Notification control method, notification control device, notification control program, and notification system

Abstract

An example of this notification control method is a notification control method for notifying an occupant of a vehicle of a situation of other vehicles around the vehicle by using vibrations from a plurality of vibrators. In the notification control method, the same number of continuous vibration patterns as the number of the other vehicles are generated in the vibrator on the side facing the other vehicles from among the plurality of vibrators.

Description

Notification control method, notification control device, notification control program, and notification system

[0001] The present disclosure relates to a technique for notifying a vehicle occupant of a situation around the vehicle using vibrations.

[0002] Conventionally, there has been known a device that detects the surrounding conditions of a vehicle, such as the positions of other vehicles, and notifies the driver of the detected surrounding conditions (see, for example, Patent Document 1). Patent Document 1 discloses that a display, a sound, and a vibration are used as means for notifying the driver of the surrounding conditions.

[0003] Japanese Patent Application Laid-Open No. 2018-45547

[0004] Incidentally, the most common method of notifying a driver of surrounding conditions is to use a display. In particular, when important information, such as an emergency, is being conveyed, a display is suitable because it allows the driver to grasp detailed information. However, a driver needs to visually recognize a large amount of information while driving. For this reason, using a display that requires the driver to look at a screen for all information is not necessarily suitable for the driver. Furthermore, even when using a sound to notify a driver, information that is not very important may be unpleasant to the ears. Because the sound can also be heard by passengers in the vehicle, this problem is particularly noticeable to the passengers.

[0005] Therefore, attention has been drawn to notification methods using vibrations that can notify information to each individual. However, notification methods using vibrations tend to provide a small amount of information. For this reason, there is a need for a method to notify useful information using vibrations.

[0006] In view of the above, an object of the present disclosure is to provide a technology that can appropriately notify vehicle occupants of the situation around the vehicle using vibrations.

[0007] An exemplary notification control method according to the present disclosure is a control method for notifying a vehicle occupant of the number of other vehicles in the vicinity by using vibrations, the method including: generating a number of continuous vibration patterns equal to the number of other vehicles in a vehicle occupant;

[0008] According to the exemplary embodiment of the present disclosure, it is possible to appropriately notify vehicle occupants of the situation around the vehicle using vibrations.

[0009] 7A is a block diagram showing a schematic configuration of a surroundings monitoring system according to a first embodiment; 7B is a block diagram showing a schematic configuration of an alert system according to a first embodiment; 7C is a perspective view showing a schematic configuration of a seat having a plurality of vibrators; 7D is a diagram showing a modified example of the configuration shown in FIG. 3A; 7E is a flowchart illustrating a schematic flow of an alert operation using vibration; 7F is a flowchart illustrating a flow of a process for determining an alert start condition; 7G is a flowchart illustrating a flow of a process for determining an alert end condition; 7I is a diagram showing a schematic diagram of a presence situation of a vehicle to be alerted in the first embodiment and a vibration state of the seat corresponding to the presence situation; 7I is a schematic diagram showing an example of a vibration signal generated by a vibration control device in the situation shown in FIG. 7A; 7I is a diagram for explaining a modified example of the first embodiment; 7I is a diagram showing a schematic pattern change due to differences in vibration parameters; 7I is a diagram showing a schematic diagram of the vibration state of the seat in the second embodiment; FIG. 10 shows an example of the configuration of a selection table in the fourth embodiment. FIG. 11 shows a schematic configuration of a vibration signal in the fourth embodiment. FIG. 12 shows a schematic diagram of the presence status of a vehicle to be notified in the fifth embodiment and the vibration state of the seat corresponding to said presence status. FIG. 13 shows a schematic diagram of the presence status of a vehicle to be notified in the sixth embodiment and the vibration state of the seat corresponding to said presence status. FIG. 14 shows an example of a screen that assists notification by vibration. FIG. 15 shows a schematic diagram of the presence status of a vehicle to be notified in the seventh embodiment and the vibration state of the seat corresponding to said presence status. FIG. 16 shows a preferred form of the seventh embodiment. A diagram showing a preferred form of the eighth embodiment. A block diagram showing the general configuration of the notification system of the second embodiment. A diagram showing a schematic positional relationship between the microphone and the vibrator. A diagram showing a schematic view of the presence of a vehicle to be notified and the vibration state of the seat corresponding to said presence state. A diagram showing a schematic view of the presence of a vehicle to be notified and the vibration state of the seat corresponding to said presence state when there are multiple vehicles to be notified. A diagram showing a preferred form of the vibration state of the seat in the surrounding situation shown in Figure 18A.

[0010] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. In the following description, the straight-ahead traveling direction of the vehicle, that is, the direction from the driver's seat toward the steering wheel, will be referred to as the "forward direction." Furthermore, the straight-ahead traveling direction of the vehicle, that is, the direction from the steering wheel toward the driver's seat, will be referred to as the "rearward direction." Furthermore, the direction perpendicular to the straight-ahead traveling direction of the vehicle and a vertical line, that is, from the right side toward the left side of the driver facing forward, will be referred to as the "leftward direction." Furthermore, the direction perpendicular to the straight-ahead traveling direction of the vehicle and a vertical line, that is, from the left side toward the right side of the driver facing forward, will be referred to as the "rightward direction." Note that these directions are merely names used for the purpose of explanation and are not intended to limit the actual positional relationships and directions.

[0011] <<1. First Embodiment>> <1-1. Surroundings Monitoring System> FIG. 1 is a block diagram showing a schematic configuration of a surroundings monitoring system 100 according to a first embodiment of the present disclosure. The surroundings monitoring system 100 is mounted on a vehicle. Note that some elements of the surroundings monitoring system 100 may be disposed at a location separate from the vehicle. In this case, the elements (e.g., a server device) disposed at a location separate from the vehicle may be communicatively connected to elements mounted on the vehicle via a network such as the Internet. Note that when the element disposed at a location separate from the vehicle is a server device, the server device may be a cloud server.

[0012] The surroundings monitoring system 100 monitors the surroundings of a vehicle (host vehicle) equipped with the system, and performs an operation in response to the monitoring information. In this embodiment, the operation in response to the monitoring information is to notify the occupants of the vehicle (host vehicle) of the monitoring information and to control the vehicle's running. However, the operation in response to the monitoring information may be only to notify the occupants of the vehicle of the monitoring information. The occupant of the vehicle to whom the information is notified is preferably the driver, but may also be someone other than the driver riding in the vehicle.

[0013] As shown in FIG. 1 , the surroundings monitoring system 100 includes a monitoring control device 1, a vehicle operation device 2, a situation detection device 3, a driving control device 4, a vibration control device 5, a vibrator 6, a display control device 7, a display device 8, an audio control device 9, and an audio output device 10.

[0014] The monitoring control device 1 functions as a controller that manages the entire surroundings monitoring system 100. The monitoring control device 1 is a computer device that includes an arithmetic circuit, a memory, and an input / output unit.

[0015] The monitoring control device 1 may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other. The functions of the monitoring control device 1 may be realized by an arithmetic circuit executing arithmetic processing according to a program, i.e., by software, or may be realized by other methods. At least some of the functions of the monitoring control device 1 may be realized using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). In other words, at least some of the functions of the monitoring control device 1 may be realized by hardware using a dedicated IC or the like. Furthermore, at least some of the functions of the monitoring control device 1 may be realized by a combination of software and hardware.

[0016] The vehicle operation device 2 broadly includes devices for performing operations related to the vehicle. The vehicle operation device 2 includes, for example, a turn signal operation device for operating the turn signals of the vehicle. The vehicle operation device 2 also includes an input device for inputting information such as operating conditions related to the notification function and the driving control function of the surroundings monitoring system 100. Operation information output from the vehicle operation device 2 is input to the monitoring control device 1.

[0017] The situation detection device 3 detects the situation around the vehicle. The situation around the vehicle that the situation detection device 3 can detect includes the presence of other vehicles. The situation detection device 3 detects the direction of other vehicles around the vehicle and the distance to those vehicles. The detectable distance preferably includes not only the longitudinal distance, which is the distance in the forward / backward direction, but also the lateral distance, which is the distance in the left / right direction. Furthermore, the situation detection device 3 preferably can detect the relative speed of other vehicles around the vehicle. The situation detection device 3 may be composed of, for example, a millimeter-wave radar, a camera, a LiDAR (Light Detection and Ranging), a sonar sensor, or a combination of at least two of them. The detection information output from the situation detection device 3 is input to the monitoring control device 1.

