Vehicle warning system

Abstract

To improve a warning output so as to urge recognition about an event related to a risk while suppressing warning to a crewman.SOLUTION: A warning device 10 of a vehicle includes: warning output devices 25-28; event detection devices 21-22 for detecting an event related to a risk; a control section 34 for controlling the warning outputs from the warning output devices 25-28 according to risk detection results by the event detection devices 21-22; and recognition detection devices 23-24 for detecting a risk recognition state of a crewman. When it is determined that there is the risk to output warning based on the detection results of the event detection devices 21-22 and also when it is determined that the crewman recognizes the risk based on the detection results of the recognition detection devices 23-24, the control section 34 additionally determines a recognition degree of the risk by the crewman. The control section 34 outputs the warning from the warning output devices 25-28 when the recognition degree is not high.SELECTED DRAWING: Figure 2

Description

【Technical Field】 【0001】 The present invention relates to a warning device for a vehicle. 【Background Art】 【0002】 Vehicles such as automobiles travel on roads. Roads are also traveled by other vehicles such as other automobiles, motorcycles, bicycles, and personal mobility devices. In particular, motorcycles and bicycles may overtake near the vehicle while traveling along the edge of the lane in which they are traveling. When an event related to such a risk occurs, it is desirable for an occupant such as a driver of the vehicle to surely recognize it and drive the vehicle. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2020-067711 【Patent Document 2】 Japanese Patent Application Laid-Open No. 2020-013179 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 For this reason, in a vehicle such as an automobile, it is conceivable to output a sound for warning an occupant when an event related to a risk occurs. In automobiles, various warning devices for vehicles have been proposed (Patent Documents 1 and 2). However, even if a warning is output when a risk is detected as in Patent Document 1, or a warning is output when an occupant has no recognition of a risk as in Patent Document 2, the occupant may not necessarily be in a recognition state where they surely recognize the risk. For example, even if occupants recognize a risk based on an alarm, they may still underestimate that risk. In this case, the vehicle's alarm system should continue or repeatedly emit alarms until the occupants clearly recognize the risk. In addition, for example, if risk warnings are issued frequently, the crew may mistakenly conclude that no risk exists based on the absence of warnings. 【0005】 Furthermore, if the alarm is emitted continuously, the crew will find the alarm annoying. Annoyed occupants may change the settings of the vehicle's alarm system to prevent the alarm from being triggered. If the settings are changed to prevent the alarm from being triggered, the vehicle's alarm system will no longer be able to issue an alarm. 【0006】 Thus, vehicle warning systems need to be improved to output warnings in a way that suppresses the output of warnings to occupants while still ensuring a clear understanding of risk-related events. [Means for solving the problem] 【0007】 A vehicle warning device according to one embodiment of the present invention includes a warning output device that outputs a warning to the occupants of the vehicle, and events related to the risks of the vehicle. Overtaking one's own vehicle by motorcycle or bicycle The system includes an event detection device that detects the risk of the vehicle, a control unit that controls the alarm output from the alarm output device according to the risk detection result of the event detection device, and a recognition detection device that detects the risk recognition status of the vehicle occupants, wherein the control unit, Based on the detection results of the event detection device, the risk level for the vehicle is determined. If, based on the risk detection results of the event detection device, it is determined that there is a risk of issuing a warning, and based on the detection results of the recognition detection device, it is determined that the occupants of the vehicle are aware of the risk, Furthermore, based on the changes in the occupant's biometric information obtained from the detection results of the recognition detection device, a value is obtained indicating the occupant's level of risk awareness. Determine the crew's level of risk perception, If the value of the crew member's risk awareness based on the acquired crew member's biometric information is determined to be higher than the threshold corresponding to the risk level of the determined risk, the alarm output device will not output an alarm, and the value of the crew member's risk awareness based on the acquired crew member's biometric information will be determined to be higher than the threshold corresponding to the risk level of the determined risk. Recognition level value but From the aforementioned threshold high It was determined to be If not 、 The alarm output device outputs an alarm. A vehicle warning device according to one embodiment of the present invention comprises: a warning output device that outputs a warning to the occupants of a vehicle; an event detection device that detects overtaking of the vehicle by a motorcycle or bicycle as an event related to the risk of the vehicle; a control unit that controls the warning output from the warning output device according to the risk detection result of the event detection device; and a recognition detection device that detects the risk recognition state of the occupants of the vehicle, wherein the warning output device includes at least a mirror display device and a sound output device, and the control unit determines that there is a risk to output a warning based on the risk detection result of the event detection device, and based on the detection result of the recognition detection device, the occupants of the vehicle If it is determined that there is a risk, the system obtains a value for the degree of risk awareness by the occupant based on the changes in the occupant's biometric information obtained from the detection results of the recognition detection device, and determines the degree of risk awareness by the occupant. If it is determined that the value of the degree of risk awareness by the occupant based on the obtained occupant's biometric information is higher than the threshold, the system does not output an alarm from the alarm output device. If it is determined that the value of the degree of risk awareness by the occupant based on the obtained occupant's biometric information is not higher than the threshold, the system outputs an audible alarm from at least the sound output device to occupants who do not recognize the risk, and outputs an alarm with highlighting corresponding to the degree of recognition from at least the mirror display device, excluding the sound output device, to occupants who do recognize the risk. [Effects of the Invention] 【0008】 In this invention, based on the risk detection results of the event detection device, it is determined that there is a risk that warrants issuing a warning. Based on the detection results of the recognition detection device, if it is determined that the vehicle occupants are aware of the risk, the degree of the occupants' awareness of the risk is further determined. If the degree of awareness is not high, a warning is issued from the warning output device. This allows occupants to receive a warning about an event related to a risk they are already aware of, and to reconfirm or firmly recognize that risk. For example, occupants can receive a warning about a risk they are already aware of but are underestimating, as if they were not aware of the risk, giving them an opportunity to revise their perception of that risk. Thus, the present invention makes it possible to output warnings to occupants while suppressing the output of warnings to occupants, in a way that ensures that risk-related events are indeed recognized by the occupants. [Brief explanation of the drawing] 【0009】 [Figure 1] Figure 1 is an explanatory diagram illustrating an example of a driving situation of an automobile to