Driving assistance device, driving assistance method, and computer program

Abstract

To effectively notify vehicle occupants about the presence of obstacles when a plurality of obstacles in the surroundings of the vehicle are detected.SOLUTION: A driving assistance device comprises: a first detection unit 14 for detecting a first object present in a prescribed distance range from a vehicle 1; a second detection unit 15 for detecting a second object that approaches the vehicle from the outside of the prescribed distance range; and a notification unit 16 for notifying an alarm to vehicle occupants. When the first object is detected by the first detection unit and the second object is detected by the second detection unit, the notification unit notifies a warning against the first object or the second object, whichever is more likely to collide with the vehicle to the vehicle occupants.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a driving support device, a driving support method, and a computer program.

Background Art

[0002] Conventionally, it has been known to detect obstacles around a vehicle and notify the vehicle occupants of the presence of the detected obstacles. Regarding this technology, Patent Document 1 describes that when both nearby objects and distant objects are detected around a vehicle, notification for nearby objects is always prioritized.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the degree of danger of a nearby object is not always higher than that of a distant object. Also, if notification for a distant object is always prioritized, the attention of the vehicle occupants may be directed to the distant object, and there is a risk that the vehicle occupants may not notice the nearby object.

[0005] Therefore, in view of the above problems, an object of the present invention is to effectively notify the vehicle occupants of the presence of obstacles when a plurality of obstacles are detected around the vehicle.

Means for Solving the Problems

[0006] The gist of the present disclosure is as follows.

[0007] (1) A driving assistance device comprising: a first detection unit for detecting a first object located within a predetermined distance from a vehicle; a second detection unit for detecting a second object approaching the vehicle from outside the predetermined distance; and a notification unit for notifying the occupants of the vehicle of a warning, wherein the notification unit notifies the occupants of a warning regarding the first object and the second object, whichever of the first and second objects is likely to collide with the vehicle, when the first object is detected by the first detection unit and the second object is detected by the second detection unit.

[0008] (2) The driving assistance device according to (1) above, wherein the notification unit estimates the predicted collision position with the vehicle for each of the first object and the second object, and calculates the probability of collision with the vehicle based on the predicted collision position.

[0009] (3) The driver assistance device according to (1) or (2) above, wherein the notification unit estimates the predicted path of the vehicle and the predicted path of the second object, and if the vehicle on the predicted path does not come into contact with the first object, the possibility of the vehicle colliding with the first object is reduced compared to the case where the vehicle on the predicted path comes into contact with the first object, and if the predicted path of the second object does not intersect with the predicted path of the vehicle, the possibility of the vehicle colliding with the second object is reduced compared to the case where the predicted path of the second object intersects with the predicted path of the vehicle.

[0010] (4) A driving assistance method performed by a computer, comprising: detecting a first object located within a predetermined distance from a vehicle; detecting a second object approaching the vehicle from outside the predetermined distance; and, if the first object and the second object are detected, notifying the occupants of the vehicle of a warning regarding the first object and the second object which are highly likely to collide with the vehicle.

[0011] (5) A computer program that causes a computer to perform the following actions: to detect a first object located within a predetermined distance from a vehicle; to detect a second object approaching the vehicle from outside the predetermined distance; and, if the first object and the second object are detected, to notify the occupants of the vehicle of a warning regarding the first object and the second object which are most likely to collide with the vehicle. [Effects of the Invention]

[0012] According to the present invention, when multiple obstacles are detected around a vehicle, the presence of obstacles can be effectively notified to the vehicle's occupants. [Brief explanation of the drawing]

[0013] [Figure 1] This diagram schematically shows a part of the configuration of a vehicle equipped with a driver assistance device according to an embodiment of the present invention. [Figure 2] This is a diagram showing the rear of the vehicle. [Figure 3] This figure shows the first scenario, where multiple obstacles are present around the vehicle. [Figure 4] This is a flowchart showing the control routine for warning processing. [Figure 5] This figure shows a second scenario where multiple obstacles are present around the vehicle. [Modes for carrying out the invention]

[0014] Embodiments of the present invention will be described in detail below with reference to the drawings. In the following description, similar components will be given the same reference numerals.