[0018] The cruise control device 4 controls, for example, at least one of the brakes, steering wheel, and accelerator of the vehicle under the control of the monitoring control device 1. The cruise control device 4 is, for example, a computer device including an arithmetic circuit, a memory, and an input / output unit.

[0019] For example, the monitoring control device 1 determines the possibility of a collision between the subject vehicle and another vehicle based on information acquired from the situation detection device 3. If the result of this determination indicates that there is a high possibility that the subject vehicle will collide with another vehicle, the monitoring control device 1 issues a collision avoidance command to the cruise control device 4. In response to this collision avoidance command, the cruise control device 4 performs one or more of brake control, steering control, and accelerator control.

[0020] As described above, the surroundings monitoring system 100 does not have to have a cruise control function. If the surroundings monitoring system 100 does not have a cruise control function, the surroundings monitoring system 100 does not have a cruise control device 4. The function of the cruise control device 4 may be included in the monitoring control device 1, in which case the monitoring control device 1 also functions as the cruise control device 4. At least one of the vehicle operation device 2, the situation detection device 3, and the cruise control device 4 may be provided separately from the surroundings monitoring system 100, and may be included in an existing vehicle device, for example. In such a configuration in which they are provided separately, the monitoring control device 1 and these separately provided devices communicate with each other to operate as an integrated unit.

[0021] The vibration control device 5 controls the vibrator 6 under the control of the monitoring control device 1. The monitoring control device 1 detects other vehicles (hereinafter sometimes referred to as notification target vehicles) that are present around the vehicle and whose presence should be notified to the occupants, based on information acquired from the situation detection device 3. When the monitoring control device 1 detects a notification target vehicle, it issues a notification command for information related to the notification target vehicle to the vibration control device 5. In response to this, the vibration control device 5 generates a vibration signal that vibrates the vibrator 6. Details of the vibration control device 5 and the vibrator 6 will be described later. Note that the function of the vibration control device 5 may be included in the monitoring control device 1, in which case the monitoring control device 1 also functions as the vibration control device 5.

[0022] The display control device 7 controls the display device 8 under the control of the monitoring control device 1. The display control device 7 is a computer device including, for example, an arithmetic circuit, a memory, and an input / output unit. The display control device 7 displays various types of information about the vehicle on the display device 8. The various types of information may include information about the vehicle to be notified as described above.

[0023] The function of the display control device 7 may be included in the monitoring control device 1, in which case the monitoring control device 1 also serves as the display control device 7. The display device 8 is preferably disposed in a position that is easily visible to the driver sitting in the driver's seat of the vehicle. The display device 8 may be, for example, a liquid crystal display device or an organic electroluminescence (EL) display device disposed on the dashboard of the vehicle. The display device 8 may also be, for example, a head-up display (HUD) that projects information on the windshield of the vehicle. The display device 8 may also be part of a stationary or portable navigation device mounted on the vehicle. The display device 8 may also have an input function using a touch panel, and a display device 8 having such a function also serves as the vehicle operation device 2 described above.

[0024] The voice control device 9 controls the voice output device 10 under the control of the monitoring control device 1. The voice control device 9 is a computer device including, for example, an arithmetic circuit, a memory, and an input / output unit. The voice control device 9 causes the voice output device 10 to output various types of information about the vehicle as voice. The various types of information may include information about the vehicle to be notified as described above. Furthermore, the content of the voice information output by the voice output device 10 may overlap with the content of the display information displayed on the display device 8.

[0025] The function of the audio control device 9 may be included in the monitoring control device 1, in which case the monitoring control device 1 also functions as the audio control device 9. The audio output device 10 is a speaker placed in an appropriate location in the vehicle cabin, and the number of such speakers may be one or more. At least one of the vibration control device 5, the display control device 7, and the audio control device 9 may be provided separately from the periphery monitoring system 100, and may be included in an existing video / audio system, for example. In such a configuration where the devices are provided separately, the monitoring control device 1 and these separately provided devices communicate with each other to operate as a single entity. As can be seen from the above description, the control devices included in the system 100 can be configured by combining various devices in accordance with the form and characteristics of the product to which the system is applied.

[0026] <1-2. Notification system using vibration> Among the elements constituting the above-described surroundings monitoring system 100, at least the vibration control device 5 and the vibrator 6 constitute a notification system 200 that notifies vehicle occupants of the presence of other vehicles (more specifically, vehicles that are subject to notification) around the vehicle using vibration. The notification system 200 using vibration will be described below.

[0027] As described above, the monitoring control device 1 controls the vibration control device 5. The monitoring control device 1 may also serve as the vibration control device 5. For this reason, the monitoring control device 1 may also be included in the notification system 200. For example, the monitoring control device 1 and the vibration control device 5 may form a notification control device. At least one of the vehicle operation device 2 and the situation detection device 3, which output information to the monitoring control device 1, may also be included in the notification system 200. Furthermore, the display control device 7 and the audio control device 9 may have a function to assist in notifications using vibration. In this sense, the display control device 7 and the display device 8 may also be included in the notification system 200. The audio control device 9 and the audio output device 10 may also be included in the notification system 200.

[0028] 2 is a block diagram showing a schematic configuration of a notification system 200 according to the first embodiment of the present disclosure. As shown in FIG. 2, the notification system 200 includes a vibration control device 5, a plurality of vibrators 6, and a seat 11.

[0029] The seat 11 is a seat arranged in a vehicle. The seat 11 is preferably a driver's seat where a driver sits, but may be a seat other than the driver's seat, such as a passenger seat or a rear seat. The plurality of vibrators 6 are arranged in the seat 11. The number of the plurality of vibrators 6 may be changed as appropriate, but is four in this embodiment. The vibration control device 5 controls the operation of the vibrators 6. In detail, the vibration control device 5 controls the operation of the plurality of vibrators 6 (four in this embodiment).

[0030] In this embodiment, the multiple vibrators 6 are arranged on the seat 11, but this is merely an example. The multiple vibrators 6 may also be arranged on a vehicle occupant such as a driver. In particular, the multiple vibrators 6 may be arranged on clothing such as a vest worn by the vehicle occupant. In other words, the multiple vibrators 6 may be configured as a wearable device.

[0031] 2, the vibration control device 5 includes a controller 51 and a memory 52. ​​The vibration control device 5 is a so-called computer device.

[0032] The controller 51 is configured to include an arithmetic circuit that performs arithmetic processing. More specifically, the arithmetic circuit is configured to include a processor. The processor is configured to include, for example, a CPU (Central Processing Unit). The controller 51 may be configured to include one processor or multiple processors. When the controller 51 is configured to include multiple processors, the processors only need to be able to communicate with each other.

[0033] The memory 52 includes a volatile memory and a non-volatile memory. The volatile memory is specifically a random access memory (RAM). The non-volatile memory is specifically a read-only memory (ROM). The non-volatile memory may also be a flash memory, a hard disk drive, or the like. The non-volatile memory stores computer-readable programs (computer programs) and data. The data includes vibration data 52a that serves as a source for generating vibrations. Sound source data may be used as the vibration data 52a.

[0034] The functions of the controller 51 are realized by the processor executing arithmetic processing in accordance with the programs stored in the memory 52. ​​The number of programs that realize the functions of the controller 51 may be one or more. In this embodiment, the programs stored in the memory 52 include a notification control program 52b that causes the computer device to execute a method of notifying the vehicle occupants of the presence of other vehicles (more specifically, vehicles that are to be notified) around the vehicle using vibrations.

[0035] The program stored in memory 52 may be provided by, for example, a computer-readable nonvolatile recording medium. The nonvolatile recording medium may be, for example, the nonvolatile memory described above, an optical recording medium (for example, an optical disk), a magneto-optical recording medium (for example, a magneto-optical disk), a USB memory, or an SD card. As another example, the computer program may be provided by downloading from a program providing server via a communication line such as the Internet.

[0036] The functions of the controller 51 may be realized by an arithmetic circuit executing arithmetic processing according to a program, i.e., by software, but may also be realized by other methods. At least some of the functions of the controller 51 may be realized using, for example, an ASIC, an FPGA, or the like. That is, at least some of the functions of the controller 51 may be realized by hardware using a dedicated IC, etc. At least some of the functions of the controller 51 may also be realized by a combination of software and hardware.

