH, and the distance between the vehicle VH and the stationary object OJ1 becomes less than or equal to the second threshold D2.

[0036] In this state, suppose the target recognition unit 100 recognizes a second target that is different from the first target. When the target recognition unit 100 recognizes the second target, the alarm sound selection unit 120 determines whether the second target satisfies the second alarm condition. If the second target does not satisfy the second alarm condition, the alarm sound selection unit 120 does not select the second target as the alarm target, even if the second target satisfies the first alarm condition. In other words, the alarm control unit 110 executes only a brake operation request alarm targeting the first target. An example of such a state is shown in Figure 4B, where, for example, the rear camera 41R or the right rear-side radar sensor 42RR detects an approaching object OJ2 (e.g., a pedestrian) within a distance of the vehicle VH within a first threshold D1, but the approaching object OJ2 is in the same direction as the stationary object OJ1 relative to the vehicle VH, and the approaching object OJ2 is farther away from the vehicle VH than the second threshold D2.

[0037] Furthermore, even if the second target recognized by the target recognition unit 100 satisfies the second alarm condition, the alarm sound selection unit 120 will not select the second target as the alarm target if the second target is located in the same direction as the first target relative to the vehicle VH, and the risk level of the second target is lower than that of the first target. In other words, the alarm control unit 110 will only execute a brake operation request alarm targeting the first target. For example, as shown in Figure 4C, an approaching object OJ2 (e.g., a pedestrian) detected by the rear camera 41R or the right rear-side radar sensor 42RR is located within the distance of the second threshold D2, but the approaching object OJ2 is located in the same direction as the stationary object OJ1 relative to the vehicle VH, and is further away than the stationary object OJ1. Thus, even if the second target satisfies the second alarm condition, if it is not necessary to inform the driver of the presence of the second target, the brake operation request alarm targeting the second target will not be issued, thereby effectively preventing driver confusion.

[0038] In this disclosure, the concept that the first and second targets are located in the same direction includes not only cases where they are substantially on the same straight line, as shown in Figures 4B and 4C, but also cases where the first and second targets are located within the same area when the area around the vehicle VH is divided into multiple regions. The number of regions to be divided may be, for example, eight (immediately in front, left front, right front, straight left, straight right, left rear, immediately behind, right rear), four (front, rear, left, right), or two (front, rear or left, right). The number of regions may be set appropriately according to the number of sensors provided by the external sensor device 40.

[0039] On the other hand, the alarm sound selection unit 120 selects the third alarm process if the second target recognized by the target recognition unit 100 moves in a different direction from the first target relative to the vehicle VH, and the risk level of the second target becomes higher than the risk level of the first target, or if a new stationary or approaching object recognized by the target recognition unit 100 satisfies the second alarm condition as the second target. When the alarm sound selection unit 120 selects the third alarm process, the alarm control unit 110 executes a brake operation request alarm by sounding the third alarm sound from the speaker 62 or buzzer 63. Examples of such situations include, as shown in Figure 4D, when an approaching object OJ2 (e.g., a pedestrian) detected by the rear camera 41R or the right rear-side radar sensor 42RR moves in a direction different from that of the stationary object OJ1 relative to the vehicle VH, and the approaching object OJ2 satisfies the second warning condition, or when the right front-side sonar sensor 43FR1 detects an adjacent vehicle VH1 as a new stationary object within the second threshold D2, and the adjacent vehicle VH1 satisfies the second warning condition.

[0040] The third alarm sound needs to make the driver aware that it is a brake operation request aimed at a different target than the second alarm sound. For this reason, the third alarm sound is sounded as an alarm sound that has the same characteristics as the second alarm sound, but with different characteristics. The same characteristics here are an example of the "second characteristics" of this disclosure, and the different characteristics are an example of the "third characteristics" of this disclosure. In this embodiment, the third alarm sound is the same continuous sound as the second alarm sound, and is sounded from speaker 62 or buzzer 63 at a different frequency or timbre.

[0041] Thus, if the second target is in a different direction from the first target relative to the vehicle's VH, and the risk level of the second target is higher than that of the first target, a third alarm sound targeting the second target can be emitted to reliably inform the driver of the presence of the high-risk second target. The third alarm sound may be emitted in conjunction with the second alarm sound, or the second alarm sound may be silenced and only the third alarm sound may be emitted. Furthermore, the third alarm sound may be configured to emit a sound for a certain period of time before returning to the second alarm sound, rather than being an instantaneous sound.

[0042] Next, the flow of alarm processing by the CPU 11 of the ECU 10 will be explained based on Figure 5. This routine is started, for example, when the shift sensor 35 detects a shift position other than parking P.

[0043] In step S100, the ECU 10 determines whether or not a first target to be alarmed exists based on the detection results of the external sensor device 40. If a first target exists (Yes), the ECU 10 proceeds to the process in step S110. On the other hand, if a first target does not exist (No), the ECU 10 returns to this routine.

[0044] In step S110, the ECU 10 determines whether the first target satisfies the second alarm condition, that is, whether a brake operation request alarm targeting the first target is necessary. If the first target does not satisfy the second alarm condition (No), the ECU 10 proceeds to step S170. On the other hand, if the first target satisfies the second alarm condition (Yes), the ECU 10 proceeds to step S120.

[0045] In step S170, it is determined whether the first target satisfies the first alarm condition, that is, whether a warning alarm targeting the first target is necessary. If the first target satisfies the first alarm condition (Yes), the ECU 10 proceeds to step S180, sounds the first alarm tone (intermittent tone) from speaker 62 or buzzer 63, and returns to this routine. On the other hand, if the first target does not satisfy the first alarm condition (No), the ECU 10 returns to this routine.