[0015] Figure 1 is a schematic diagram showing a part of the configuration of a vehicle 1 equipped with a driving assistance device according to an embodiment of the present invention.

[0016] As shown in Figure 1, Vehicle 1 (the vehicle itself) is equipped with a first detection sensor 2, a second detection sensor 3, a shift position sensor 4, a display 5, a speaker 6, a buzzer 7, and an electronic control unit (ECU) 10. The first detection sensor 2, the second detection sensor 3, the shift position sensor 4, the display 5, the speaker 6, and the buzzer 7 are electrically connected to the ECU 10 via an in-vehicle network compliant with standards such as CAN (Controller Area Network).

[0017] The first detection sensor 2 acquires data for detecting obstacles around the vehicle 1. In this embodiment, the first detection sensor 2 is located at the rear of the vehicle 1 and acquires data for detecting obstacles behind the vehicle 1. The first detection sensor 2 is configured as, for example, a sonar (ultrasonic sensor). The sonar emits ultrasonic waves behind the vehicle 1 and receives the reflected ultrasonic waves. That is, the first detection sensor 2, configured as a sonar, acquires the reflected ultrasonic waves as data for detecting obstacles behind the vehicle 1. The output of the first detection sensor 2, i.e., the data acquired by the first detection sensor 2, is transmitted to the ECU 10.

[0018] The second detection sensor 3 is a different type of sensor from the first detection sensor 2 and acquires data for detecting obstacles around the vehicle 1. In this embodiment, the second detection sensor 3 is located at the rear of the vehicle 1 and acquires data for detecting obstacles behind the vehicle 1. The second detection sensor 3 is configured as, for example, a radar. The radar transmits radio waves to the rear of the vehicle 1 and receives the reflected waves. That is, the second detection sensor 3, configured as a sonar, acquires the reflected waves of radio waves as data for detecting obstacles behind the vehicle 1. The output of the second detection sensor 3, i.e., the data acquired by the second detection sensor 3, is transmitted to the ECU 10.

[0019] FIG. 2 is a view showing the rear part of the vehicle 1. In the example shown in FIG. 2, the first detection sensor 2 includes a left corner sonar 2a, a left center sonar 2b, a right center sonar 2c, and a right corner sonar 2d. The left corner sonar 2a is provided at the left rear corner of the vehicle 1, and the right corner sonar 2d is provided at the right rear corner of the vehicle 1. The left center sonar 2b is provided near the center of the vehicle 1 in the vehicle width direction and is arranged on the left side of the vehicle width center line. The right center sonar 2c is provided near the center of the vehicle 1 in the vehicle width direction and is arranged on the right side of the vehicle width center line.

[0020] Also, in the example shown in FIG. 2, the second detection sensor 3 includes a left corner radar 3a and a right corner radar 3b. The left corner radar 3a is provided above the left corner sonar 2a, and the right corner radar 3b is provided above the right corner sonar 2d. Note that the number and arrangement of the first detection sensor 2 and the second detection sensor 3 may be different from the example shown in FIG. 2.

[0021] The shift position sensor 4 is provided on the shift lever of the vehicle 1 operated by the driver of the vehicle 1 and detects the shift position of the vehicle 1. The shift position includes a D (drive) range, an R (reverse) range, a P (parking) range, an N (neutral) range, etc. The output of the shift position sensor 4, that is, the shift position detected by the shift position sensor 4 is transmitted to the ECU 10.

[0022] The display 5 is provided in the vehicle interior so as to be visible to the occupant (e.g., driver) of the vehicle 1 and displays information to the occupant of the vehicle 1. The display 5 is configured as, for example, an instrument panel, a head-up display (HUD), etc. Note that the display 5 may be integrated with the navigation device provided in the vehicle 1. The ECU 10 presents visual information to the occupant of the vehicle 1 via the display 5.

[0023] Speaker 6 is installed inside the vehicle and outputs sound to the occupants of vehicle 1. The ECU 10 presents audio information to the occupants of vehicle 1 via speaker 6.

[0024] Buzzer 7 is installed inside the vehicle and emits a buzzer sound to the occupants of vehicle 1. ECU 10 notifies the occupants of vehicle 1 of the buzzer sound via buzzer 7.