which the vehicle warning device according to the first embodiment of the present invention can be applied. [Figure 2] Figure 2 is an explanatory diagram of the control system that functions as a vehicle warning device in the automobile shown in Figure 1. [Figure 3] Figure 3 is a schematic diagram illustrating the front part of the passenger compartment of the automobile shown in Figure 1. [Figure 4] Figure 4 is a flowchart of the alarm output control using the control system shown in Figure 2. [Figure 5] Figure 5 is an explanatory diagram illustrating an example of log data of crew status recorded in the memory shown in Figure 2. [Figure 6]FIG. 6 is an explanatory diagram of an example of a recognition state determination table used to determine a change in the state of an occupant based on the risk recognition of FIG. 5. [Figure 7] FIG. 7 is an explanatory diagram of an example of an alarm output on a mirror display device for left and right door mirrors. [Figure 8] FIG. 8 is a flowchart of the end control of the alarm output by the control system of FIG. 2. [Figure 9] FIG. 9 is a flowchart of the setting control of a threshold value of recognition degree according to the risk level of an event related to risk in the second embodiment of the present invention. [Figure 10] FIG. 10 is an explanatory diagram of an example of the correspondence relationship between a plurality of risk levels for an event and threshold values of recognition degrees corresponding thereto. 【Embodiment for Implementing the Invention】 【0010】 Hereinafter, embodiments of the present invention will be described based on the drawings. 【0011】 [First Embodiment] FIG. 1 is an explanatory diagram of an example of the driving situation of an automobile 1 to which an alarm device for a vehicle according to the first embodiment of the present invention is applicable. The automobile 1 in FIG. 1 is an example of a vehicle. The automobile 1 is traveling in the left lane 2 of a two-lane road. Behind the host vehicle, a first motorcycle 4 as another moving body is traveling in the left lane 2. Further, a second motorcycle 5 as another moving body is traveling in the right lane 3. In such a driving environment, the first motorcycle 4 or the second motorcycle 5 may overtake the host vehicle. The second motorcycle 5 travels in the right lane 3 different from the host vehicle. On the other hand, the first motorcycle 4 may travel in the left lane 2 in which the host vehicle is traveling. The first motorcycle 4 may pass near the automobile 1 which is the host vehicle as indicated by the broken-line arrow in the figure. 【0012】 When events related to such risks occur, it is desirable that the occupants, such as the driver of vehicle 1, drive the vehicle while being fully aware of the risks. It is also desirable that the occupants drive the vehicle while checking the left and right views 6 and 7 using the left and right door mirrors. Furthermore, it is desirable that vehicle 1 be equipped with a vehicle warning system that alerts the driver to such risks. Even if the occupants underestimate the risk until the warning is issued, it can be expected that the warning will lead them to fully recognize the risk and the events related to that risk. However, if a driving environment like that shown in Figure 1 occurs repeatedly, the vehicle's warning system will repeatedly output warnings. Occupants may find the repeated warnings annoying. Annoyed occupants may change the settings of the vehicle's warning system to disable the warnings. If the settings are changed to disable the warnings, the vehicle's warning system will no longer be able to output warnings. Thus, the warning system of vehicle 1 needs to be improved so that it reduces inconvenience to the occupants while ensuring that they are fully aware of risk-related events. 【0013】 Figure 2 is an explanatory diagram of the control system 10 that functions as a vehicle warning device in the automobile 1 shown in Figure 1. The control system 10 in Figure 2 includes an external monitoring device 11, an occupant monitoring device 12, an alarm control device 13, an output control device 14, an operating device 15, and a vehicle network 16 to which these are connected. 【0014】 The vehicle network 16 may be a wired communication network for the vehicle 1, such as one compliant with CAN (Controller Area Network) or LIN (Local Interconnect Network). The vehicle network 16 may also use a communication network such as a LAN, a wireless communication network, or a combination thereof. A device connected to the vehicle network 16 may, for example, output an encrypted packet with a specified destination to the vehicle network 16 and receive an encrypted packet addressed to itself from the vehicle network 16. This allows the device connected to the vehicle network 16 to send and receive information with other devices. The vehicle network 16 may also be connected to other devices that control the movement of the vehicle 1, such as a drive system, steering system, braking system, driving control system, air conditioning system, and wireless communication device. The driving control system may assist the occupants in driving operations or autonomously control the movement. The wireless communication device may establish a wireless communication path with, for example, a base station located near a road, and send and receive communication data with a server device or the like through the established wireless communication path. 【0015】 The external monitoring device 11 is connected to, for example, an external camera 21 and an external LiDAR 22, in order to detect the surroundings of the vehicle 1. The exterior camera 21 may be installed, for example, in the passenger compartment 40 or at the location of the door mirrors of the vehicle 1, to capture images of the area outside the vehicle. The exterior camera 21 may be a monocular camera, a stereo camera, or a 360-degree camera. For example, exterior cameras 47(21) and 48(21) installed at the locations of the left and right door mirrors may be installed along the left and right sides of the vehicle 1 to capture images of the area behind the vehicle 1. An exterior camera 21 installed facing backward at the rear of the passenger compartment can capture images of the rear of the vehicle 1. The captured images of the rear of the vehicle 1 may be displayed on a mirror display device 27 installed at the location of the rearview mirror, or on a meter display device 25 installed on the dashboard 41 in front of the driver. The external LiDAR 22 performs a laser scan of the area outside the vehicle to generate spatial information about the area around the vehicle 1. The laser light emitted by the external LiDAR 22 is reflected by objects outside the vehicle and received by the external LiDAR 22. The external monitoring device 11 then acquires images captured by the external camera 21 and spatial information from the external Lidar 22. From the acquired surrounding information, the external monitoring device 11 extracts objects such as other moving objects and obstacles around the vehicle 1. In this case, the external camera 21 and external Lidar 22, acting as event detection devices, will detect events that may trigger an alarm output from the alarm output device. The external monitoring device 11 may determine the risk associated with each extracted object. For example, an obstacle in the direction in which car 1 is traveling is likely to affect the driving of car 1. Also, a first motorcycle 4 attempting to overtake car 1 in the same left lane 2 is likely to affect the driving of car 1. The external monitoring device 11 may determine that the risk associated with these events is high. In contrast, a fixed object on the shoulder of the road is unlikely to affect the driving of car 1. The external monitoring device 11 may determine that the risk associated with such events is low. The external monitoring device 11 outputs the generated information, along with the detection information from the external camera 21 and external Lidar 22, to the vehicle network 16 as surrounding information. 