Risk presentation device, risk presentation method, and program

Abstract

This risk presentation device for presenting risk information to an occupant of a vehicle includes: an identification unit for identifying a risk target present in the surroundings of the vehicle; and a presentation unit for presenting, to a user, a risk information image including a plurality of sectors corresponding to a plurality of directions with respect to the vehicle. If there is a risk target present in a direction corresponding to an individual sector among the plurality of sectors, the presentation unit emphasizes the individual sector and includes an icon representing the type of the risk target in the individual sector. If there are a plurality of risk targets of the same type present in a direction corresponding to an individual sector, only one icon for the plurality of risk targets is included in the individual sector.

Description

Risk presentation device, risk presentation method, and program

[0001] The present invention relates to a risk presentation device, a risk presentation method, and a program.

[0002] A technology is known that detects risk objects around a vehicle and presents information indicating the risk objects to the vehicle occupants. In the technology described in Patent Literature 1, in order to highlight objects located around the vehicle, the objects are displayed in a manner that surrounds them with a display frame associated with the objects.

[0003] JP 2015-127160 A

[0004] After recognizing a risk object, a vehicle occupant takes action to deal with the risk object as necessary. If a vehicle occupant can easily recognize a risk object, safety against the risk object will be improved. Some aspects of the present invention provide a technology for presenting risk information in a manner that allows easy recognition.

[0005] According to some embodiments, there is provided a risk presentation device for presenting risk information to a vehicle occupant, the risk presentation device comprising: an identification means for identifying risk objects present around the vehicle; and a presentation means for presenting to a user a risk information image including a plurality of sectors corresponding to a plurality of directions relative to the vehicle, wherein the presentation means, when a risk object exists in a direction corresponding to an individual sector of the plurality of sectors, highlights the individual sector and includes an icon representing the type of the risk object within the individual sector, and when multiple risk objects of the same type exist in the direction corresponding to the individual sector, includes only one icon for the multiple risk objects within the individual sector.

[0006] According to some embodiments, risk information can be presented in an easily perceptible manner.

[0007] Other features and advantages of the present invention will become apparent from the following description taken in conjunction with the accompanying drawings, in which the same or similar elements are designated by the same reference numerals.

[0008] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention. A block diagram illustrating an example configuration of a vehicle according to some embodiments. A block diagram illustrating an example hardware configuration of a drive recorder according to some embodiments. A flow diagram illustrating an example operation of a drive recorder according to some embodiments. A schematic diagram illustrating an example of a risk display image according to some embodiments.

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. Furthermore, the same reference numerals are used to designate identical or similar components, and redundant descriptions will be omitted.

[0010] An example configuration of a vehicle V according to some embodiments will be described with reference to FIG. 1 . FIG. 1 is a block diagram of a control device CNT and a schematic diagram of a vehicle V as an application example thereof. FIG. 1 shows an outline of the vehicle V in a plan view and a side view. As an example, the vehicle V of this embodiment is a sedan-type four-wheeled passenger vehicle, and may be, for example, a parallel hybrid vehicle. The vehicle V is not limited to a four-wheeled passenger vehicle, and may be a saddle-ride type vehicle (motorcycle, motor tricycle), or a large vehicle such as a truck or a bus.

[0011] The control device CNT includes a controller 1, which is an electronic circuit that controls the vehicle V, including driving assistance for the vehicle V. The controller 1 includes multiple ECUs (Electronic Control Units). An ECU is provided for each function of the control device CNT, for example. Each ECU includes a processor, such as a CPU (Central Processing Unit), a storage device, such as a semiconductor memory, and an interface with an external device. The storage device stores programs executed by the processor and data used by the processor for processing. The interface includes an input / output interface and a communication interface. Each ECU may include multiple processors, multiple storage devices, and multiple interfaces. The programs stored in the storage device may be installed in the control device CNT using a storage medium, such as a CD-ROM, and then stored in the storage device. Additionally or alternatively, the programs stored in the storage device may be downloaded from an external server via wireless communication.