[0037] Fig. 3A is a perspective view showing the general configuration of a seat 11 having a plurality of vibrators 6. In Fig. 3A (as well as Fig. 3B described below), arrow X indicates the front-to-back direction, arrow Y indicates the left-to-right direction, and arrow Z indicates a direction parallel to the up-to-down direction. The +X side is the front side, the +Y side is the right side, and the +Z side is the upper side. As shown in Fig. 3A, the seat 11 has a seat portion 111 and a backrest portion 112.

[0038] The seat portion 111 supports the buttocks and thighs of an occupant sitting in the seat 11. The seat portion 111 has a surface member that forms its surface and a buffer member (cushion member) provided inside the surface member. The backrest portion 112 extends so as to intersect with the upper surface of the seat portion 111. The backrest portion 112 has a surface member that forms its surface and a buffer member provided inside the surface member.

[0039] The four vibrators 6a to 6d are arranged on the seat 111. More specifically, the four vibrators 6a to 6d are embedded inside the seat 111. The four vibrators 6a to 6d are arranged inside the cushioning material of the seat 111. The four vibrators 6a to 6d may also be arranged on the surface of the seat 111. The four vibrators 6a to 6d may also be attached to the upper surface of the seat 111.

[0040] The first vibrator 6a is arranged on the right rear side of the seat 111. The second vibrator 6b is arranged on the right front side of the seat 111. The third vibrator 6c is arranged on the left rear side of the seat 111. The fourth vibrator 6d is arranged on the left front side of the seat 111. In a plan view from above, the first vibrator 6a and the second vibrator 6b are arranged on a line extending in the front-rear direction, and the third vibrator 6c and the fourth vibrator 6d are arranged on a line extending in the front-rear direction. In a plan view from above, the first vibrator 6a and the second vibrator 6b and the third vibrator 6c and the fourth vibrator 6d are arranged symmetrically with respect to a bisector that bisects the seat 111 in the left-right direction. The number and positions of the vibrators 6 arranged on the seat 111 may be changed as appropriate from the configuration of this embodiment.

[0041] The four vibrators 6a to 6d are arranged so that vibrations are transmitted to the occupant sitting in the seat 11. The four vibrators 6a to 6d are arranged so that vibrations are transmitted to the body of the occupant sitting on the seat portion 111. For example, the four vibrators 6a to 6d are arranged so that they are located below the right rear, right front, left rear, and left front parts of the buttocks of the occupant sitting in the seat 11. The four vibrators 6a to 6d are vibrators of the same type (same configuration). The vibrators may be, for example, vibrators with an electric / magnetic circuit configuration in which the diaphragm of a speaker (with a structure suitable for acoustic conversion) is replaced with a diaphragm suitable for vibration transmission, or vibrators with a configuration using a piezoelectric element.

[0042] Fig. 3B is a diagram showing a modified example of the configuration shown in Fig. 3A. In the configuration shown in Fig. 3A, the vibrator 6, which is arranged so that vibrations are transmitted to an occupant sitting in the seat 11, is arranged only in the seat portion 111. However, as shown in Fig. 3B, the vibrator 6 may also be arranged in the backrest portion 112 that constitutes the seat 11A. Multiple vibrators 6 may be arranged in both the seat portion 111 and the backrest portion 112, or only in one of them.

[0043] When the vibrator 6 is disposed in the backrest 112, the vibrator 6 is disposed so that vibrations are transmitted to the body (back) of the occupant located in front of the backrest 112. That is, the orientation of the vibrator 6 differs between when it is disposed in the seat 111 and when it is disposed in the backrest 112. In the example shown in FIG. 3B , in a plan view from the front, two vibrators 6 are disposed in the backrest 112, arranged symmetrically with respect to a bisector that bisects the backrest 112 in the left-right direction. However, the number and positions of the vibrators 6 disposed in the backrest 112 may be changed as appropriate. The number of vibrators 6 disposed in the backrest 112 may be one.

[0044] [1-2-2. Overview of Notification Operation Using Vibration] Next, an overview of the notification operation using vibration in notification system 200 will be described. FIG. 4 is a flowchart illustrating an example of the general flow of the notification operation using vibration in notification system 200. The process shown in FIG. 4 may be started, for example, when each device constituting notification system 200 is activated and available for use. Note that activation of each device constituting notification system 200 may be started by turning on the power of the vehicle. Furthermore, the process shown in FIG. 4 may be started at an appropriate timing after each device constituting notification system 200 is activated and available for use. In this embodiment, once the process shown in FIG. 4 is terminated, the process shown in FIG. 4 is resumed unless there is a particular reason for termination. An example of a particular reason for termination is when an occupant of the vehicle issues an instruction to cancel or terminate the notification operation.

[0045] In this embodiment, the alarm system 200 includes the monitoring control device 1. In the following description of FIG. 4 , at least a part of the processing that is to be executed by the monitoring control device 1 may be executed by the vibration control device 5.

[0046] In step S1, the monitoring control device 1 performs a determination process related to the notification start condition. The determination process related to the notification start condition is a process for determining whether or not the conditions for starting notification control are met. Notification control is a control that uses vibration to notify vehicle occupants of the presence of other vehicles (more specifically, vehicles that are subject to notification) around the vehicle. The process of step S1 results in a result of whether or not the conditions for starting notification control are met. Once this result is obtained, the process proceeds to the next step S2. Details of the determination process related to the notification start condition will be described later.

[0047] In step S2, if the start condition for notification control is satisfied (Yes in step S2), the monitoring control device 1 proceeds to the next step S3. If the start condition for notification control is not satisfied (No in step S2), the monitoring control device 1 returns the process to step S1.

[0048] In step S3, the monitoring control device 1 outputs information about the vehicle to be notified acquired from the situation detection device 3 to the vibration control device 5. As described above, the vehicle to be notified is another vehicle that is present around the vehicle and whose presence should be notified to the occupants, and is detected by performing the processing of step S1. This point will be described later. The information about the vehicle to be notified includes, for example, the direction from the vehicle (host vehicle), the vertical distance and lateral distance from the vehicle, and the relative speed with respect to the vehicle. When the monitoring control device 1 completes the processing to output information about the vehicle to be notified, the processing proceeds to the next step S4.

[0049] In step S4, the vibration control device 5 performs a notification using vibration. In performing this notification, the vibration control device 5 controls vibration to notify the vehicle occupants of the presence of other vehicles (vehicles to be notified) around the vehicle. Specific details of the notification using vibration will be described later with reference to several examples. Once the notification using vibration has been performed, the process proceeds to the next step S5.

[0050] In step S5, the monitoring control device 1 performs a determination process related to the notification termination condition. The determination process related to the notification termination condition is a process for determining whether or not the condition for terminating the notification control is met. The process of step S5 provides a result of whether or not the termination condition for the notification control is met. Once this result is obtained, the process proceeds to the next step S6. Details of the determination process related to the notification termination condition will be described later.

[0051] In step S6, if the termination condition for the notification control is satisfied (Yes in step S6), the monitoring control device 1 proceeds to the next step S7. If the termination condition for the notification control is not satisfied (No in step S6), the monitoring control device 1 returns the process to step S4. By returning the process to step S4, the processes from step S4 onwards are repeated. That is, vibrations that notify the presence of other vehicles (vehicles to be notified) are repeatedly generated.

[0052] In step S7, the monitoring control device 1 commands the vibration control device 5 to end the vibration control for notifying the notification target vehicle. This ends the notification using vibration, and the processing shown in FIG. 4 ends for the time being.

[0053] 5 is a flowchart illustrating an example of the flow of the notification start condition determination process, which is a detailed example of the process of step S1 shown in FIG.

[0054] In step S11, the monitoring control device 1 determines whether the vehicle (host vehicle) is estimated to be leaving the current lane. The situation of leaving the current lane is assumed to be a driving situation in which the vehicle travels on a trajectory other than the lane trajectory, such as a situation in which the vehicle turns on a curve other than a curve. The driving situation is estimated, for example, from the vehicle speed, the steering state, and the like. Specifically, the situation of leaving the current lane corresponds to a situation in which the vehicle changes lanes or turns right or left. For example, the vehicle is estimated to be leaving the current lane when an operation to turn on the turn signal (operation of the vehicle operation device 2) is performed to change lanes or turn right or left. The estimation may be based on factors other than the occupant's operation of the vehicle operation device 2 (turn signal operation device). For example, the estimation may be based on the movement of the occupant's (driver's) body parts, such as the eyes, face, and hands, or the occupant's brain waves. The movement of the body parts may be estimated, for example, from information from a camera (not shown) installed in the vehicle cabin. Furthermore, the brain waves may be estimated from information from a biosensor worn by the occupant, for example.