[0025] The ECU 10 performs various controls on the vehicle 1. As shown in Figure 1, the ECU 10 includes a communication interface 11, a memory 12, and a processor 13. The communication interface 11 and the memory 12 are connected to the processor 13 via signal lines. In this embodiment, one ECU 10 is provided, but multiple ECUs may be provided for each function.

[0026] The communication interface 11 has an interface circuit for connecting the ECU 10 to the in-vehicle network. The ECU 10 is connected to other in-vehicle equipment via the communication interface 11.

[0027] Memory 12 includes, for example, volatile semiconductor memory and non-volatile semiconductor memory. Memory 12 stores computer programs, data, etc., that are used when various processes are executed by the processor 13.

[0028] The processor 13 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 13 may also have other arithmetic circuits such as a logic unit, a numerical unit, or a graphics processing unit.

[0029] In this embodiment, the ECU 10 functions as a driver assistance device that assists in driving the vehicle 1. In particular, in this embodiment, when the vehicle 1 is moving in reverse, the ECU 10 notifies the occupants of the vehicle 1 of obstacles around the vehicle 1.

[0030] As shown in Figure 1, the processor 13 of the ECU 10 has a first detection unit 14, a second detection unit 15, and a notification unit 16. The first detection unit 14, the second detection unit 15, and the notification unit 16 are functional modules that are realized by the processor 13 of the ECU 10 executing a computer program stored in the memory 12 of the ECU 10. These functional modules may each be realized by a dedicated arithmetic circuit provided in the processor 13.

[0031] The first detection unit 14 detects a first object that is within a predetermined distance from the vehicle 1 based on the output of the first detection sensor 2. The predetermined distance corresponds to the distance detectable by the first detection sensor 2. If the first detection unit 14 is configured as a sonar, the first detection unit 14 determines that a first object exists when reflected waves from the first object are detected by the first detection sensor 2. The first object is an object detected by the first detection unit 14, and is, for example, a stationary object (e.g., a parked vehicle, a wall, a guardrail, a curb, etc.).

[0032] The second detection unit 15 detects a second object approaching the vehicle 1 from outside a predetermined distance range based on the output of the second detection sensor 3. If the second detection unit 15 is configured as a radar, the second detection unit 15 determines that a second object exists when reflected waves from the second object are detected by the second detection sensor 3. The second object is an object detected by the second detection unit 15, and is, for example, a moving vehicle.

[0033] The notification unit 16 notifies the occupants of the vehicle 1 (e.g., the driver) of a warning via an output device such as a display 5, speaker 6, or buzzer 7. The display 5, speaker 6, and buzzer 7 are examples of output devices provided in the vehicle 1.

[0034] In this embodiment, the notification unit 16 notifies the occupants of vehicle 1 of a warning when vehicle 1 is moving in reverse, that is, when the shift position of vehicle 1 is in the R range, according to the obstacle detection results of the first detection unit 14 and the second detection unit 15. For example, if a first object is detected by the first detection unit 14, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the first object. On the other hand, if a second object is detected by the second detection unit 15, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the second object. This allows the occupants of vehicle 1 to direct their attention to obstacles behind vehicle 1 when vehicle 1 is moving in reverse, thereby increasing the safety of vehicle 1.

[0035] However, situations may arise where both the first and second objects are detected. In this case, in order to avoid overlooking obstacles around vehicle 1 without confusing the occupants of vehicle 1, it is necessary to notify the occupants of vehicle 1 of the presence of obstacles with appropriate priority.

[0036] Therefore, in this embodiment, when a first object is detected by the first detection unit 14 and a second object is detected by the second detection unit 15, the notification unit 16 notifies the occupants of vehicle 1 of the first and second objects that are most likely to collide with vehicle 1. That is, when the probability of vehicle 1 colliding with the first object is higher than the probability of vehicle 1 colliding with the second object, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the first object, and when the probability of vehicle 1 colliding with the second object is higher than the probability of vehicle 1 colliding with the first object, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the second object. This allows the occupants of vehicle 1 to focus their attention on obstacles that pose a greater risk. Thus, according to this embodiment, when multiple obstacles are detected around vehicle 1, the presence of obstacles can be effectively notified to the occupants of vehicle 1.