[0012] The controller 1 controls the drive (acceleration) of the vehicle V by controlling a power unit (power plant) 2. The power unit 2 is a traveling drive unit that outputs drive force to rotate the drive wheels of the vehicle V, and may include an internal combustion engine, a motor, and an automatic transmission. The motor can be used as a drive source to accelerate the vehicle V, and can also be used as a generator during deceleration, etc. (regenerative braking).

[0013] In this embodiment, the controller 1 controls the output of the internal combustion engine and the motor and shifts the gears of the automatic transmission in response to the driver's operation detected by the operation detection sensor 2a provided on the accelerator pedal AP and the operation detection sensor 2b provided on the brake pedal BP, and the vehicle speed of the vehicle V detected by the rotation speed sensor 2c. The automatic transmission is provided with a rotation speed sensor 2c that detects the rotation speed of the output shaft of the automatic transmission as a sensor that detects the running state of the vehicle V. The vehicle speed of the vehicle V can be calculated from the detection result of the rotation speed sensor 2c.

[0014] The controller 1 controls the braking (deceleration) of the vehicle V by controlling the hydraulic device 3. The driver's braking operation on the brake pedal BP is converted into hydraulic pressure in the brake master cylinder BM and transmitted to the hydraulic device 3. The hydraulic device 3 is an actuator that can control the hydraulic pressure of hydraulic oil supplied to brake devices 3a (e.g., disc brake devices) provided on each of the four wheels, based on the hydraulic pressure transmitted from the brake master cylinder BM.

[0015] The controller 1 can control the braking of the vehicle V by controlling the driving of electromagnetic valves and the like provided in the hydraulic device 3. The controller 1 can also configure an electric servo brake system by controlling the distribution of braking force by the brake device 3a and braking force by regenerative braking of the motor provided in the power unit 2. The controller 1 may also turn on the brake lamps 3b during braking.

[0016] The controller 1 controls the steering of the vehicle V by controlling the electric power steering device 4. The electric power steering device 4 includes a mechanism for steering the front wheels in response to the driver's driving operation (steering operation) with respect to the steering wheel ST. The electric power steering device 4 includes a drive unit 4a that generates a driving force (sometimes referred to as steering assist torque) for assisting the steering operation or for automatically steering the front wheels of the vehicle V. The drive unit 4a includes a motor as a drive source. The electric power steering device 4 also includes a steering angle sensor 4b that detects the steering angle, a torque sensor 4c that detects the steering torque borne by the driver (called steering burden torque, to be distinguished from steering assist torque), and the like.

[0017] The controller 1 controls an electric parking brake device 3c provided on the rear wheels of the vehicle V. The electric parking brake device 3c has a mechanism for locking the rear wheels. The controller 1 can control the electric parking brake device 3c to lock and unlock the rear wheels.

[0018] The controller 1 controls an information output device 5 that notifies the passengers of information inside the vehicle. The information output device 5 includes, for example, a display device 5a that notifies the driver of information by image and / or an audio output device 5b that notifies the driver of information by audio. The display device 5a includes, for example, a display device provided on the instrument panel or a display device provided on the steering wheel ST. The display device 5a may also include a head-up display. The information output device 5 may notify the passengers of information by vibration or light.

[0019] The controller 1 receives instruction inputs from a passenger (e.g., the driver) via the input device 6. The input device 6 is disposed in a position operable by the driver, and includes, for example, a group of switches 6a with which the driver issues instructions to the vehicle V, and / or a turn signal lever 6b that activates a turn signal (blinker).

[0020] The controller 1 recognizes and determines the current position and course (attitude) of the vehicle V. In this embodiment, the vehicle V is provided with a gyro sensor 7a, a Global Navigation Satellite System (GNSS) sensor 7b, and a communication device 7c. The gyro sensor 7a detects the rotational motion (yaw rate) of the vehicle V. The GNSS sensor 7b detects the current position of the vehicle V. The communication device 7c wirelessly communicates with a server that provides map information and traffic information to acquire this information. In this embodiment, the controller 1 determines the course of the vehicle V based on the detection results of the gyro sensor 7a and the GNSS sensor 7b, and sequentially acquires map information related to the course from the server via the communication device 7c and stores it in a database 7d (storage device). The vehicle V may be provided with other sensors for detecting the state of the vehicle V, such as an acceleration sensor that detects the acceleration of the vehicle V.