[0055] If it is estimated that the vehicle will depart from the current lane (Yes in step S11), the process proceeds to step S12. If it is not estimated that the vehicle will depart from the current lane (No in step S11), the process proceeds to step S14.

[0056] In step S12, the monitoring control device 1 determines whether another vehicle is present within a detection range of a predetermined shape and size around the vehicle (host vehicle). The detection range around the vehicle is set, for example, to include positions that are difficult for the driver of the host vehicle to see (such as blind spots). Specifically, the detection range around the vehicle can be a range extending from the driver's seat to a position a predetermined distance behind the vehicle in the lane on the left or right side of the vehicle (for example, the range enclosed by the rectangular frame indicated by the two-dot chain line in FIG. 7A). In other words, the detection range around the vehicle can be defined as a range for detecting other vehicles that require the attention of the vehicle occupants. In other words, other vehicles present within the detection range around the vehicle are vehicles to be notified. Note that an appropriate detection range (position and size) can be determined through experiments, etc., but the range (position and size) may also be appropriately changed depending on the vehicle speed, the speed limit of the road on which the vehicle is traveling, etc.

[0057] The detection range around the vehicle in step S12 may be set in association with the content of the estimation performed in the previous processing of step S11. To give a specific example, if it is estimated that the vehicle (host vehicle) will move to the right, the detection range may be set to the right side of the vehicle (specifically, the right lane), and if it is estimated that the vehicle will move to the left, the detection range may be set to the left side of the vehicle (specifically, the left lane). With this configuration, it is possible to provide a warning using vibrations that is focused on the side on which the vehicle is turning.

[0058] As another example, the detection range around the vehicle in step S12 may be a predetermined area, regardless of the content of the estimation performed in the previous processing of step S11. Specifically, it may be a certain range in all directions around the vehicle (host vehicle). With this configuration, when the vehicle turns, the driver or the like can be informed of the overall situation around the vehicle by the notification using vibration.

[0059] The monitoring and control device 1 determines whether or not another vehicle is present within the detection range around the vehicle based on information from the situation detection device 3 (e.g., millimeter-wave radar, etc.). Note that, in making the determination, if even a part of the other vehicle is present within the detection range, the other vehicle may be determined to be present within the detection range. As another example, if the entire other vehicle is not within the detection range, the other vehicle may not be determined to be present within the detection range. Any configuration may be used as long as the determination criterion is determined in advance. If it is determined that another vehicle is present within the detection range (Yes in step S12), the process proceeds to the next step S13. If it is determined that no other vehicle is present within the detection range (No in step S12), the process proceeds to step S14.

[0060] In step S13, the monitoring and control device 1 determines that the conditions for starting the vibration notification control are met because the vehicle is in a situation where it should be notified of the presence of other vehicles around the vehicle. Based on this determination result, the processes from step S2 onward shown in FIG. 4 are then performed. If the conditions for starting the notification are met (i.e., if a new vehicle to be notified has appeared), the vehicle occupants may be notified of this. This allows the vehicle occupants to clearly recognize the start of the vibration notification control. The notification may be a vibration notification, but may also be a voice notification or a display notification. If a vibration notification is used, the notification mode must be distinguishable from other notification modes (notification modes for information with different content) described below. For example, the four vibrators 6 may be configured to vibrate simultaneously. By using vibration to notify the vehicle occupants, it is possible to recognize that the vibration notification function is functioning properly.

[0061] In step S14, the monitoring and control device 1 determines that the conditions for starting the notification control using vibration are not satisfied because the situation does not require notification of the presence of other vehicles around the vehicle. Thereafter, based on this determination result, the processing from step 2 onwards shown in Figure 4 is carried out.

[0062] In the example shown in FIG. 5 , the condition for starting the vibration-based notification control is that the vehicle (host vehicle) is estimated to be leaving the current lane. However, this condition may not be required in some cases. That is, the vibration-based notification control may be started only when another vehicle is present within the detection range around the vehicle. In this case, it is preferable that the start of the notification control (i.e., the appearance of a new vehicle to be notified) is notified to the vehicle occupants. The notification may be a vibration-based notification, but may also be a voice notification or a display notification. If a vibration-based notification is used, the notification mode must be distinguishable from the other notification modes described below. For example, the four vibrators 6 may be vibrated simultaneously.

[0063] Furthermore, according to the example shown in FIG. 5 , if there are no other vehicles within the detection range, no vibrations to alert the driver are generated even if the blinker is turned on. In this case, the vehicle occupant may feel uneasy about whether the vibration-based system is operating. For this reason, in step S14, a specific vibration may be generated to notify the driver that there are no vehicles to be notified. That is, the notification control method may generate a specific vibration to notify the driver that there are no other vehicles (vehicles to be notified) when it is determined that there are no other vehicles within the detection range. In other words, when the number of other vehicles is zero, a continuous vibration pattern different from the continuous vibration pattern described below may be generated. This configuration allows the driver to recognize that the vibration-based system is operating properly. It also notifies the driver that there are no other vehicles within the detection range. Note that the specific vibration is preferably configured to be distinguishable from other notification modes. For example, a vibration without a directional component or a vibration specially designed to be distinguishable from other vibrations is preferable.

[0064] 6 is a flowchart illustrating an example of the flow of the notification termination condition determination process, which is a detailed example of the process of step S6 shown in FIG.

[0065] In step S61, the monitoring control device 1 determines whether other vehicles (all other vehicles) have disappeared from the detection range around the vehicle. Note that the "detection range around the vehicle" referred to here is the same as the "detection range around the vehicle" in step S12 of Fig. 5. If other vehicles have disappeared from the detection range (Yes in step S61), the process proceeds to step S65. If other vehicles are present within the detection range (No in step S61), the process proceeds to step S62.

[0066] In step S62, the monitoring control device 1 determines whether the movement (operation) of the vehicle estimated in the processing of step S11 in Fig. 5 has been completed. For example, when an operation to turn off the blinker (operation of the vehicle operation device 2) is performed, it is determined that the movement of the vehicle has been completed. Alternatively, whether the movement of the vehicle has been completed may be determined based on an image captured by a camera or the movement of the occupant (driver)'s body parts such as the eyes, face, and hands. If it is determined that the movement of the vehicle has been completed (Yes in step S62), the processing proceeds to step S65. If it is determined that the movement of the vehicle has not been completed (No in step S62), the processing proceeds to step S63.

[0067] In step S63, the monitoring control device 1 determines whether or not the vehicle occupant (driver) has confirmed the vehicle to be notified based on the vibration-based notification performed in step S4 of Fig. 4. This determination may be made, for example, using information from a camera (not shown) installed in the vehicle cabin so that it can capture the occupant. For example, the driver's line of sight and facial movements obtained from video data captured by the camera may be used to determine whether or not the vehicle to be notified has been confirmed. If it is determined that the vehicle to be notified has been confirmed (Yes in step S63), the process proceeds to step S65. If it is determined that the vehicle to be notified has not been confirmed (No in step S63), the process proceeds to step S64.

[0068] In step S64, the monitoring and control device 1 determines that the situation is still such that the presence of other vehicles around the vehicle should be notified, and therefore determines to continue the notification control using vibration. Thereafter, based on this determination result, the processing from step 6 onwards shown in Figure 4 is carried out.

[0069] In step S65, the monitoring and control device 1 determines that it is no longer necessary to notify the vehicle of the presence of other vehicles around the vehicle, and therefore determines to terminate the notification control using vibration. Thereafter, based on this determination result, the processing from step 6 onwards shown in FIG. 4 is performed. Note that if the termination condition is met, the vehicle occupants may be notified of this. The notification may be a notification using vibration, or may be a notification using sound or display. If a notification using vibration is used, it must be distinguishable from other notification contents using vibration, which will be described below. For example, a configuration in which four vibrators 6 are vibrated simultaneously may be used. Additionally, if there are multiple vehicles to be notified, and some of the vehicles to be notified are no longer subject to notification, the vehicle occupants may be notified of this.