[0046] In step S120, the ECU 10 determines whether or not a second target to be alarmed exists based on the detection results of the external sensor device 40. If a second target exists (Yes), the ECU 10 proceeds to step S140. On the other hand, if a second target does not exist (No), the ECU 10 proceeds to step S130, sounds a second alarm tone (continuous tone) from the speaker 62 or buzzer 63, and returns to this routine.

[0047] In step S140, the ECU 10 determines whether the second target satisfies the second alarm condition, that is, whether a brake operation request alarm targeting the second target is necessary. If the second target does not satisfy the second alarm condition (No), the ECU 10 proceeds to step S130, sounds the second alarm tone (continuous tone) through speaker 62 or buzzer 63, and returns to this routine. On the other hand, if the second target satisfies the second alarm condition (Yes), the ECU 10 proceeds to step S150.

[0048] In step S150, the ECU 10 determines whether the conditions for executing the third alarm process are met, which are that the second target is located in a different direction from the first target relative to the vehicle VH and the risk level is higher than that of the first target. If the conditions for executing the third alarm process are not met (No), the ECU 10 proceeds to step S130, sounds the second alarm tone (continuous tone) from speaker 62 and buzzer 63, and returns to this routine. On the other hand, if the conditions for executing the third alarm process are met (Yes), the ECU 10 proceeds to step S160, sounds the third alarm tone (continuous tone, and of a different frequency or tone than the second alarm tone) from speaker 62 and buzzer 63, and returns to this routine.

[0049] Although the notification device and notification method according to this embodiment have been described above, this disclosure is not limited to the above embodiments, and various modifications are possible without departing from the purpose of this disclosure.

[0050] For example, in the above embodiment, the alarm control unit 110 was described as sequentially executing the first alarm process and the second alarm process for stationary objects detected by the sonar sensor 43 and approaching objects detected by the radar sensor 42 and camera 41. However, it may also be configured to perform sequential alarm processing for only one of the stationary or approaching objects, and to perform only the first alarm process or the second alarm process for the other. Furthermore, although the third alarm sound was described as having characteristics common to the second alarm sound (continuous sound), it is also possible to configure the system to temporarily sound the third alarm sound as an alarm sound that does not have characteristics common to the second alarm sound.

Claims

1. A notification device that detects surrounding targets or approaching targets located around the vehicle as notification targets, and performs a first notification process to the occupants of the vehicle when the notification target satisfies a first notification condition which is a predetermined first risk level notification condition, and performs a second notification process to the occupants when the risk level of the notification target satisfies a second notification condition which is a predetermined second risk level notification condition which is higher than the first risk level, The first notification process and the second notification process share a common first characteristic of the notification sound, but differ in a second characteristic that is different from the first characteristic. From a state of no notification where neither the first notification process nor the second notification process is performed, to a first notification state where either the first notification process or the second notification process is performed due to the detection of the notification target, If a second target is detected as a notification target different from the first target which is the notification target in the first notification state, Even if the second target satisfies the first notification conditions, the first notification process targeting the second target is not executed. When the second target satisfies the second notification condition, the priority of the second notification process for the first target and the second notification process for the second target is determined based on the direction and risk level of the first and second targets relative to the vehicle. If it is determined that the priority of the second notification process for the second target is high, the second notification process for the second target will be executed. The notification sound of the second notification process for the second target has the same second characteristic as the notification sound of the second notification process for the first target, and a third characteristic different from the second characteristic is set to be different between the notification sound of the second notification process for the first target and the notification sound of the second notification process for the second target. A notification device characterized by the following features.

2. A notification device according to claim 1, The first characteristic is frequency, the second characteristic is the interval between blowing sounds, and the third characteristic is timbre or frequency. A notification device characterized by the following features.

3. The notification device according to claim 2, The first notification sound produced by the first notification process is an intermittent sound to draw the occupant's attention, and the second notification sound produced by the second notification process is a continuous sound to prompt the occupant to apply the brakes. A notification device characterized by the following features.

4. A notification method that detects surrounding targets or approaching targets located around a vehicle as notification targets, and performs a first notification process to the occupants of the vehicle when the notification target satisfies a first notification condition which is a predetermined first risk level notification condition, and performs a second notification process to the occupants when the risk level of the notification target satisfies a second notification condition which is a predetermined second risk level notification condition which is higher than the first risk level, The first notification process and the second notification process share a common first characteristic of the notification sound, but differ in a second characteristic that is different from the first characteristic. From a state of no notification where neither the first notification process nor the second notification process is performed, to a first notification state where either the first notification process or the second notification process is performed due to the detection of the notification target, If a second target is detected as a notification target different from the first target which is the notification target in the first notification state, Even if the second target satisfies the first notification conditions, the first notification process targeting the second target is not executed. When the second target satisfies the second notification condition, the priority of the second notification process for the first target and the second notification process for the second target is determined based on the direction and risk level of the first and second targets relative to the vehicle. If it is determined that the priority of the second notification process for the second target is high, the second notification process for the second target will be executed. The notification sound of the second notification process for the second target has the same second characteristic as the notification sound of the second notification process for the first target, and a third characteristic different from the second characteristic is set to be present between the notification sound of the second notification process for the first target and the notification sound of the second notification process for the second target. A notification method characterized by the following features.

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