[0021] The controller 1 performs driving assistance for the vehicle V based on the detection results of various detection units provided in the vehicle V. The vehicle V is provided with surrounding detection units 8a to 8b, which are external sensors that detect the outside of the vehicle V (surrounding conditions), and interior detection units 9a to 9b, which are interior sensors that detect the conditions inside the vehicle (the state of the occupants (particularly the driver)). The controller 1 is able to grasp the surrounding conditions of the vehicle V based on the detection results of the surrounding detection units 8a to 8b, and perform driving assistance in accordance with the surrounding conditions. Furthermore, the controller 1 is able to determine, based on the detection results of the interior detection units 9a to 9b, whether the driver is performing a predetermined operational obligation imposed on the driver when driving assistance is performed.

[0022] The surroundings detection unit 8a is an imaging device that captures images in front of the vehicle V (hereinafter, sometimes referred to as the front camera 8a), and is attached, for example, to the inside of the passenger compartment of the windshield at the front of the roof of the vehicle V. The imaging device captures an image of the subject, thereby generating an image of the subject. The controller 1 can extract the contours of targets and lane markings (such as white lines) on the road by analyzing the image generated by the front camera 8a.

[0023] The surroundings detection unit 8b is a millimeter-wave radar (hereinafter, may be referred to as radar 8b) that uses radio waves to detect targets around the vehicle V and detect (measure) the distance to the target and the direction (azimuth) of the target relative to the vehicle V. In the example shown in Fig. 1, five radars 8b are provided: one at the center of the front of the vehicle V, one at each of the left and right corners of the front, and one at each of the left and right corners of the rear.

[0024] The surrounding detection unit installed in the vehicle V is not limited to the above configuration, and the number of cameras and the number of radars may be changed, or a lidar (Light Detection and Ranging: LIDAR) that detects targets around the vehicle V may be installed.

[0025] The interior detection unit 9a is an imaging device that captures images of the interior of the vehicle (hereinafter, sometimes referred to as the interior camera 9a) and is attached, for example, to the interior side of the vehicle cabin at the front of the roof of the vehicle interior V. In this embodiment, the interior camera 9a is a driver monitor camera that captures images of the driver (for example, the driver's eyes and face). The controller 1 can determine the driver's line of sight and facial direction by analyzing the image (driver's facial image) generated by the interior camera 9a.

[0026] The in-vehicle detection unit 9b is a grip sensor that detects the driver's grip of the steering wheel ST (hereinafter, sometimes referred to as grip sensor 9b), and is provided, for example, on at least a part of the steering wheel ST. As the in-vehicle detection unit, the torque sensor 4c that detects the steering torque of the driver may be used.

[0027] A drive recorder 100 is attached to the vehicle V. The drive recorder 100 records images of the surroundings of the vehicle V generated by a camera 203 ( FIG. 2 ) of the drive recorder 100. The drive recorder 100 is attached, for example, to the inside of the passenger compartment of the windshield at the front of the roof of the vehicle V. The attachment position of the drive recorder 100 (particularly, its position in the vehicle width direction) may vary depending on the type of vehicle V and the user's preferences. In some embodiments, the drive recorder 100 identifies risk objects present around the vehicle V by analyzing images of the surroundings of the vehicle V, and presents a risk information image indicating the risk objects to an occupant of the vehicle (e.g., the driver). In the following description, an occupant of the vehicle V will be simply referred to as an occupant.

[0028] Driving assistance for the driver of the vehicle V includes, for example, acceleration / deceleration assistance, lane keeping assistance, and lane change assistance. The acceleration / deceleration assistance is a driving assistance (ACC: Adaptive Cruise Control) in which the controller 1 automatically controls the power unit 2 and the hydraulic device 3 based on the detection results of the surroundings detection unit 8 and map information, thereby automatically controlling the acceleration / deceleration of the vehicle V within a predetermined vehicle speed. With ACC, when there is a preceding vehicle, it is also possible to accelerate or decelerate the vehicle V so as to maintain a distance from the preceding vehicle. ACC reduces the operational burden on the driver of acceleration / deceleration operations (operations of the accelerator pedal AP and brake pedal BP).