[0070] [1-2-3. Example of Notification Control Using Vibration] Next, an example of a notification control method that uses vibration to notify vehicle occupants of the presence status of other vehicles (notification target vehicles) around the vehicle will be described. The notification control method described as an example includes a control method for notifying vehicle occupants of the number of other vehicles around the vehicle by vibration. This section corresponds to a detailed description of the processing of step S4 in FIG. 4. As a premise for describing the following example, it is assumed that the above-mentioned notification start condition (see step S1 in FIG. 4) is satisfied and an instruction to notify the vibration control device 5 of the presence status of notification target vehicles has been issued.

[0071] The following points are common to the figures shown for explaining the embodiments. In the diagrams showing the vibration state of the seat 111 shown in Fig. 7A and other figures (the right-hand diagram in Fig. 7A), hatching inside the circle representing the vibrator 6 indicates that the vibrator 6 is vibrating. Furthermore, black circles in the diagram indicate the locations where the occupant feels the vibration. Furthermore, the size of the black circle indicates the strength of the vibration, with a larger size indicating a greater (stronger) strength of the vibration.

[0072] (1-2-3-1. First Example) Fig. 7A is a diagram schematically illustrating the presence state of a vehicle V2 to be notified in a first example and the vibration state of the seat 111 corresponding to the presence state. The presence state of the vehicle V2 to be notified, in detail, refers to the presence state of the vehicle V2 to be notified around a vehicle (host vehicle) V1. In the example shown in Fig. 7A, it is assumed that the vehicle V1 is changing lanes from the current driving lane L1 to the driving lane L2 on the right.

[0073] In this embodiment, the side (notification target side) on which the notification target vehicle V2 is located relative to the occupant (driver) of the vehicle V1 is determined by estimating the behavior of the vehicle V1. In other words, the detection range of the other vehicle V2 is determined based on the driving operation state of the vehicle V1. Specifically, the notification target side is the planned direction of movement of the vehicle V1. In other words, in this embodiment, the detection range (shown by a two-dot chain line) set as a range for detecting the other vehicle V2 that should alert the occupant of the vehicle V1 is set only in the direction of movement of the vehicle V1. The detection range is determined based on the planned direction of movement of the vehicle. With this configuration, it is possible to narrow the notification using vibration to a direction in which the occupant of the vehicle V1 should pay particular attention. In the example shown in FIG. 7A , the detection range is set to the right side of the vehicle V1 because the vehicle V1 is changing lanes to the right-hand driving lane L2. In addition, if the vehicle V1 is changing lanes to the left-hand driving lane L2, the detection range is set to the left side of the vehicle V1. The vehicle V2 to be notified is present within the detection range of the vehicle to be notified. By narrowing the range to be notified, unnecessary notifications can be prevented. The detection range may be determined by calculating through experiments, for example, a width of one lane plus an offset width that takes safety into consideration, and a length that is the distance traveled for three seconds (set appropriately in consideration of safety) at the speed limit of the road on which the vehicle is currently moving, so as to ensure sufficient safety in relation to lane changes. Another effective method is to set the length of the detection range to the distance traveled for three seconds (set appropriately in consideration of safety) at the relative speed between the leading vehicle in the lane behind the vehicle on the side of the lane on which the lane is being changed and the vehicle itself.

[0074] 7A, the vibration control device 5 is assumed to have grasped the presence status of another vehicle (notification target vehicle) V2 that exists within the detection range indicated by the two-dot chain line from information acquired from the monitoring control device 1. The grasped information includes, for example, the direction in which the notification target vehicle V2 exists, the distance (longitudinal distance and lateral distance) from vehicle V1 to the notification target vehicle V2, the speed (relative speed) of the notification target vehicle V2 with respect to vehicle V1, and the number of vehicles.

[0075] 7A, three other vehicles V2 located to the rear right of the driver (driver's seat) of the vehicle V1 are the vehicles to be notified. The vibration control device 5 generates a vibration signal to notify the occupants of the vehicle V1 of such a situation.

[0076] The vibration control device 5 generates a vibration signal so that vibration occurs on the notification target side, which is the side where the notification target vehicle V2 is located. This allows the occupant who receives the vibration to intuitively know on which side the vehicle that requires attention is located. In the example shown in FIG. 7A , the notification target side is the right side, so the vibration control device 5 generates a vibration signal that vibrates the vibrator 6 on the right side of the seat 11. More specifically, the vibration control device 5 generates a vibration signal that vibrates the first vibrator 6a located on the right rear side of the seat 111. However, since it is only necessary to inform the occupant of the vehicle V1 that the notification target side is on the right side, a configuration may be adopted in which two vibrators 6a, 6b arranged in a front-to-back position on the right side of the seat 111 simultaneously vibrate.

[0077] The vibration control device 5 also generates a vibration signal to indicate the number of vehicles V2 to be notified. FIG. 7B is a schematic diagram showing an example of a vibration signal generated by the vibration control device 5 under the circumstances shown in FIG. 7A . The vibration control device 5 generates a vibration signal in which signals SG of the same form are arranged at regular time intervals t1, the number of which corresponds to the number of vehicles V2 to be notified. Note that signals of the same form refer to signals with the same intensity, frequency, waveform, and time length. The signal SG indicates the presence of one vehicle with its waveform (vibration) throughout its entire period, and is a vibration signal with a waveform set by a designer or the like depending on the content of the information to be notified. Hereinafter, such a signal, the signal SG, will be referred to as a vibration pattern signal SG to facilitate distinction between the corresponding vibration signal (a vibration signal notifying the presence of one vehicle) and other vibration signals (such as a simple continuous vibration signal). Furthermore, the vibration generated by the vibrator 6 in response to the vibration pattern signal SG will be referred to as a continuous vibration pattern. In other words, one vehicle is notified by one continuous vibration pattern, and the occurrence of one continuous vibration pattern notifies the presence of one vehicle. Note that, when there is only one notification target vehicle V2, the number of continuous vibration pattern signals SG is one, and in this case, the time interval t1 is not necessary. Note that the time interval t1 may not be constant, for example, to generate vibrations at timings that match the distance intervals of the notification target vehicles V2. In this case, the continuous vibration patterns SG for each notification target vehicle V2 are arranged in accordance with the vehicle driving order of the notification target vehicles V2 (in order of proximity to vehicle V1), and a vibration signal is generated in which a no-vibration period of a time length that corresponds to the inter-vehicle distance of each notification target vehicle V2 that matches the vehicle driving order is inserted between each continuous vibration pattern signal SG.

[0078] In the situation shown in Figure 7A, the number of vehicles V2 to be notified is three. To this end, the vibration control device 5 generates a vibration signal in which three consecutive vibration pattern signals SG of the same form are arranged at a fixed time interval t1. The first vibrator 6a is driven in accordance with the vibration signal, thereby generating three consecutive vibration patterns at a fixed time interval t1. The occupant receiving the vibration feels the three consecutive vibration patterns on the right side of their body. As a result, the occupant receiving the vibration can recognize that three other vehicles V2 are present to the right rear of the vehicle V1.

[0079] Each vibration pattern signal SG constituting the vibration signal is generated using vibration data 52a (see FIG. 2 ) stored in advance in the memory 52. ​​The vibration data 52a is, for example, sound source (waveform) data created in advance as a sound to be emitted from an object position (the position of the notification target vehicle V2). The vibration control device 5 reads the vibration data 52a and generates each vibration pattern signal SG by appropriately adjusting parameters of the vibration data 52a, such as signal strength, duration, and frequency. Furthermore, the vibration control device 5 appropriately adjusts the time intervals between each vibration pattern signal SG and connects them to generate the vibration signal to be output. The connection between the vibration pattern signals SG is made to a non-vibration waveform (linear) that forms a non-vibration portion. Note that if multiple types of vibration data 52a are stored in advance and selected for use, it is possible to generate a vibration pattern signal SG according to, for example, a user's preference. In addition, in this embodiment, a non-signal period is provided between each vibration pattern signal SG so that the occupant can feel vibrations for the number of notification target vehicles V2. That is, in this embodiment, a non-vibration period is provided between each successive vibration pattern. However, this is merely an example. Since it is sufficient for the occupant to feel the same number of successive vibration patterns as the number of vehicles V2 to be notified, a specific vibration that can be recognized by the occupant may be provided between each successive vibration pattern as a separator between the successive vibration patterns. In this case, the vibration signal has a form in which a separator signal of a different form is sandwiched between each vibration pattern signal SG.