[0037] For example, the notification unit 16 estimates the predicted collision position with vehicle 1 for each of the first and second objects, and calculates the probability of collision with vehicle 1 based on the predicted collision position. By considering the predicted collision position in this way, the accuracy of calculating the probability of an object colliding with vehicle 1 can be improved.

[0038] The notification unit 16 increases the likelihood of vehicle 1 colliding with the first object the closer the predicted collision position of the first object is to vehicle 1, and increases the likelihood of vehicle 1 colliding with the second object the closer the predicted collision position of the second object is to vehicle 1. In other words, when the first object is detected by the first detection unit 14 and the second object is detected by the second detection unit 15, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the object whose predicted collision position with vehicle 1 is closest to vehicle 1, among the first and second objects.

[0039] Figure 3 shows a first scenario in which multiple obstacles are present around vehicle 1. In this first scenario, the wall behind vehicle 1 is detected as the first object, and a moving vehicle MV behind vehicle 1 is detected as the second object. In Figure 3, the predicted collision position between vehicle 1 and the wall is indicated by a circle, and the predicted collision position between vehicle 1 and the moving vehicle MV is indicated by an X. The predicted collision position for the stationary wall is estimated based on the predicted trajectory of vehicle 1, and the predicted collision position for the moving vehicle MV is estimated based on the predicted trajectory of both vehicle 1 and the predicted trajectory of vehicle MV. In the example in Figure 3, the predicted collision position for vehicle MV is closer to vehicle 1 than the predicted collision position for the wall. Therefore, a warning regarding vehicle MV is sent to the occupants of vehicle 1. As a result, the occupants of vehicle 1 can direct their attention to vehicle MV, reducing the risk of vehicle 1 colliding with vehicle MV.

[0040] The following describes the control process flow described above, with reference to Figure 4. Figure 4 is a flowchart of the warning processing control routine. This control routine is repeatedly executed at predetermined execution intervals by the processor 13 of the ECU 10 while the ignition switch of vehicle 1 is turned on.

[0041] First, in step S101, the notification unit 16 of the processor 13 determines whether the shift position of vehicle 1 is in the R range, that is, whether vehicle 1 is moving in reverse. If the output of the shift position sensor 4 indicates the R range, the notification unit 16 determines that the shift position is in the R range. If it is determined that the shift position is not in the R range, this control routine terminates. On the other hand, if it is determined that the shift position is in the R range, this control routine proceeds to step S102.

[0042] In step S102, the notification unit 16 determines whether or not the first object has been detected by the first detection unit 14. If it is determined that the first object has not been detected, the control routine proceeds to step S103.

[0043] In step S103, the notification unit 16 determines whether or not the second object has been detected by the second detection unit 15. If it is determined that the second object has not been detected, the control routine terminates. On the other hand, if it is determined that the second object has been detected, the control routine proceeds to step S104.

[0044] In step S104, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the second object. For example, the notification unit 16 notifies the occupants of vehicle 1 of a visual warning by displaying an image or text on the display 5 indicating the presence of the second object (e.g., a moving vehicle). Alternatively, the notification unit 16 may notify the occupants of vehicle 1 of an auditory warning by emitting a buzzer sound from the buzzer 7 to indicate the presence of the second object. The notification unit 16 may also notify the occupants of vehicle 1 of an auditory warning by outputting an audio message from the speaker 6 to indicate the presence of the second object. Furthermore, the above warnings may be used in combination. After step S104, this control routine terminates.

[0045] On the other hand, if it is determined in step S102 that the first object has been detected, the control routine proceeds to step S105. In step S105, the notification unit 16 determines whether or not the second object has been detected by the second detection unit 15. If it is determined that the second object has been detected, that is, if both the first and second objects have been detected, the control routine proceeds to step S106.

[0046] In step S106, the notification unit 16 estimates the predicted path of vehicle 1 (the vehicle itself) and the predicted path of the second object. The notification unit 16 estimates the predicted path of vehicle 1 based on, for example, the steering angle and yaw rate of vehicle 1. The steering angle is detected by a steering angle sensor installed on vehicle 1, and the yaw rate is detected by a yaw rate sensor installed on vehicle 1. The notification unit 16 also estimates the predicted path of the second object based on, for example, the orientation and time-series changes in the position of the second object. The orientation and time-series changes in the position of the second object are detected based on the output of the second detection sensor 3.