[0029] The lane keeping assist is a driving assist system (LKAS) that keeps the vehicle V within the lane by the controller 1 automatically controlling the electric power steering device 4 based on the detection results of the surroundings detection unit 8 and map information. The LKAS reduces the operational burden on the driver of steering operations (operations on the steering wheel ST) while the vehicle V is traveling straight.

[0030] The lane change assist is a driving assistance system (ALC: Auto Lane Changing, ALCA: Active Lane Change Assist) in which the controller 1 automatically controls the power unit 2, hydraulic system 3, and electric power steering system 4 based on the detection results of the surroundings detection unit 8 and map information to change the lane of the vehicle V to an adjacent lane. ALC is lane change assistance based on a system request, while ALCA is lane change assistance based on an occupant request. Examples of system requests include a request for the vehicle V to change lanes from a navigation system that guides the vehicle V to a destination, or a request to overtake a preceding vehicle regardless of whether route guidance is provided. When an occupant request is made, the driver instructs the vehicle to change lanes by operating an input device (e.g., the blinker lever 6b). ALC or ACLA reduces the driver's operational burden of accelerating, decelerating, and steering the vehicle V when changing lanes.

[0031] Other examples of driving assistance control may include, for example, a collision mitigation brake, an ABS function, traction control, and / or attitude control of the vehicle V, which assists in avoiding a collision with an object on the road (e.g., a pedestrian, another vehicle, or an obstacle) by controlling the hydraulic device 3.

[0032] An example of the hardware configuration of the drive recorder 100 will be described with reference to Fig. 2. The drive recorder 100 may include, for example, the components shown in Fig. 2. The drive recorder 100 may not include some of the components shown in Fig. 2, or may include components not included in Fig. 2. For example, the drive recorder 100 may further include a global navigation satellite system (GNSS) sensor and an accelerometer.

[0033] The processor 201 controls the overall operation of the drive recorder 100. The processor 201 may be configured, for example, as a central processing unit (CPU). The processor 201 may be a single processor or a collection of multiple processors.

[0034] The memory 202 stores programs and data used in the operation of the drive recorder 100. The memory 202 may record images (particularly, moving images) of the surroundings of the vehicle V generated by the camera 203. The memory 202 may be configured by, for example, a read-only memory (ROM) or a random access memory (RAM). The memory 202 may be a single memory or a collection of multiple memories.

[0035] The camera 203 is a device for capturing images of the surroundings of the vehicle V. The camera 203 captures images of the surroundings of the vehicle V, thereby generating an image of the surroundings of the vehicle V. The camera 203 may be a camera capable of capturing images of the surroundings of the vehicle V at 360 degrees in a horizontal plane (a so-called 360-degree camera). Alternatively, the camera 203 may be capable of capturing images of a specific range in a horizontal plane around the vehicle V (for example, a 120-degree range in front of the vehicle V centered in the vehicle length direction). The drive recorder 100 may further include a camera for capturing images of the rear of the vehicle V.

[0036] The communication device 204 is a device that communicates with a device different from the drive recorder 100. For example, the communication device 204 may be capable of communicating with the communication device 7c of the vehicle V. Alternatively or in addition to this, the communication device 204 may be capable of communicating with a mobile device (e.g., a smartphone) carried by the user. The communication by the communication device 204 may be wireless communication or wired communication. For example, the communication by the communication device 204 may be short-range wireless communication such as Bluetooth (registered trademark).

[0037] The input device 205 is a device for receiving instructions from a user of the drive recorder 100. The input device 205 may be configured by a physical button, a toggle switch, a touch panel, or any combination thereof. In addition to or instead of instructions from the user to the drive recorder 100 via the input device 205, the instructions may be obtained from another device via the communication device 204.

[0038] The output device 206 is a device for outputting information to a user. The output device 206 may be a display device such as a liquid crystal display, an audio device such as a speaker, a lamp, an indicator, or any combination thereof. In addition to or instead of the output device 206, information may be output to a user from another device via the communication device 204.