[0080] As can be seen from the above, in the notification control method of this embodiment, the same number of continuous vibration patterns as the number of other vehicles (notification target vehicles) V2 are generated on the notification target side, which is the side where other vehicles (notification target vehicles) V2 are present, for the occupants of vehicle V1. In other words, the same number of continuous vibration patterns as the number of other vehicles V2 are generated in the vibrators of the multiple vibrators 6 that face the other vehicles. The vibration control device 5 generates vibration signals on the notification target side that cause the same number of continuous vibration patterns as the number of other vehicles (notification target vehicles) V2. The vibration control device 5 generates the same number of continuous vibration patterns as the number of other vehicles (notification target vehicles) V2 in the vibrators 6 on the notification target side. For example, a notification control device composed of the monitoring control device 1 and the vibration control device 5 detects other vehicles around the vehicle and generates the same number of continuous vibration patterns as the number of other vehicles V2 in the vibrators of the multiple vibrators 6 that face the detected other vehicles V2. In this embodiment, since the vibrator 6 is placed in the seat 11, the side to be notified can also be rephrased as the side on which the other vehicle (vehicle to be notified) V2 is located relative to the seat 11 (preferably the driver's seat) of the vehicle V1.

[0081] According to the configuration of this embodiment, among the information about other vehicles (notification target vehicles) V2 that are present around the vehicle V1 and that should be warned, important information such as the direction and number of vehicles can be notified to the occupants of the vehicle V1 using vibration in an easy-to-understand manner. Furthermore, since the configuration uses vibration to notify the occupants of the vehicle V1 of the presence status of the notification target vehicles V2, the information can be notified to specific occupants, such as the driver.

[0082] The situation shown in FIG. 7A is assumed to be a case of changing lanes, but similar processing can be used in the case of turning right or left to properly inform the occupants of the vehicle V1 of the surrounding situation.

[0083] Furthermore, in the example described above, the occupant of the vehicle V1 cannot grasp the distance relationship between the vehicle V1 and each of the notification target vehicles V2. Taking this into consideration, a configuration may be adopted in which the pattern of the continuous vibration pattern is changed according to the distance of the other vehicle (notification target vehicle) V2 from the vehicle V1. This makes it possible to increase the amount of information provided by vibration in a form that is easy for the occupant to grasp. An example of a change in the pattern of the continuous vibration pattern is a change in intensity. In the case of a configuration in which intensity change is used, a configuration may be adopted in which the intensity of the corresponding continuous vibration pattern is increased as the distance from the vehicle V1 becomes closer.

[0084] For example, in the situation shown in FIG. 7A , it is determined that the first two of the three notification target vehicles V2 are close to the vehicle V1 using a preset criterion, while the third vehicle is far from the vehicle V1. In this case, a vibration signal as shown in FIG. 7C may be generated. In the vibration signal shown in FIG. 7C , the first and second vibration pattern signals SG1 and SG2 of the three vibration pattern signals SG are signals of different forms with higher intensities than the remaining vibration pattern signal SG3. The frequencies, waveforms, and durations of the vibration pattern signals SG1, SG2, and SG3 are the same. The two vibration pattern signals SG1 and SG2 are signals of the same form. When the first vibrator 6a is driven in accordance with the vibration signal shown in FIG. 7C , an occupant of the vehicle V1 feels two large vibrations (continuous vibration patterns) and one small vibration (continuous vibration pattern). Therefore, it can be recognized that there are three vehicles V2 to be careful of in the right lane, two of which are close and the remaining one is relatively far away.

[0085] Note that the parameters used to change the vibration pattern are not limited to intensity, but may also include frequency, duration, etc. For example, in a configuration using a change in frequency, the frequency may be lower (or higher) as the distance from the vehicle V1 decreases. Furthermore, in a configuration using a change in duration (vibration time), the duration may be longer (or shorter) as the distance from the vehicle V1 decreases. In the above description, the distance is assumed to be a vertical distance, but in some cases it may be a horizontal distance. Furthermore, this may be used in conjunction with a distance notification function based on the length of the division vibration time t1 between vibration pattern signals, as described above. FIG. 7D is a diagram schematically illustrating pattern changes due to differences in vibration parameters. As shown in FIG. 7D, the intensity can be changed by expanding or contracting the vibration pattern signal SG in the amplitude direction. The frequency can be changed by expanding or contracting the vibration pattern signal SG in the time direction. The duration can be changed by changing the number of connections of the vibration pattern signal SG. Furthermore, as shown in FIG. 7D, the pattern of the vibration pattern signal SG can also be changed by changing the vibration waveform itself.

[0086] Furthermore, the series of vibrations generated by the vibration signals shown in Figures 7B and 7C are repeatedly executed if the notification termination condition is not satisfied (see Figure 4). When such repetition is performed, a separation period is provided between one series of vibrations and the next series of vibrations to enable the two to be distinguished from each other. This separation period may be, for example, no vibration. However, instead of no vibration, a configuration may be adopted in which vibration is performed to enable the user to recognize that it is a separation period. Furthermore, a sound such as a "beep" may be output using the audio output device 10 so that one series of vibrations can be clearly distinguished from the next series of vibrations.

[0087] Furthermore, when repeated vibrations are performed, the distance to the notification target vehicle V2 may change over time. To indicate this distance change, for example, the vibration pattern (e.g., intensity) may be changed. Furthermore, the number of notification target vehicles V2 may change during repetition. For example, another vehicle that was previously a notification target vehicle V2 may move out of the detection range and no longer be a notification target vehicle (disappearance of the target vehicle). Furthermore, a new notification target vehicle V2 may appear (new appearance of a target vehicle). If a new appearance or disappearance of a target vehicle occurs during repetition, this may be notified. In this case, a sound or a display may be used for the notification, but vibration may also be used. When vibration is used, for example, a configuration may be adopted in which all four vibrators 6 vibrate simultaneously so as to distinguish the vibration from other notification contents.

[0088] (1-2-3-2. Second Example) Next, a description will be given of a second example. In describing the second example, explanations of content that overlaps with the first example will be omitted as much as possible.

[0089] The surroundings of the vehicle (host vehicle) V1 in the second embodiment are similar to those shown in Fig. 7A, which was used to explain the first embodiment. Three target vehicles V2 are present in a lane L2 to the right of the lane L1 in which the vehicle V1 is traveling. The vehicle V1 is attempting to change lanes from the current lane L1 to the lane L2 on the right.

[0090] In the second embodiment, the position of the vibration felt by the occupant of the vehicle V1 is changed depending on the position of the other vehicle (notification target vehicle) V2. Specifically, the multiple vibrators 6 are configured to generate continuous vibration patterns with different intensities depending on the position of the other vehicle V2. This configuration allows the occupant of the vehicle V1 to be aware of the distance from the vehicle V1 to the other vehicle (notification target vehicle) V2 to which the vibration is applied.

[0091] 8A is a diagram schematically illustrating the vibration state of the seat 111 in the second embodiment. Three seats 111 are shown in FIG. 8A , which shows how the vibration state of the seats 111 changes along the time axis indicated by the arrows. The three seats 111 shown in FIG. 8A correspond to three vehicles V2 to be notified. Since the distance (vertical distance) from the vehicle V1 differs for each vehicle V2 to be notified, the vibration state differs for each vehicle V2 to represent this difference in distance.

[0092] As shown in FIG. 8A , a configuration for changing the intensity ratio (intensity ratio) at which multiple vibrators 6 on the notification target side (the right side in this embodiment) are vibrated is used to allow the occupant to recognize the difference in distance. This configuration makes it possible to change the position of the vibration felt by the occupant of the vehicle V1 by utilizing an illusion of the occupant. As can be seen from the above, in this embodiment, the position of the vibration felt by the occupant of the vehicle V1 is changed by changing the vibration intensity ratio among the multiple vibrators 6. By using such a configuration, it is possible to minimize the number of vibrators 6 arranged in the seat 11 and increase the amount of information to be notified using vibration.

[0093] In the example shown in Fig. 8A, when notifying that a notification target vehicle V2 is located at a short longitudinal distance from vehicle V1, the vibration ratio of the first vibrator 6a is set to 0% and the vibration ratio of the second vibrator 6b is set to 100%. This allows the occupant of vehicle V1 to feel vibrations at a position in front of the seat 111, allowing the occupant to recognize that the notification target vehicle V2 is located nearby. The state of the seat 111 shown on the left side of Fig. 8A corresponds to a state in which the occupant is notified that a notification target vehicle V2 is located at a short longitudinal distance from vehicle V1.