【0016】 The occupant monitoring device 12 is connected to, for example, an in-vehicle camera 23 and an in-vehicle millimeter-wave sensor 24, in order to monitor the occupants in the passenger compartment of the vehicle 1. A microphone and a speaker may also be connected to the occupant monitoring device 12. The in-vehicle camera 23 is installed facing backward, for example, at the front of the passenger compartment of the vehicle 1. The in-vehicle camera 23 is capable of capturing images of multiple occupants, including the driver, inside the passenger compartment of the vehicle 1. The in-vehicle millimeter-wave sensor 24 is installed facing downwards, for example, at the top of the passenger compartment of the vehicle 1. The in-vehicle millimeter-wave sensor 24 generates spatial information of the passenger compartment by laser scanning the passenger compartment. The in-vehicle millimeter-wave sensor 24 generates spatial information of the passenger compartment of the vehicle 1 and the occupants inside it. The occupant monitoring device 12 then acquires images captured by the in-vehicle camera 23 and spatial information from the in-vehicle millimeter-wave sensor 24. From the acquired in-vehicle information, the occupant monitoring device 12 extracts information such as occupants in the vehicle compartment. The crew monitoring device 12 may generate biometric information for the extracted crew members, such as pulse rate, respiratory rate, pupil size, and gaze direction. The occupant monitoring device 12 outputs this biometric information, along with detection information from the in-vehicle camera 23 and the in-vehicle millimeter-wave sensor 24, to the vehicle network 16 as information indicating the occupant's recognition status. 【0017】 The output control device 14 and the operating device 15 constitute a user interface for occupants in the passenger compartment of the automobile 1. The output control device 14 is connected to, for example, a meter display device 25, a center display device 26, a mirror display device 27, and a sound output device 28. The operating device 15 is connected to a touch panel device 29. 【0018】 Figure 3 is a schematic diagram illustrating the front part of the passenger compartment 40 of the automobile 1 shown in Figure 1. Figure 3 shows the components that define the passenger compartment 40, including a dashboard 41 extending in the width direction of the automobile 1, and a pair of A-pillars 42 and 43 located on the left and right sides of the dashboard 41. 【0019】 The meter display device 25 is installed on the right or left side of the dashboard 41, for example, in a position that overlaps with the steering wheel 44. The meter display device 25 may display information to the driver regarding the vehicle's driving status. The center display device 26 is located in the central part of the dashboard 41. The center display device 26 may display, for example, a setting screen for whether or not to output the vehicle's warning system. The mirror display devices 27 are provided on the upper right and upper left of the dashboard 41. The right-side mirror display device 45(27) may display an image of the right rear of the vehicle captured by a right-side exterior camera 47(21) located at the position of the door mirror outside the right A-pillar 42. The left-side mirror display device 46(27) may display an image of the left rear of the vehicle captured by a left-side exterior camera 48(21) located at the position of the door mirror outside the left A-pillar 43. In addition, the mirror display devices 27 may also be provided at the position of the rearview mirror, for example. The sound output device 28 is, for example, a speaker. The sound output device 28 may be hidden inside, for example, the dashboard 41. The output control device 14 then acquires display information from the vehicle network 16. Based on the acquired information, the output control device 14 controls the displays of the meter display device 25, the center display device 26, and the mirror display device 27. The output control device 14 also outputs synthesized voice and alarm sounds from the sound output device 28. The touch panel device 29 may be installed on top of the center display device 26. The touch panel device 29 detects the occupant's operation on the display screen of the center display device 26. The operating device 15 then generates operation information corresponding to the occupant's actions on the display screen of the center display device 26 and outputs it to the vehicle network 16. 【0020】 The warning control device 13 executes control to output various warnings to occupants, such as the driver, of the vehicle 1, for example, when there is an event that poses a high risk related to the driving of the vehicle, or when there is an event that poses a potential risk. The alarm control device 13 includes an input / output (I / O) unit 31, a timer 32, a memory 33, an ECU 34, and an internal bus 35 to which these are connected. Other devices shown in the figure may have an internal structure similar to that of the alarm control device 13. The input / output unit 31 is connected to the vehicle network 16. The input / output unit 31 controls the sending and receiving of information with other devices via the vehicle network 16. Timer 32 measures time and the time of day. Memory 33 stores programs and various information executed by the ECU 34. The programs stored in memory 33 may be those that were originally stored on a recording medium or those acquired through a transmission medium. The ECU34 is a type of central processing unit (CPU). The ECU34 executes the program stored in memory 33. Thus, the ECU34 functions as a control unit that controls the operation of the vehicle's alarm system. 【0021】 As the control unit for the vehicle's alarm system, the ECU 34 performs settings for alarm output based on operation information obtained from the operating device 15 connected via the vehicle network 16. For example, the ECU 34 may set the alarm target. The ECU 34 may also set whether or not to output an alarm. The setting information is recorded in memory 33. The ECU 34 controls the alarm output to the occupants according to the setting information recorded in memory 33. If configured to output an alarm, the ECU 34 of the alarm control device 13 performs alarm output control using, for example, an external monitoring device 11, an occupant monitoring device 12, and an output control device 14 connected via the vehicle network 16. Here, the ECU 34 may acquire information from the external monitoring device 11 as ambient information to detect the presence or absence of risk-related events, or to determine whether the degree of risk of the risk-related events warrants outputting an alarm. In this case, the external camera 21, external Lidar 22, and external monitoring device 11 function as event detection devices that detect risk-related events outside the vehicle. The ECU 34 may acquire information from the occupant monitoring device 12 and determine whether or not the occupant is aware of a risk-related event, according to the results of the vehicle risk detection by the event detection device. In this case, the in-vehicle camera 23, the in-vehicle millimeter-wave sensor 24, and the occupant monitoring device 12 function as recognition detection devices that detect the occupant's awareness state. Furthermore, the ECU 34 may acquire information from the occupant monitoring device 12 and determine the degree of awareness of the warning target by the occupant, such as the driver, according to the results of the vehicle risk detection by the event detection device. In this case, the in-vehicle camera 23, the in-vehicle millimeter-wave sensor 24, and the occupant monitoring device 12 function as recognition detection devices that detect events related to risk by the occupant. The ECU 34 generates information instructing the output of an alarm and outputs it to the output control device 14 via the vehicle network 16. The output control device 14 selects an alarm output device from among the meter display device 25, center display device 26, mirror display device 27, and sound output device 28 that is appropriate to the acquired information and outputs an alarm. For example, if the sound output device 28 is selected, the output control device 14 outputs an alarm sound or alarm message from the sound output device 28 to output an alarm to the occupants of vehicle 1. If the mirror display device 27 is selected, the output control device 14 switches the display of the mirror display device 27 to a highlighted display different from the normal display in order to output an alarm to the occupants of vehicle 1. If the meter display device 25 or the center display device 26 is selected, the output control device 14 switches the display on those devices to display images or other information about the risk-related event in order to output an alarm to the occupants of vehicle 1. In this case, the meter display device 25, center display device 26, mirror display device 27, sound output device 28, and the output control device 14 function as alarm output devices that output an alarm about risk to the occupants of vehicle 1. Furthermore, the ECU34 can control the alarm output from the alarm output device. Ideally, the alarm output device should include at least a mirror display device and an audible output device. 