[0039] An example of the operation of the drive recorder 100 will be described with reference to FIG. 3 . In FIG. 3 , an operation performed by the drive recorder 100 to present risk information to an occupant will be described. The drive recorder 100 operating in this manner functions as a risk presentation device. Each step of the method of FIG. 3 may be performed by the processor 201 executing a program stored in the memory 202. Alternatively, some or all of the steps of the method of FIG. 3 may be performed by a dedicated integrated circuit such as an application-specific integrated circuit (ASIC). The method of FIG. 3 may be started in response to the drive recorder 100 being powered on, in response to a user's instruction to start presenting risk information, or in some other manner. The method of FIG. 3 may be executed while the vehicle V is being driven manually or while the vehicle V is being driven autonomously.

[0040] In S301, processor 201 acquires an image of the surroundings of vehicle V generated by camera 203. Camera 203 repeatedly captures images of the surroundings of vehicle V during execution of the method of Figure 3. Processor 201 may store the image in front of vehicle V in memory 202 for recording.

[0041] In S302, the processor 201 identifies risk objects present around the vehicle V by analyzing the image acquired in S301. The risk objects may be traffic participants including pedestrians and cyclists. Furthermore, the traffic participants identified as risk objects may include other vehicles such as motorcycles and automobiles. The processor 201 may identify all traffic participants included in the image around the vehicle V as risk objects, or may identify traffic participants that meet certain conditions as risk objects. For example, the processor 201 may identify traffic participants that are located on or near the path of the vehicle V or that are moving toward or near the path of the vehicle V as risk objects. What objects are considered to be risk objects may be set in advance by the manufacturer of the drive recorder 100 and stored as data in the memory 202. In addition, the user of the drive recorder 100 may be able to change this setting.

[0042] In S302, the processor 201 may determine, for each identified risk object, the direction of the risk object relative to the vehicle V and the type of the risk object. The type of the risk object may be determined as one of a plurality of pre-defined types (e.g., "pedestrian," "bicyclist," "two-wheeled vehicle," "four-wheeled vehicle," "other"). Furthermore, the processor 201 may determine, for each identified risk object, the distance from the vehicle V to the risk object.

[0043] In S303, the processor 201 generates an image (hereinafter, risk information image) showing the risk object identified in S302 and presents the risk information image to the user. The risk information image may be presented to the user in any manner. For example, the processor 201 may display the risk information image on the output device 206 (e.g., a display). Alternatively or in addition, the processor 201 may transmit the risk information image to another device via the communication device 204 so that the risk information image is displayed on the display device 5a of the vehicle V. The processor 201 may transmit the risk information image to a mobile device (e.g., a smartphone) of the occupant so that the risk information image is displayed on the display device of the mobile device.

[0044] The processor 201 repeats the above steps S301 to S303 to update the risk information image to indicate the most recent risk target. For example, the processor 201 may repeat the above steps S301 to S303 at a specific interval (for example, every 10 ms, every 100 ms, etc.).

[0045] A specific example of a risk information image 410 generated by the processor 201 will be described with reference to FIG. 4. The upper part of FIG. 4 shows risk objects identified by the processor 201 executing S301 and S302 at a certain time. In the example of FIG. 4, four pedestrians 401-404 and one bicyclist 405 are identified as risk objects. For the purpose of explanation, the surroundings of the vehicle V are divided into eight directions 400A-400H in the horizontal plane (divided into eight equal parts in the example of FIG. 4). The direction 400A represents the front of the vehicle V. The direction 400B represents the right front of the vehicle V. The direction 400C represents the right side of the vehicle V. The direction 400D represents the right rear of the vehicle V. The direction 400E represents the rear of the vehicle V. The direction 400F represents the left rear of the vehicle V. The direction 400G represents the left side of the vehicle V. The direction 400H represents the left front of the vehicle V.

[0046] In the example of Figure 4, pedestrians 401 and 402 are in direction 400H relative to the vehicle, pedestrian 403 and bicyclist 405 are in direction 400A relative to the vehicle, and pedestrian 404 is on the boundary between directions 400B and 400C relative to the vehicle.