[0094] Furthermore, when informing the driver that a vehicle V2 to be notified is located at an intermediate position between a position far from the vehicle V1 and a position close to the vehicle V1, the vibration ratio of the first vibrator 6a is set to 50% and the vibration ratio of the second vibrator 6b is set to 50%. Specifically, the first vibrator 6a and the second vibrator 6b are vibrated in phase and with the same intensity. This allows the occupant of the vehicle V1 to feel the vibration at an intermediate position in the seat 111, allowing the occupant to recognize that the vehicle V2 to be notified is located at an intermediate position. Note that the state of the seat 111 shown in the center of FIG. 8A corresponds to a state in which the driver is notified that the vehicle V2 to be notified is located at an intermediate position in the longitudinal direction from the vehicle V1.

[0095] Furthermore, when notifying that a notification target vehicle V2 is located at a long distance from the vehicle V1, the vibration ratio of the first vibrator 6a is set to 100% and the vibration ratio of the second vibrator 6b is set to 0%. This allows the occupant of the vehicle V1 to feel vibrations at a position behind the seat 111, allowing the occupant to recognize that the notification target vehicle V2 is located at a long distance. The state of the seat 111 shown on the right side of Fig. 8A corresponds to a state in which the occupant is notified that a notification target vehicle V2 is located at a long distance from the vehicle V1.

[0096] In this embodiment, the occupants of the vehicle V1 are notified of the presence status of the notification target vehicle V2 in order from the nearest to the furthest side, but this is merely an example. The occupants of the vehicle V1 may also be notified of the presence status of the notification target vehicle V2 in order from the furthest to the nearest side.

[0097] Furthermore, although the longitudinal distance from the vehicle V1 has been classified into three categories, "close," "middle," and "far," this is merely an example, and the number of distance categories may be two, four, or more. When the number of distance categories is increased, the number of positions at which the occupant of the vehicle V1 can feel the vibrations can be increased by increasing the number of types of intensity ratios between the vibrators 6. Furthermore, when the vibrators 6 are arranged in the backrest portion 112 of the seat 11, as in the modified example shown in FIG. 3B , the vibrator 6 arranged in the backrest portion 112 may be used as the rearmost vibrator 6.

[0098] As in the first embodiment, the vibration control device 5 generates a vibration pattern signal using vibration data (sound source data) 52a stored in the memory 52. ​​However, it is necessary to select the vibrators 6 to be used and the intensity ratio of the vibrators 6 depending on the side of the notification target vehicle V2 relative to the vehicle V1 and the longitudinal distance from the vehicle V1. In other words, it is necessary to select the vibrators 6 to be used and the intensity ratio of the vibrators 6 for each notification target vehicle V2. The selection is made by referring to a selection table such as that shown in FIG. 8B, for example.

[0099] 8B is a diagram illustrating the configuration of the selection table 300 in the second embodiment. In the selection table 300, "side" and "distance" are information input to select the vibrator 6 to be used, etc. "Side" is information indicating the side of the notification target on which the notification target vehicle V2 is located. "Distance" is information indicating the classification of the vertical distance from vehicle V1 to the notification target vehicle V2. Based on this input information, the vibration control device 5 can determine the vibrator 6 to be used and the intensity ratio for each notification target vehicle V2.

[0100] Applying this to the situation of this embodiment (corresponding to the situation shown in FIG. 7A ), in the case of the leading vehicle V2 to be notified, the "side" is "right" and the "distance" is "close," so it is determined to use only the second vibrator 6b (resulting in the state shown in the left diagram of FIG. 8A ). In the case of the middle vehicle V2 to be notified, the "side" is "right" and the "distance" is "intermediate," so it is determined to use the first vibrator 6a and the second vibrator 6b at a 1:1 intensity ratio (resulting in the middle diagram of FIG. 8A ). In the case of the trailing vehicle V2 to be notified, the "side" is "right" and the "distance" is "far," so it is determined to use only the first vibrator 6a (resulting in the state shown in the right diagram of FIG. 8A ).

[0101] When it is determined in accordance with the selection table 300 that only one vibrator 6 is to be used, the vibration control device 5 generates one vibration pattern signal SG that constitutes a vibration signal. On the other hand, when it is determined in accordance with the selection table 300 that multiple vibrators 6 are to be used, the vibration control device 5 generates multiple vibration pattern signals SG that constitute a vibration signal in accordance with the number of vibrators 6 to be used. At this time, the multiple signals are generated so that the intensity ratio between them becomes the intensity ratio selected in the selection table 300.

[0102] FIG. 8C is a diagram schematically illustrating the configuration of vibration signals in the second embodiment. The vibration pattern signal SG1 is a signal for the second vibrator 6b. Two vibration pattern signals SG2, generated with a time interval t1 from the end of the vibration pattern signal SG1, are signals for the first vibrator 6a and the second vibrator 6b, and the intensity ratio of these signals is an intensity ratio (1:1) obtained by the selection table 300. The two vibration pattern signals SG are in phase. In this example, since the intensity ratio of the two vibration pattern signals SG2 is 1:1, only one vibration pattern signal SG2 is generated. However, if the intensity ratio is not 1:1, two vibration pattern signals SG2 are required, so two are shown in FIG. 8C. The vibration pattern signal SG3, generated with a time interval t1 from the end of the vibration pattern signal SG2, is a signal for the first vibrator 6a. In this embodiment, as shown in FIG. 8A (see black circles), the intensity of the vibration felt by the occupant is set to be the same regardless of the vibration used to notify the occupant of any of the target vehicles V2.

[0103] Also in this embodiment, the series of vibrations (vibrations generated in response to the vibration signal shown in FIG. 8C ) that notify the driver of the vehicle V1 is repeatedly executed if the notification termination condition is not satisfied. When the repeated vibrations are executed, the positional relationship (longitudinal distance) between the vehicle V1 and the vehicle V2 to be notified may have changed due to the movement of the vehicle V2 to be notified over time. Therefore, the position of the vibrations felt by the occupant of the vehicle V1 may be changed depending on the movement of the other vehicle (vehicle V2 to be notified) between the repetitions. In other words, the continuous vibration pattern may be changed depending on the movement of the other vehicle V2 between the repetitions. This allows the occupant of the vehicle V1 to be more appropriately notified of information about the vehicle V2 to be notified.

[0104] Furthermore, the lateral distance between the vehicle V1 and the notification target vehicle V2 may change due to lateral movement of the vehicle V1, such as when changing lanes. For this reason, a vibration may be generated to notify the occupant of the vehicle V1 of the change in lateral distance. That is, the position of the vibration felt by the occupant of the vehicle V1 may be changed according to the movement of the vehicle V1. The change in lateral distance can be made known to the occupant by, for example, changing the intensity ratio of the vibration between the left and right vibrators 6.

[0105] Furthermore, even if the vehicle V2 is located at the same longitudinal distance from the vehicle V1, the level of danger (degree of caution) differs depending on whether the relative speed of the notification target vehicle V2 with respect to the vehicle V1 is high or low. For this reason, the position of the vibration felt by the occupant of the vehicle V1 may be changed depending on the relative speed of the other vehicle (notification target vehicle) V2 with respect to the vehicle V1. In other words, the multiple vibrators 6 may generate continuous vibration patterns with different intensities depending on the relative speed of the other vehicle V2 with respect to the vehicle V1. This can improve safety by appropriately notifying the occupant of, for example, a rapidly approaching vehicle. For example, when the relative speed of the notification target vehicle V2 is high (approaching speed is fast), the occupant of the vehicle V1 may feel the vibration on the front side of the seat 111. Furthermore, when the relative speed of the notification target vehicle V2 is low (approaching speed is slow), the occupant of the vehicle V1 may feel the vibration on the rear side of the seat 111. It is preferable that the position of the vibration felt by the occupant be adjusted taking into consideration both the relative speed and the longitudinal distance.

[0106] (1-2-3-3. Third Example) Next, a third example will be described. In describing the third example, explanations of content that overlaps with at least one of the first and second examples will be omitted as much as possible.

[0107] The surroundings of the vehicle (host vehicle) V1 in the third embodiment are similar to those shown in Fig. 7A, which was used to explain the first embodiment. Three notification target vehicles V2 are present in a lane L2 to the right of the lane L1 in which the vehicle V1 is traveling. The vehicle V1 is attempting to change lanes from the current lane L1 to the lane L2 on the right.