【0022】 Figure 4 is a flowchart of the alarm output control by the control system 10 in Figure 2. The ECU 34 of the alarm control device 13 repeatedly executes the alarm output control shown in Figure 4 in order to output an alarm for an event related to risk. Note that some of the alarm output control processing shown in Figure 4 may be performed by other devices in the control system 10 shown in Figure 2, such as the external monitoring device 11, the occupant monitoring device 12, or the output control device 14. 【0023】 Step ST1 is a step in which it is determined whether or not the alarm output setting is enabled. The ECU 34 of the alarm control device 13 obtains the alarm output setting from memory 33 and determines whether or not the alarm is enabled. If the alarm is enabled, the ECU 34 proceeds to step ST2. If the alarm is disabled, the ECU 34 terminates this control without outputting an alarm. 【0024】 Step ST2 is the step of acquiring information about the vehicle's surroundings. The ECU 34 acquires information about the vehicle's surroundings from, for example, an external monitoring device 11. In this case, the surrounding information includes, for example, images of the vehicle's surroundings captured by an external camera 21 and spatial information of the vehicle's surroundings captured by an external Lidar 22. The surrounding information may also include information about external objects extracted based on the captured images and spatial information. 【0025】 Step ST3 is the step of detecting and determining what constitutes a risk event. The ECU34 first extracts information about external objects from the acquired information about the vehicle's surroundings, or acquires information about external objects that are included in the information about the vehicle's surroundings. The ECU34 may acquire information about multiple external objects. Next, the ECU 34 determines the degree of risk associated with each object outside the vehicle. For example, an external obstacle in the direction that vehicle 1 is traveling is likely to affect the vehicle's movement. Also, a first motorcycle 4 outside the vehicle attempting to overtake vehicle 1 in the same left lane 2 is likely to affect the vehicle's movement. For example, if the speed difference between the speed of the first motorcycle 4 based on image analysis and the speed of the vehicle is greater than or equal to a threshold, the ECU 34 may determine that the first motorcycle 4 is attempting to overtake the vehicle. The ECU 34 may determine these events as risk events. In contrast, a fixed object on the shoulder of the road that is not in the direction that vehicle is traveling is unlikely to affect the vehicle's movement. A second motorcycle 5 outside the vehicle attempting to overtake vehicle 1 in a different right lane 3 is unlikely to affect the vehicle's movement. The ECU 34 does not have to determine these events as risk events. Thus, as a control unit, the ECU 34 can determine the degree of risk for events that have been determined to warrant an alert based on the detection of the event detection device. 【0026】 Step ST4 is a step in which the ECU determines whether or not there are any events related to risks that should warrant a warning. For example, the ECU 34 determines whether or not there are any external objects that were determined in step ST3 to be highly likely to affect the driving of the vehicle 1. As a control unit, the ECU 34 can then determine, based on the detection by the event detection device, whether or not there are any events that should warrant a warning from the warning output device. If there are external objects that were determined to be highly likely to affect the driving of the vehicle 1, the ECU 34 determines that there are events that should warrant a warning and proceeds to step ST5. If there are no external objects that were determined to be highly likely to affect the driving of the vehicle 1 in step ST3, the ECU 34 determines that there are no events that should warrant a warning and terminates this control without outputting a warning. 【0027】 Step ST5 is a step to determine whether the occupants are aware of the event that warrants issuing an alarm. The ECU 34 may acquire information from the occupant monitoring device 12 and determine whether the occupant is aware of a risk-related event. The occupant recognizes the first motorcycle 4, for example, by looking at the mirror display device 27. Based on the information acquired from the occupant monitoring device 12, the ECU 34 may determine whether the occupant is aware of a risk-related event that should be warned about by determining whether the occupant is looking at the mirror display device 27. The ECU 34 may perform different determination controls depending on the risk-related event. As a result, the ECU 34, as a control unit, can determine whether the occupant is aware of a risk-related event based on the detection of the recognition detection device when the event detection device detects an event that should cause the alarm output device to output an alarm. 【0028】 Step ST6 is a step in which the ECU 34 determines whether or not the occupant is aware of the risk-related event. The ECU 34 may determine whether or not the occupant is aware of the risk-related event based, for example, on the result of the awareness determination in step ST5. If the occupant is aware of the risk-related event, the ECU 34 proceeds to step ST8. On the other hand, if the occupant is not aware of the risk-related event, the ECU 34 proceeds to step ST7. 【0029】 Step ST7 is a step in which an alarm is issued to occupants who are unaware of the risk-related event. The ECU 34 generates information instructing the alarm to be issued and outputs it to the output control device 14 via the vehicle network 16. In this case, since the occupants are unaware of the risk-related event, the ECU 34 generates information instructing at least an audible warning output. The output control device 14 selects the sound output device 28 and outputs a warning sound or warning message from the sound output device 28. Furthermore, the ECU 34 may generate information that includes instructions for an audible alarm output, as well as instructions for an alarm output that highlights the risk-related events. The output control device 14 may, for example, select a mirror display device 27 and have the mirror display device 27 highlight the risk-related events. At least an audible warning is output, and if the ECU 34 determines through its processing as a control unit that the occupant is unaware of the risk-related event, it can output a warning from the warning output device. In addition, an occupant who is unaware of the risk can receive clear, at least audibly, a warning about the unrecognized risk-related event. The occupant can, for example, see the mirror display device 27 and recognize that the first motorcycle 4 is about to overtake. After that, the ECU 34 terminates this control. 【0030】 Step ST8 is a step to determine the degree of awareness of the risk-related event among crew members who are aware of the risk-related event. The ECU 34 may determine the degree of risk awareness of the occupant based, for example, on biometric information indicating the occupant's awareness state acquired from the occupant monitoring device 12 in step ST5, or on log data stored in memory 33. If the occupant is sufficiently aware that there is a risk from an object outside the vehicle, for example, their pulse rate may increase, their respiratory rate may increase, or their pupils may dilate. Also, if the occupant is aware that the first motorcycle 4 is about to overtake their vehicle, they may continue to stare at the mirror display device 27 or repeatedly stare at it. The ECU34 may determine the degree to which the occupants are aware of risk-related events based on the changes in their state resulting from these risk perceptions. In this way, if the ECU34 determines that the occupant is aware of a risk-related event, it then determines the degree of that awareness. Based on the occupant's awareness status detected by the awareness detection device, the ECU34 can determine the degree of the occupant's awareness of the risk-related event for which it has determined to issue an alarm. 