[0047] The lower part of FIG. 4 shows a risk information image 410 presented to the occupant. The risk information image 410 includes multiple sectors 411A-411H corresponding to multiple directions 400A-400H relative to the vehicle V. Each of the sectors 411A-411H is fan-shaped, with a central angle of 45 degrees. The centers of the multiple sectors 411A-411H are aligned with one another, and the interiors of the multiple sectors 411A-411H do not overlap with one another. Therefore, the multiple sectors 411A-411H form a disk. Sector 411A is located above the center of the disk. Sector 411B is located on the upper right side of the center of the disk. Sector 411C is located on the right side of the center of the disk. Sector 411D is located on the lower right side of the center of the disk. Sector 411E is located below the center of the disk. Sector 411F is located on the lower left side of the center of the disk. Sector 411G is located on the left side of the center of the disk. Sector 411H is located on the upper left side of the center of the disk. Each of the multiple sectors 411A to 411H corresponds to a direction with the same alphabet among the multiple directions 400A to 400H. For example, sector 411A corresponds to direction 400A.

[0048] When a risk object exists in a direction corresponding to an individual sector among the multiple sectors 411A to 411H, the processor 201 highlights that individual sector. For example, a pedestrian 403 and a bicyclist 405 are present in a direction 400A corresponding to sector 411A. Therefore, the processor 201 highlights sector 411A. In the example of FIG. 4 , the sector 411A is highlighted by thickening the outline of the sector 411A. Alternatively, the sector 411A may be highlighted in other ways. For example, the sector 411A may be displayed in a color different from the background color or enlarged for emphasis. Because pedestrians 401 and 402 are present in a direction 400H corresponding to sector 411H, the processor 201 also highlights sector 411H.

[0049] When a risk object exists that straddles two directions corresponding to two adjacent sectors, the processor 201 may emphasize both of these two sectors. For example, a pedestrian 404 straddles two directions (directions 400B and 400C) corresponding to two adjacent sectors (sectors 411B and 411C). Therefore, the processor 201 may emphasize both sector 411B and sector 411C.

[0050] In addition to highlighting sectors as described above, when a risk object exists in a direction corresponding to an individual sector among the multiple sectors 411A to 411H, processor 201 includes an icon representing the type of risk object in that individual sector. For example, a pedestrian 403 and a bicyclist 405 are present in direction 400A corresponding to sector 411A. Therefore, processor 201 includes a pedestrian icon 414 representing a pedestrian and a bicycle icon 415 representing a bicyclist in sector 411A. In this way, when multiple different types of risk objects exist in a direction corresponding to an individual sector, processor 201 includes an icon representing each of the multiple types in the individual sector. This allows the occupant to easily recognize the direction in which the risk object exists and its type.

[0051] When multiple risk objects of the same type exist in a direction corresponding to an individual sector, the processor 201 may include only one icon for these multiple risk objects in the individual sector. For example, two pedestrians 401 and 402 exist in the direction 400H corresponding to the sector 411H. Therefore, the processor 201 includes only one pedestrian icon 413 representing a pedestrian in the sector 411H. This improves the visibility of the icon compared to when multiple identical icons are displayed in one sector.

[0052] When a risk object exists that straddles two directions corresponding to two adjacent sectors, the processor 201 may include an icon representing the type of risk object in only one of these two sectors. For example, a pedestrian 404 straddles two directions (directions 400B and 400C) corresponding to two adjacent sectors (sectors 411B and 411C). Therefore, the processor 201 includes the pedestrian icon 412 in only one of the sectors 411B and 411C (sector 411B in the example of FIG. 4). This prevents the occupant from mistakenly believing that there are separate pedestrians in the direction 400B corresponding to sector 411B and the direction 400C corresponding to sector 411C. Furthermore, not displaying an icon on the boundary between the two sectors improves the visibility of the icon. The processor 201 may include an icon in either of the two adjacent sectors. In the example of FIG. 4, if a pedestrian other than pedestrian 404 is present in direction 400C, processor 201 may include a pedestrian icon to represent this other pedestrian in sector 411C.