[0047] Next, in step S107, the notification unit 16 estimates the predicted collision position with the vehicle 1 for both the first object and the second object. For example, as shown in Figure 3, the notification unit 16 sets the point on the predicted path of the vehicle 1 where the vehicle 1 will come into contact with the first object as the predicted collision position for the first object, and sets the point where the predicted path of the vehicle 1 and the predicted path of the second object intersect as the predicted collision position for the second object.

[0048] Next, in step S108, the notification unit 16 determines whether the probability of vehicle 1 colliding with the first object (the probability of collision with the first object) is greater than or equal to the probability of vehicle 1 colliding with the second object (the probability of collision with the second object). For example, the notification unit 16 increases the probability of collision with the first object the closer the predicted collision position of the first object is to vehicle 1, and increases the probability of collision with the second object the closer the predicted collision position of the second object is to vehicle 1. That is, if the predicted collision position of the first object is closer to vehicle 1 than the predicted collision position of the second object, the notification unit 16 determines that the probability of collision with the first object is higher than the probability of collision with the second object, and if the predicted collision position of the second object is closer to vehicle 1 than the predicted collision position of the first object, the notification unit 16 determines that the probability of collision with the second object is higher than the probability of collision with the first object.

[0049] If, in step S108, it is determined that the likelihood of collision with the first object is lower than the likelihood of collision with the second object, the control routine proceeds to step S104. In step S104, as described above, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the second object. After step S104, the control routine terminates.

[0050] On the other hand, if it is determined in step S108 that the probability of collision with the first object is greater than or equal to the probability of collision with the second object, the control routine proceeds to step S109. Also, if it is determined in step S105 that the second object has not been detected, the control routine skips steps S106 to S108 and proceeds to step S109.

[0051] In step S109, the notification unit 16 notifies the occupants of vehicle 1 of a warning regarding the first object. For example, the notification unit 16 notifies the occupants of vehicle 1 of a visual warning by displaying an image or text on the display 5 indicating the presence of the first object (e.g., surrounding vehicles, walls, guardrails, curbs, etc.). Alternatively, the notification unit 16 may notify the occupants of vehicle 1 of an auditory warning by emitting a buzzer sound from the buzzer 7 to indicate the presence of the first object. When buzzer sounds are used as warnings for both the first and second objects, the buzzer sounds for the first and second objects have different notification characteristics (e.g., sound frequency, loudness, or interval). The notification unit 16 may also notify the occupants of vehicle 1 of an auditory warning by outputting an audio message from the speaker 6 indicating the presence of the first object. The above-described warnings may also be used in combination. After step S109, this control routine terminates.

[0052] Furthermore, if the likelihood of collision with the first object is equal to the likelihood of collision with the second object, the notification unit 16 may notify the occupants of vehicle 1 of a warning regarding the second object. In addition, the notification unit 16 may estimate the predicted path of vehicle 1, and if vehicle 1 on the predicted path does not come into contact with the first object, it may reduce the likelihood of vehicle 1 colliding with the first object compared to the case where vehicle 1 on the predicted path does come into contact with the first object. In this case, for example, if vehicle 1 on the predicted path does not come into contact with the first object, the notification unit 16 may set the likelihood of vehicle 1 colliding with the first object to zero. In addition, the notification unit 16 may estimate the predicted path of vehicle 1 and the predicted path of the second object, and if the predicted path of the second object does not intersect with the predicted path of vehicle 1, it may reduce the likelihood of vehicle 1 colliding with the second object compared to the case where the predicted path of the second object intersects with the predicted path of vehicle 1. In this case, for example, if the predicted path of the second object does not intersect with the predicted path of vehicle 1, the notification unit 16 reduces the probability of vehicle 1 colliding with the second object to zero. According to the above modification, the probability of collision between the first object and the second object can be calculated with greater accuracy.