【0031】 Step ST9 determines whether the occupants' risk awareness level is above the awareness threshold. If the ECU34 determines in step ST8 that the occupant's level of risk awareness is above a threshold, it terminates this control without outputting an alarm. This allows the ECU34 to determine that the occupant already has a high level of awareness of the risk-related event, and to refrain from outputting an alarm from the alarm output device. If the level of awareness determined in step ST8 is not above the threshold, the ECU34 proceeds to step ST10. This allows the ECU34 to output an alarm from the alarm output device if the occupant is aware of a risk-related event but their level of awareness is not high. 【0032】 Step ST10 is a step in which control is performed to output an alert according to the occupant's level of risk perception. The ECU34 generates instruction information for outputting a warning corresponding to the degree of risk awareness by the occupant determined in step ST8, and outputs it to the output control device 14 via the vehicle network 16. In this case, since the occupants are aware of the risk-related event, the ECU 34 should generate information instructing at least a non-audible warning output. The ECU 34 should generate information including instructions for a warning output that highlights the risk-related event. Based on the instruction information from the ECU 34, the output control device 14 selects, for example, the left and right mirror display devices 45, 46 (27), other than the sound output device 28. The output control device 14 then causes the selected left and right mirror display devices 45, 46 (27) to highlight the risk-related event. If the level of awareness of the occupants to be judged in step ST8 is divided into three or more categories, the ECU 34 may change the degree of emphasis according to the level of awareness, such that the degree of emphasis increases as the level of awareness decreases. For example, the output control device 14 can emphasize risk-related events by displaying them enlarged, increasing their brightness, or adding warning marks. The ECU 34 may enlarge, brighten, or add stronger warning marks to risk-related events as the level of awareness decreases. Furthermore, the ECU 34 may highlight risk-related events not in the left and right mirror display devices 45, 46 (27), but in other mirror display devices 27 located at the rearview mirror position, meter display device 25, center display device 26, or a combination thereof. This allows the ECU 34 to acquire the occupant's recognition level based on changes in the occupant's biometric information obtained from the detection results of the recognition detection device, and if the occupant's recognition level based on the acquired occupant's biometric information is lower than a threshold, it can output an alarm from the alarm output device. After that, ECU34 terminates this control. 【0033】 Thus, even if the ECU 34 determines, based on the detection results of the recognition detection device, that the occupant of the vehicle 1 is aware of a risk, if the level of awareness is not high, it outputs a warning from the warning output device in the same way as when it is determined that the occupant is not aware of a risk. However, in this case, the warning output is less explicit than when it is determined that the occupant is not aware of a risk. Specifically, when outputting a warning to an occupant who is aware of a risk, the mirror display device 27 outputs an emphasis display according to the level of awareness, except for the sound output device 28. Furthermore, by making the warning non-audible, the occupant is spared from receiving excessive warnings about events related to risks that they are already aware of. Furthermore, by highlighting risk-related events in the mirror display device 27, the occupant who sees them becomes more strongly aware of the risks associated with those events. For example, if the occupant sees the first motorcycle 4, which they are attempting to overtake, highlighted in the mirror display device 27, they will become fully aware of the risk-related events. 【0034】 Next, we will explain in more detail a specific example of alarm output control in the embodiment described above. 【0035】 Figure 5 is an explanatory diagram of an example of log data 51 of crew status recorded in memory 33 in Figure 2. The log data 51 of the crew status in Figure 5 records multiple pulse rates generated by the crew monitoring device 12 as the crew's biometric information, along with their corresponding timestamps. The pulse rate can be used as an indicator to determine the crew's cognitive state. This log data of the crew's state 51 can be used to determine changes in the crew's state based on risk perception, and further to determine the degree to which the crew perceives risk. Furthermore, to determine the degree of risk awareness among the crew, it is advisable to make a comprehensive judgment based on log data 51 of multiple types of crew conditions. 【0036】 The ECU 34 of the alarm control device 13 may acquire the new pulse rate when the occupant monitoring device 12 acquires it, and add it to the occupant status log data 51 in Figure 5, along with the time of acquisition. The ECU 34 may acquire the acquisition time from the timer 32. Furthermore, the occupant status log data 51 in Figure 5 may record only data corresponding to a fixed period of time, such as one minute, in order to limit the memory usage area of ​​the memory 33. In this case, when the maximum number of pulse rates is recorded in the occupant status log data 51, the ECU 34 of the alarm control device 13 may overwrite the oldest pulse rate and time with the latest data. Then, as an example, the log data 51 of the occupant status in Figure 5 records the four most recent sets of pulse rate and their corresponding times. And, let's assume that the ECU 34 of the alarm control device 13 performed the processing in step ST5, for example, at the first time "12 (hours):23 (minutes):05 (seconds)". In this case, the ECU 34 of the alarm control device 13, in the process of determining the occupant's recognition level in step ST8, obtains the third and fourth pulse rates, which are the time periods before and after the first time period (Tdetect), in the occupant status log data 51 shown in Figure 5. The ECU34 divides the fourth pulse rate, "108," which is after the first time point, by the third pulse rate, "104," which is before the first time point, and calculates "+4" as the value of the state change due to pulse rate risk recognition. In this way, the ECU34 can acquire the state changes due to risk recognition before and after the control unit's determination process regarding the occupant's recognition state detected by the recognition detection device. Furthermore, instead of calculating the values ​​of biometric information before and after the timing of the determination of whether or not the occupant recognizes a risk-related event in step ST5, the ECU34 may calculate the values ​​of biometric information before and after the timing of the determination of whether or not a risk-related event exists in step ST3. Furthermore, when calculating with biological information after the determination timing, the ECU34 may use the average or representative value of multiple biological information values ​​prior to the determination timing. 