[0053] When two icons representing two different types of risk objects are included in a sector, such as sector 411A, processor 201 may or may not emphasize the icon representing the type of risk object with a higher risk more than the icon representing the type of risk object with a lower risk. For example, in the example of FIG. 4 , assume that the risk related to pedestrian 403 is higher than the risk related to bicyclist 405. In this case, processor 201 may emphasize pedestrian icon 414 more than bicycle icon 415. For example, processor 201 may flash pedestrian icon 414 and light bicycle icon 415. Alternatively, processor 201 may display pedestrian icon 414 larger than bicycle icon 415. Processor 201 may determine the level of risk based on, for example, the distance between vehicle V and the risk object, the moving direction of the risk object, etc.

[0054] The icon representing the type of risk object may be displayed at a fixed position within the sector. Alternatively, the icon representing the type of risk object may be displayed at a position within the sector that corresponds to the position of the risk object relative to the vehicle V. For example, the distance of the icon from the center of a disk made up of the multiple sectors 411A-411H may correspond to the distance of the risk object from the vehicle V. Furthermore, the direction of the icon with respect to the center of the disk made up of the multiple sectors 411A-411H may correspond to the direction of the risk object relative to the vehicle V. In this way, when the position of the icon corresponds to the position of the risk object, the processor 201 moves the icon within each sector in accordance with the movement of the risk object that exists in the direction corresponding to the individual sector.

[0055] When one icon (pedestrian icon 413) is displayed for multiple risk objects of the same type (pedestrians 401 and 402), as in sector 411H, the position of the icon may correspond to the position of the highest risk object among these multiple risk objects. For example, if pedestrian 401 is at a higher risk than pedestrian 402, the position of pedestrian icon 413 in sector 411H may correspond to the position of pedestrian 401 relative to vehicle V. Therefore, when multiple risk objects of the same type exist in a direction corresponding to an individual sector, processor 201 moves the icon in the individual sector in accordance with the movement of the highest risk object among these multiple risk objects. This allows the occupant to recognize the movement of the risk object through risk information image 410.

[0056] In the above-described embodiment, the processor 201 identifies risk objects over 360 degrees around the vehicle V in the horizontal plane. Alternatively, the processor 201 may identify risk objects over a partial range around the vehicle V in the horizontal plane, depending on the shooting range of the camera 203. For example, the processor 201 may identify risk objects that are in front of the vehicle V in the horizontal plane. In this case, the risk information image 410 may include, for example, sectors 411A, 411B, and 411H, and may not include sectors 411C to 411G.

[0057] In the above-described embodiment, the drive recorder 100 executes the operation of Fig. 3. Alternatively, the control device CNT of the vehicle V may execute the operation of Fig. 3. In this case, the control device CNT functions as a risk presentation device. In S301, the control device CNT may use an image of the surroundings of the vehicle V captured by the surroundings detection unit 8a. In S303, the control device CNT may present a risk information image on the display device 5a of the vehicle V.