[0053] Figure 5 shows a second scenario in which multiple obstacles are present around vehicle 1. In this second scenario, the wall behind vehicle 1 is detected as the first object, and a moving vehicle MV behind vehicle 1 is detected as the second object. In the example in Figure 5, the wall is close to vehicle 1, but since vehicle 1 is predicted to turn diagonally to the left and rear, vehicle 1 will not come into contact with the wall on its predicted path. On the other hand, the predicted path of the moving vehicle MV intersects with the predicted path of vehicle 1, and the predicted collision position between vehicle 1 and moving vehicle MV is indicated by an "X" in Figure 5. For this reason, it is determined that the probability of collision with moving vehicle MV is higher than the probability of collision with the wall, and a warning regarding moving vehicle MV is sent to the occupants of vehicle 1. As a result, the occupants of vehicle 1 can direct their attention to moving vehicle MV, reducing the risk of vehicle 1 coming into contact with moving vehicle MV.

[0054] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims.

[0055] For example, the second detection unit 15 may be configured as a camera. The camera takes a picture of the area behind the vehicle 1 and generates an image of the area behind the vehicle 1. That is, the second detection sensor 3, configured as a camera, acquires an image of the area behind the vehicle 1 as data for detecting obstacles behind the vehicle 1. When the second detection unit 15 is configured as a camera, the second detection unit 15 detects a second object by extracting the second object from the image generated by the second detection sensor 3 using an image analysis method such as background subtraction, interframe subtraction, or a machine learning model. Furthermore, the second object detected by the second detection unit 15 may be a moving object other than a moving vehicle, such as a pedestrian or a bicycle.

[0056] Furthermore, the first detection sensor 2 and the second detection sensor 3 are provided at the front of the vehicle 1 to detect obstacles in front of the vehicle 1, and when the vehicle 1 is moving forward, the warning target may be selected from the first object and the second object by the control described above.

[0057] Furthermore, Vehicle 1 may be a vehicle capable of Level 1 or Level 2 autonomous driving. For example, the control routine in Figure 4 may be executed when the operation of Vehicle 1 (at least a portion of acceleration, braking, and steering) is performed automatically and the occupants of Vehicle 1 are required to monitor their surroundings. Alternatively, Vehicle 1 may be a vehicle capable of Level 3 autonomous driving in a pre-defined Operational Design Domain (ODD) where the driver is not required to monitor their surroundings. In this case, the control routine in Figure 4 is executed when Level 3 autonomous driving is not being performed in Vehicle 1. Note that the autonomous driving levels in this specification are based on the definitions in SAE (Society of Automotive Engineers) J3016.

[0058] Furthermore, the computer program that enables the computer to implement the functions of each part of the processor 13 of the ECU 10 may be provided in the form of a recording medium that can be read by the computer. The recording medium that can be read by the computer may be, for example, a magnetic recording medium, an optical recording medium, or a semiconductor memory. [Explanation of Symbols]

[0059] 1 vehicle 10. Electronic Control Unit (ECU) 13 processors 14. First detection unit 15. Second detection unit 16 Notification Department

Claims

1. A first detection unit that detects a first object located within a predetermined distance from the vehicle, A second detection unit that detects a second object approaching the vehicle from outside the predetermined distance range, A notification unit that notifies the occupants of the vehicle of a warning. Equipped with, The notification unit, when the first object is detected by the first detection unit and the second object is detected by the second detection unit, estimates the predicted collision position with the vehicle for each of the first and second objects, and notifies the occupant of a warning regarding the object among the first and second objects whose predicted collision position is close to the vehicle.

2. A driving assistance method performed by a computer, To detect a first object that is within a predetermined distance from the vehicle, To detect a second object approaching the vehicle from outside the predetermined distance range, When the first object and the second object are detected, the predicted collision position with the vehicle is estimated for each of the first object and the second object, and a warning is issued to the occupants of the vehicle for the object whose predicted collision position is close to the vehicle. Driving assistance methods, including those mentioned above.

3. To detect a first object that is within a predetermined distance from the vehicle, To detect a second object approaching the vehicle from outside the predetermined distance range, When the first object and the second object are detected, the predicted collision position with the vehicle is estimated for each of the first object and the second object, and a warning is issued to the occupants of the vehicle for the object whose predicted collision position is close to the vehicle. A computer program that causes a computer to execute something.

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