【0037】 Figure 6 is an explanatory diagram of an example of a recognition state determination table 52 used to determine changes in the occupant's state based on the risk perception in Figure 5. The recognition state determination table 52 in Figure 6 may be recorded in memory 33. The recognition state determination table 52 in Figure 6 includes multiple stages as stages of change in the crew member's pulse rate: 0 or less, +1, ..., +10. In the recognition state determination table 52 in Figure 6, a recognition level value is associated with each stage of change in the crew member's pulse rate, with the level increasing as the stage progresses. For example, if the stage of change in the crew member's pulse rate is 0 or less, and the crew member does not recognize the risk as a risk-related event, a recognition level value of 0 is associated. If the stage of change in the crew member's pulse rate is +1, a recognition level value of 10 is associated. And if the stage of change in the crew member's pulse rate is +10 or more, and the crew member recognizes the risk as a risk-related event, a recognition level value of 100 is associated. By using the recognition state determination table 52 in this way, the ECU 34 can determine the state change due to risk recognition based on the occupant's risk perception into three or more stages, including the stage (+10) in which the occupant is fully aware of the risk-related event. In the process of determining the occupant's recognition level in step ST8, the ECU34 uses the stages of change in the occupant's pulse rate, determined by the calculations described above, to obtain a corresponding recognition level value. In the example in Figure 5, the ECU34 uses "+4" as the stage of change in the occupant's pulse rate and obtains "40" as the recognition level value from the recognition state determination table 52 in Figure 6. 【0038】 Furthermore, in Figure 6, the threshold for determining the recognition level may be, for example, "75". In step ST9, if the ECU34 determines that the recognition level value obtained based on the recognition status determination table 52 is equal to or greater than this threshold, it will not output an alarm. Conversely, if the recognition level value obtained based on the recognition state determination table 52 is determined to be less than or equal to this threshold, the ECU 34 outputs an alarm. In this case, the alarm may be adjusted according to the recognition level value, for example, by making the alarm more pronounced the lower the recognition level. For example, if the recognition level is set to "40", the ECU34 will determine that it is not above the threshold of "75" and will output an alarm. In contrast, if the recognition level is, for example, "80", the ECU34 will determine that the threshold is "75" or higher and will not output an alarm. 【0039】 Figure 7 is an explanatory diagram illustrating an example of alarm output from the mirror display devices 45(27) and 46(27) for the left and right door mirrors. The upper part of Figure 7 shows the rear view image 60 captured by the external camera 21 of the vehicle. 【0040】 If no specific instructions are given by the alarm control device 13, the output control device 14 acquires the captured image 60 from the external monitoring device 11 and cuts out a portion of it as shown by the dashed cutout frames 61 and 62 in the figure. As a result, the output control device 14 generates an image (Left Mirror) 64 to be displayed on the mirror display device 46 (27) for the left door mirror, as shown in the middle of Figure 7. The output control device 14 also generates an image (Right Mirror) 63 to be displayed on the mirror display device 45 (27) for the right door mirror. The image 64 displayed on the mirror display device 46 (27) for the left door mirror includes a first motorcycle 4 attempting to overtake in the same left lane 2 as the vehicle, similar to the dashed cutout frame 61. Such a first motorcycle 4 constitutes a risk-related event. The image 63 displayed on the mirror display device 45 (27) for the right door mirror includes a second motorcycle 5 traveling in the adjacent right lane 3, similar to the dashed cutout frame 62. However, the first motorcycle 4 and the second motorcycle 5 here are shown with the same size or occupancy rate as the cropped area in the captured image 60. When the alarm control device 13 issues a highlighting instruction, the output control device 14 switches the display to enlarge and highlight the event related to the risk requiring a warning, in this case the first motorcycle 4. As shown in the lower left of Figure 7, the output control device 14 switches the image 65 displayed on the mirror display device 46(27) for the left door mirror. In image 65, the first motorcycle 4 is displayed enlarged compared to image 64. The output control device 14 may, for example, reduce the size of the cropping frame 61 from the captured image 60 for the image to be displayed on the mirror display device 46(27) for the left door mirror, thereby increasing the occupancy of the first motorcycle 4 in the displayed image 65. Alternatively, for example, the output control device 14 may enlarge the portion of the image containing the first motorcycle 4 in the cropped image without changing the cropping frame 61 itself from the captured image 60. 【0041】 When issuing an alarm output according to the level of recognition, the output control device 14 may change the display based on the instruction for the degree of highlighting from the alarm control device 13. If the output control device 14 receives an instruction for strong highlighting under a low level of recognition, it may enlarge the first motorcycle 4 and increase its brightness relative to its surroundings, as shown in the lower right of Figure 7. In this case, the mirror display device 46 (27) for the left door mirror will display the strongly highlighted image 66. For example, the output control device 14 may perform strong highlighting when the recognition level is "low" and display the strongly highlighted image 66 in the lower right of Figure 7, and perform weak highlighting when the recognition level is "medium" and display the weakly highlighted image 65 in the lower left of Figure 7. 【0042】 Thus, when the output control device 14 receives a highlighting instruction from the ECU 34 of the alarm control device 13, it can output a highlighting to the mirror display device 27 according to the level of awareness in order to output an alarm about the risk-related event to occupants who have already recognized the risk. Furthermore, the output control device 14 may add displays other than the left and right mirror display devices 45, 46 (27) or highlight each display in order to highlight them according to the degree of recognition based on the instruction information from the ECU 34. The output control device 14 may also display risk-related events in other mirror display devices 27 located at the position of the rearview mirror, meter display device 25, center display device 26, or a combination thereof. This allows the ECU34 to output different alarms from the alarm output device depending on the occupant's level of awareness based on the acquired occupant's biometric information. 【0043】 Next, we will explain how to control the termination of highlighting after it has started. Figure 8 is a flowchart of the alarm output termination control by the control system 10 in Figure 2. The ECU 34 of the alarm control device 13 repeatedly executes the alarm output termination control shown in Figure 8. Note that the termination control of the alarm output in Figure 8 may also be performed by another device in the control system 10 in Figure 2, such as the output control device 14. 【0044】 Step ST21 is a step to determine whether or not highlighting is in progress. In step ST10 of Figure 4, the ECU 34 of the alarm control device 13 instructs the output control device 14 to perform highlighting. When executing step ST10, the ECU 34 may record a flag indicating that highlighting is in progress in the memory 33. In this case, the ECU 34 may determine whether or not highlighting is in progress based on whether or not the flag is recorded in the memory 33. 【0045】 Step ST22 is a step in which the latest surrounding information of the vehicle is acquired. The ECU34 acquires the latest surrounding information from the external monitoring device 11, for example, after the processing in step ST10. 【0046】 Step ST23 is a step in which the actual distance from the vehicle to the risk-related event is estimated. Based on the latest surrounding information acquired in step ST22, the ECU34 estimates the actual distance from the vehicle to the highlighted risk-related event. Objects that are close to the vehicle occupy a larger area in the captured image 60 and spatial information compared to objects that are farther away from the vehicle. For example, the ECU34 can calculate the occupancy rate of the highlighted risk-related event in the captured image 60 and estimate the actual distance from the vehicle based on that occupancy rate. 