[0058] <Summary of Embodiments> [Item 1] A risk presentation device (CNT, 100) for presenting risk information to an occupant of a vehicle (V), comprising: an identification means (1, 201) for identifying risk objects (401-405) present around the vehicle; and a presentation means (1, 201) for presenting to a user a risk information image (410) including a plurality of sectors (411A-411H) corresponding to a plurality of directions (400A-400H) relative to the vehicle, wherein the presentation means: when a risk object exists in a direction corresponding to an individual sector of the plurality of sectors, highlights the individual sector and includes icons (412-415) representing the type of the risk object within the individual sector; and when multiple risk objects (401, 402) of the same type exist in the direction corresponding to the individual sector, includes only one icon (413) for the multiple risk objects within the individual sector. According to this item, risk information can be presented in an easily recognizable manner. [Item 2] The risk presentation device according to item 1, wherein the presentation means moves the icon within the individual sector in accordance with the movement of the risk object present in the direction corresponding to the individual sector. According to this item, a risk information image can be presented so that the movement of the risk object can be recognized. [Item 3] The risk presentation device according to item 2, wherein, when multiple risk objects of the same type exist in the direction corresponding to the individual sector, the presentation means moves the icon within the individual sector in accordance with the movement of the risk object that has the highest risk among the multiple risk objects. According to this item, a risk information image can be presented so that the movement of a risk object with a high risk can be recognized. [Item 4] The risk presentation device according to any one of items 1 to 3, wherein, when multiple different types of risk objects exist in the direction corresponding to the individual sector, the presentation means includes an icon representing each of the multiple types within the individual sector. According to this item, risk information can be presented so that the type of risk object can be easily recognized.[Item 5] The risk presentation device according to item 4, wherein the presentation means emphasizes an icon representing a type of risk object with a higher risk than an icon representing a type of risk object with a lower risk, of two different types of risk objects. According to this item, risk information can be presented so that the type of risk object with a higher risk can be easily recognized. [Item 6] The risk presentation device according to any one of items 1 to 5, wherein, when there is a risk object that straddles two directions corresponding to two adjacent sectors (400B, 400C), the presentation means emphasizes the two sectors and includes an icon (412) representing the type of risk object in only one of the two sectors. According to this item, risk information can be presented so that the type of risk object with a higher risk can be easily recognized. [Item 7] A program for causing a computer to function as each means of the risk presentation device according to any one of items 1 to 6. According to this item, the above items are provided in the form of a program. [Item 8] A risk presentation method for presenting risk information to an occupant of a vehicle (V), comprising: an identification step (S302) of identifying risk objects (401-405) present around the vehicle; and a presentation step (S303) of presenting to a user a risk information image (410) including a plurality of sectors (411A-411H) corresponding to a plurality of directions (400A-400H) relative to the vehicle, wherein in the presentation step, when a risk object exists in a direction corresponding to an individual sector of the plurality of sectors, the individual sector is emphasized and icons (412-415) representing the type of the risk object are included in the individual sector, and when multiple risk objects (401, 402) of the same type exist in the direction corresponding to the individual sector, only one icon (413) for the multiple risk objects is included in the individual sector. According to this item, risk information can be presented in an easily recognizable manner.

[0059] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention.

Claims

1. A risk presentation device for presenting risk information to an occupant of a vehicle, An identification means for identifying risk objects present around the vehicle; a presentation means for presenting to a user a risk information image including a plurality of sectors corresponding to a plurality of directions relative to the vehicle, The presentation means When a risk object exists in a direction corresponding to an individual sector among the plurality of sectors, the individual sector is highlighted, and an icon representing the type of the risk object is included in the individual sector; A risk presentation device that includes, in the case where multiple risk objects of the same type exist in a direction corresponding to the individual sector, only one icon for the multiple risk objects is included in the individual sector.

2. 2. The risk presentation device according to claim 1, wherein the presentation means moves the icon within the individual sector in accordance with movement of the risk object present in a direction corresponding to the individual sector.

3. 3. The risk presentation device according to claim 2, wherein the presentation means moves the icon within the individual sector in accordance with the movement of the risk object with the highest risk among the multiple risk objects when multiple risk objects of the same type exist in the direction corresponding to the individual sector.

4. The risk presentation device according to claim 1, wherein the presentation means includes an icon representing each type within the individual sector when there are multiple different types of risk objects in the direction corresponding to the individual sector.

5. The risk presentation device according to claim 4, wherein the presentation means emphasizes an icon representing a type of risk object with a higher risk than an icon representing a type of risk object with a lower risk between two different types of risk objects.

6. 2. The risk presentation device according to claim 1, wherein, when a risk object exists that spans two directions corresponding to two adjacent sectors, the presentation means highlights the two sectors and includes an icon representing the type of the risk object in only one of the two sectors.

7. A program for causing a computer to function as each means of the risk presentation device according to any one of claims 1 to 6.

8. A risk presentation method for presenting risk information to an occupant of a vehicle, comprising: an identification step of identifying risk objects present around the vehicle; a presentation step of presenting to a user a risk information image including a plurality of sectors corresponding to a plurality of directions relative to the vehicle, In the presenting step, When a risk object exists in a direction corresponding to an individual sector among the plurality of sectors, the individual sector is highlighted, and an icon representing the type of the risk object is included in the individual sector; A risk presentation method in which, when multiple risk objects of the same type exist in a direction corresponding to the individual sector, only one icon for the multiple risk objects is included in the individual sector.