【0047】 Step ST24 is a step in which the ECU 34 determines whether the actual distance of the risk-related event is closer than the corresponding position in the highlighting display. For example, the ECU 34 compares the occupancy rate of the risk-related event in the highlighting display in the captured image 60 with the occupancy rate of the same object in the image displayed on the left door mirror display device 46 (27). If the occupancy rate in the captured image 60 is greater than or equal to that of the image displayed on the mirror display device 27, the ECU 34 determines that the actual distance of the risk-related event is closer than the corresponding position in the highlighting display and proceeds to step ST26. Otherwise, that is, if the ECU 34 does not determine that the actual distance of the risk-related event is closer than the corresponding position in the highlighting display, the ECU 34 proceeds to step ST25. 【0048】 Step ST25 is a step in which it is determined whether the risk-related event has moved outside the display range. For example, the ECU34 determines whether the risk-related event being highlighted in the latest captured image 60 has moved outside the cropping range of the image displayed on the mirror display device 46(27) for the left door mirror. If the object has not moved outside the cutout range, ECU34 returns to step ST22. ECU34 repeats the process from step ST22 to step ST25 until it determines Yes in step ST24 or step ST25. 【0049】 Step ST26 is a step to reconfirm the occupants' awareness of the risk-related events. Based on the information of the occupants' current state changes due to their risk perception, the ECU34 performs processing equivalent to, for example, steps ST8 to ST9 in Figure 4 described above. This allows the ECU34 to re-determine the occupants' current level of awareness of the risk-related events. If the occupant's current level of awareness is "high" (above the threshold), the ECU 34 proceeds to step ST27. Otherwise, the ECU 34 returns to step ST24. In this case, the mirror display device 46(27) for the left door mirror continues to highlight the risk-related event until the occupant's level of awareness reaches "high" (above the threshold). As a result, the ECU34 will proceed to step ST27 if the actual distance to the risk event becomes closer than the corresponding position on the highlighting display, and the occupant recognizes it with a "high" level of awareness. Even if the actual distance to the risk event becomes closer than the corresponding position on the highlighting display, if the occupant underestimates it and the level of awareness does not reach the threshold of "high," the highlighting display will continue. If the process is to return to step ST24, the ECU34 may switch the display to further increase the emphasis. The ECU34 may also output an alarm sound. 【0050】 Step ST27 is a step in which the process of ending the highlighting is performed. The ECU34 generates an instruction to end the highlighting and outputs it to the output control device 14 via the vehicle network 16. The output control device 14 terminates the highlighting of risk-related events in the mirror display device 27, for example. The display on the mirror display device 27 switches, for example, from the lower section of Figure 7 to the middle section. In this way, when the ECU 34 proceeds, for example, from step ST24 to step ST27, it terminates the highlighting and returns the mirror display device 27 to normal display based on the fact that the risk-related event has moved closer to the vehicle than the position corresponding to the highlighting. The risk-related event is displayed as it moves closer to the vehicle from the position in the highlighted state. In addition, for example, when proceeding from step ST26 to step ST27, the highlighting is terminated and the mirror display device 27 returns to normal display based on the fact that the risk-related event has moved out of the normal display range of the mirror display device 27 before reaching the position corresponding to the highlighting. The risk-related event changes from a highlighted state to a state where it is not displayed. 【0051】 In this manner, the ECU34 outputs an alarm from the mirror display device through highlighting according to the level of recognition, and then determines whether the risk event is approaching from the position corresponding to the highlighting, and whether the risk event has moved outside the normal display range of the mirror display device. If the risk event is approaching from the position corresponding to the highlighting, or if the risk event has moved outside the normal display range of the mirror display device, the ECU34 can terminate the highlighting and return the mirror display device to normal display. 【0052】 As described above, in this embodiment, even if it can be determined that the occupant of the vehicle 1 is aware of a risk based on the detection result of the recognition detection device that detects risk-related events in the vehicle 1, the degree of awareness of the occupant is further determined. If the degree of awareness is not high, an alarm is output from the alarm output device. As a result, the occupant will be able to be sure of recognizing the risk-related events they are aware of, just as they are of risks they are not aware of, based on the alarm for the risk-related events they are aware of. The control system 10 as a vehicle alarm device can output alarms that can be surely recognized by the occupant regarding risk-related events, while suppressing alarm outputs that may be bothersome to the occupant. 【0053】 [Second Embodiment] Next, a vehicle alarm system for automobile 1 according to a second embodiment of the present invention will be described. The following description will mainly focus on the differences from the embodiments described above. The same configurations and processes as those in the embodiments described above will not be described. 【0054】 Figure 9 is a flowchart showing the control of setting the threshold for recognition level according to the risk level of a risk-related event in the second embodiment of the present invention. The ECU 34 of the alarm control device 13 repeatedly performs the control of setting the recognition threshold shown in Figure 9. Note that the setting and control of the recognition threshold in Figure 9 may also be performed by other devices in the control system 10 in Figure 2, such as the output control device 14. 【0055】 In step ST31, the ECU34 acquires information about the risk event. Here, the ECU34 may acquire information from step ST3 or step ST4 in Figure 4. The information from these steps may include information about the event related to the detected risk and information about whether an alarm is necessary for that risk. 【0056】 In step ST32, the ECU34 selects one event from the information acquired in step ST31. The event related to the risk of vehicle 1 that requires a warning is not necessarily isolated. 【0057】 In step ST33, the ECU34 determines the risk level for the event selected in step ST32. The risk level will be described later. 【0058】 In step ST34, ECU34 determines whether there are any unprocessed events. If there are any unprocessed events, ECU34 returns to step ST32. ECU34 repeats the process from step ST32 to step ST34 until it has determined the risk level for all events included in the information obtained in step ST31. Once it has determined the risk level for all events included in the information obtained in step ST31, ECU34 proceeds to step ST35. 【0059】 In step ST35, the ECU34 selects the highest risk level from all the risk levels it has determined. 【0060】 In step ST36, the ECU34 selects a threshold corresponding to the highest risk level selected in step ST35. This threshold is used to determine the level of awareness in step ST9 in Figure 4 and in step ST26 in Figure 8. 【0061】 Figure 10 is an explanatory diagram illustrating an example of the correspondence between multiple risk levels for an event and corresponding awareness thresholds. Figure 10 shows three risk levels: "low," "medium," and "high," along with corresponding thresholds. A threshold of 75 is associated with the "low" risk level. A threshold of 55 is associated with the "medium" risk level. A threshold of 35 is associated with the "high" risk level. The information in Figure 10 may be recorded in memory 33. 【0062】 The ECU34, through the processing shown in Figure 9, selects a threshold corresponding to the highest risk level from the information in Figure 10. Then, the ECU34 uses the selected threshold when determining the recognition level in step ST9 in Figure 4 and step ST26 in Figure 8. The selected threshold is compared with the recognition level value selected from the recognition state determination table 52 in Figure 6. In this case, it is indirectly compared with biological information. 【0063】 As described above, in this embodiment, the ECU34 determines the degree of risk for an event that has been determined to warrant an alarm. In this embodiment, the degree of awareness is determined based on the state change due to the occupant's risk perception, along with the determined degree of risk for the event. For example, if the threshold is set to "75" and the recognition value obtained is, for example, "60", the ECU34 will determine that the recognition value is not above the threshold and will output an alarm. In contrast, if the threshold is set to "55" and the recognition level value is, for example, "60", the ECU34 will determine that the recognition level value is above the threshold and will not output an alarm. This allows the ECU34 to adjust its judgment to proactively output a warning, for example, by reducing the threshold compared to the level of awareness based on the occupant's risk perception and the resulting change in state, as the degree of risk of the event being judged increases. The ECU34 determines the risk level of the vehicle based on the detection results of the event detection device, and can use a threshold corresponding to the determined risk level of the vehicle to compare and judge the occupant's awareness level based on the acquired occupant's biometric information. 【0064】 The embodiments described above are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and modifications can be made as appropriate without departing from the spirit of the invention. [Explanation of symbols] 【0065】 1...Automobile (vehicle), 2...Left lane, 3...Right lane, 4...First motorcycle, 5...Second motorcycle, 6,7...Field of view, 10...Control system (vehicle warning device), 11...External monitoring device, 12...Occupant monitoring device, 13...Warning control device, 14...Output control device, 15...Operating device, 16...Vehicle network, 21...External camera (event detection device), 22...External Lidar (event detection device), 23...In-vehicle camera (recognition detection device), 24...In-vehicle millimeter-wave sensor (recognition detection device), 25...Meter display device (warning output device), 26...Center display device (warning output device), 27...Mirror display device (warning output device), 28...Sound output device (warning output device), 29...Touch panel device, 31...Input / output section 32...Timer, 33...Memory, 34...ECU, 35...Internal bus, 40...Vehicle compartment, 41...Dashboard, 42...Right A-pillar, 43...Left A-pillar, 44...Steering wheel, 45...Right mirror display device, 46...Left mirror display device, 47...Right exterior camera, 47...Exterior camera at the position of the left door mirror, 48...Exterior camera at the position of the left door mirror, 51...Log data, 52...Recognition status determination table, 53...Recognition degree determination table, 54...Event risk determination table, 60...Captured image, 61,62...Crop frame, 63...Image to be displayed on the mirror display device for the right door mirror, 64...Image to be displayed on the mirror display device for the left door mirror, 65...Weakly highlighted image, 66...Strongly highlighted image

Claims

[Claim 1] A warning output device that outputs a warning to the occupants of a vehicle, An event detection device that detects an event related to the risk of the aforementioned vehicle, such as being overtaken by a motorcycle or bicycle, A control unit controls the alarm output from the alarm output device in accordance with the risk detection result of the event detection device for the vehicle, A recognition detection device for detecting the risk awareness status of the occupants of the vehicle, It has, The control unit, Based on the detection results of the event detection device, the risk level for the vehicle is determined. If, based on the risk detection results of the event detection device, it is determined that there is a risk of issuing a warning, and based on the detection results of the recognition detection device, it is determined that the occupants of the vehicle are aware of the risk, Based on the changes in the occupant's biometric information obtained from the detection results of the aforementioned recognition detection device, a value is obtained indicating the occupant's level of risk awareness. Determine the crew's level of risk perception, If the value of the crew member's risk awareness, based on the acquired crew member's biometric information, is determined to be higher than the threshold corresponding to the risk level of the determined risk, the alarm output device will not output an alarm. If the value of the occupant's risk perception, based on the acquired occupant's biometric information, is not determined to be higher than the threshold, the alarm output device will output an alarm. Vehicle warning system. [Claim 2] The control unit, The aforementioned alarm output device outputs different alarms depending on the value of the occupant's risk awareness, based on the acquired occupant's biometric information. A vehicle alarm device according to claim 1. [Claim 3] A warning output device that outputs a warning to the occupants of a vehicle, An event detection device that detects an event related to the risk of the aforementioned vehicle, such as being overtaken by a motorcycle or bicycle, A control unit controls the alarm output from the alarm output device in accordance with the risk detection result of the event detection device for the vehicle, A recognition detection device for detecting the risk awareness status of the occupants of the vehicle, It has, The alarm output device includes at least a mirror display device and an audio output device. The control unit, If, based on the risk detection results of the event detection device, it is determined that there is a risk of issuing a warning, and based on the detection results of the recognition detection device, it is determined that the occupants of the vehicle are aware of the risk, Based on the changes in the occupant's biometric information obtained from the detection results of the aforementioned recognition detection device, a value is obtained indicating the occupant's level of risk awareness. Determine the crew's level of risk perception, If the system determines that the crew's risk awareness level, based on the acquired crew biometric information, is higher than the threshold, the alarm output device will not output an alarm. If the value of the crew's risk perception, based on the acquired crew biometric information, is not determined to be higher than the threshold, For occupants who are unaware of the risk, at least an audible warning is output from the sound output device. For occupants who are aware of the risk, an alert is output from at least the mirror display device, with the level of awareness indicated by the highlighting, excluding the sound output device. Vehicle warning system. [Claim 4] The control unit, After outputting an alarm from the aforementioned mirror display device with highlighting according to the level of recognition, It is determined whether the risk-related event is approaching a position corresponding to the highlighting, and whether the risk-related event has moved outside the normal display range of the mirror display device. If the risk-related event is approaching a position corresponding to the highlighting, or if the risk-related event has moved outside the normal display range of the mirror display device, the highlighting will be terminated and the mirror display device will return to the normal display. A vehicle alarm device according to claim 3.

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