[0108] The third embodiment is characterized by a configuration in which the intensity of the vibration (continuous vibration pattern) is changed depending on the size of the other vehicle (notification target vehicle) V2. As in the second embodiment, the position of the vibration felt by the occupant of vehicle V1 is changed depending on the position of the notification target vehicle V2. However, since the third embodiment is configured such that when vibration is generated for each notification target vehicle V2, size information of the notification target vehicle V2 appears as a difference in vibration intensity, it is possible to increase the amount of information about the notification target vehicles V2 that are lined up in the front-to-rear direction.

[0109] 9A is a diagram schematically illustrating the vibration state of the seat 111 in the third embodiment. Three seats 111 are shown in FIG. 9A , which shows how the vibration state of the seat 111 changes along the time axis indicated by the arrows. As in the second embodiment, vibrations that notify the presence of each target vehicle V2 are generated in the seat 111. In this case, the position of the vibration felt by the occupant of vehicle V1 changes depending on the distance from vehicle V1 of the target vehicle V2.

[0110] In the third embodiment, the size (object size) of each notification target vehicle V2 is classified based on the size of the image of the target vehicle V2 in the camera image, the distance to the target vehicle V2, etc. Then, the intensity of the vibration felt by the occupants of the vehicle V1 is configured to differ depending on the size classification result. In this embodiment, the size of the notification target vehicle V2 is classified into three categories: "large," "medium," and "small" based on preset criteria. Then, the vibration intensity is increased for a notification target vehicle V2 whose size is "large." The vibration intensity is decreased for a notification target vehicle V2 whose size is "small." For a notification target vehicle V2 whose size is "medium," the vibration intensity is set to be intermediate between the vibration intensity for a "large" size and the vibration intensity for a "small" size.

[0111] In this embodiment, the situation of the notification target vehicle V2 is the same as the situation shown in FIG. 7A . The three notification target vehicles V2 are, in order from the front (from the closest to the next), a standard passenger car, a truck, and a standard passenger car, and their size classifications are, respectively, "medium," "large," and "medium." In this case, the notification target vehicle V2 that is close and the notification target vehicle V2 that is farther away have the same size classification ("medium"), so the vibrations that notify their presence status (see the black circles in the left and right diagrams in FIG. 9A ) have the same vibration intensity. Furthermore, the notification target vehicle V2 that is in the "middle" position is larger in size than the other two notification target vehicles V2, so the vibrations that notify its presence status (see the black circle in the middle diagram in FIG. 9A ) have a greater vibration intensity than the vibrations that notify the presence status of the other two vehicles.

[0112] The size classification of the notification target vehicle V2 may be other than the three classifications of "large," "medium," and "small," and may be two or four or more classifications.

[0113] The vibration control device 5 generates a vibration signal in a manner similar to that of the second embodiment. However, when generating a vibration signal, in addition to selecting the vibrator 6 and its intensity ratio, a selection regarding intensity is also required. For this purpose, a selection table different from the selection table 300 shown in FIG. 8B is used.

[0114] FIG. 9B is a diagram illustrating the configuration of a selection table 300A in the third embodiment. In the selection table 300A, "side," "distance," and "size" are information input to select the vibrator 6 to be used, etc. "Side" is information indicating the side of the notification target on which the notification target vehicle V2 is located. "Distance" is information indicating the classification of the vertical distance from vehicle V1 to the notification target vehicle V2. "Size" is information indicating the classification of the size of the notification target vehicle V2. Based on this input information, the vibration control device 5 can determine the vibrator 6 to be used, the intensity ratio, and the vibration intensity. Note that FIG. 9B shows information only when the "side" is the right side, and omits information when the "side" is the left side.

[0115] Applying this to the situation of this embodiment (corresponding to the situation shown in FIG. 7A ), in the case of the leading vehicle V2 to be notified, the “side” is “right,” the “distance” is “close,” and the “size” is “medium,” so it is determined to use the second vibrator 6b at normal intensity (resulting in the state shown in the left diagram of FIG. 8A ). In the case of the middle vehicle V2 to be notified, the “side” is “right,” the “distance” is “medium,” and the “size” is “large,” so it is determined to use the first vibrator 6a and the second vibrator 6b at a 1:1 intensity ratio and at an intensity higher than normal intensity (resulting in the state shown in the middle diagram of FIG. 8A ). In the case of the trailing vehicle V2 to be notified, the “side” is “right,” the “distance” is “far,” and the “size” is “medium,” so it is determined to use the first vibrator 6a at normal intensity (resulting in the state shown in the right diagram of FIG. 9A ).

[0116] 9C is a diagram schematically illustrating the configuration of vibration signals in the third embodiment. The vibration pattern signal SG1 is a signal for generating vibrations that notify the presence of the leading vehicle V2 to be notified. The vibration pattern signal SG2, which is generated with a time interval t1 from the end of the vibration pattern signal SG1, is a signal for generating vibrations that notify the presence of the middle vehicle V2 to be notified. The vibration pattern signal SG3, which is generated with a time interval t1 from the end of the signal SG2, is a signal for generating vibrations that notify the presence of the last vehicle V2 to be notified.

[0117] In the third embodiment, as in the second embodiment, the vibration pattern signal SG2 that generates vibrations for the central notification target vehicle V2 is generally two, corresponding to the number of vibrators 6 to be vibrated. The signal strength (the sum of the vibration strengths of the first vibrator 6a and the second vibrator 6b) of the vibration pattern signal SG2 that generates vibrations to notify the presence of the large notification target vehicle V2 is greater than that of the other vibration pattern signals S1 and SG3. In other words, in the second embodiment, due to the distribution based on the vibration ratio, the vibration strength of each of the first vibrator 6a and the second vibrator 6b by the vibration pattern signal SG2 is approximately half the signal strength of the other vibration pattern signals SG1 (SG3). However, in the third embodiment, due to the influence of the increased vibration strength caused by the size of the central notification target vehicle V2, the vibration strength of each of the first vibrator 6a and the second vibrator 6b is approximately the same as the signal strength of the other vibration pattern signals SG1 (SG3).

[0118] (1-2-3-4. Fourth Example) Next, a fourth example will be described. In describing the fourth example, descriptions of content that overlaps with at least one of the first, second, and third examples will be omitted as much as possible.

[0119] The surroundings of the vehicle (host vehicle) V1 in the fourth embodiment are similar to those shown in Fig. 7A, which was used to explain the first embodiment. Three notification target vehicles V2 are present in a lane L2 to the right of the lane L1 in which the vehicle V1 is traveling. The vehicle V1 is attempting to change lanes from the current lane L1 to the lane L2 on the right.

[0120] The fourth embodiment is characterized by a configuration in which the duration of the vibration (continuous vibration pattern) is changed depending on the length of the other vehicle (notification target vehicle) V2. In the fourth embodiment, as in the second embodiment, the position of the vibration felt by the occupant of vehicle V1 is changed depending on the position of the notification target vehicle V2. However, since the length information of the notification target vehicle V2 is expressed as a difference in vibration duration when vibrating for each notification target vehicle V2, the amount of information regarding the notification target vehicles V2 lined up in the longitudinal direction can be increased. Furthermore, since the length information of the other vehicle V2 is expressed as a vibration duration, the occupant can easily intuitively understand the meaning of the information. Note that the term "length" here preferably refers to the longitudinal length, and in this embodiment, the length of the notification target vehicle V2 refers to the longitudinal length.

[0121] 10A is a diagram showing a schematic diagram of the vibration state of the seat 111 in the fourth embodiment. Three seats 111 are shown in FIG. 10A, which shows how the vibration state of the seats 111 changes along the time axis indicated by the arrows. As in the second embodiment, vibrations that notify the presence of each target vehicle V2 are generated in the seats 111. In this case, the position of the vibration felt by the occupant of vehicle V1 changes depending on the distance from vehicle V1 of the target vehicle V2.

[0122] In the fourth embodiment, the length of each notification target vehicle V2 is classified based on a camera image or the like. The vibration duration felt by the occupants of the vehicle V1 varies depending on the length classification result. In this embodiment, the length of the notification target vehicle V2 is classified into three categories: "long," "medium," and "short" based on a preset criterion. The vibration duration is increased for a notification target vehicle V2 whose length is "long." The vibration duration is decreased for a notification target vehicle V2 whose length is "short." The vibration duration for a notification target vehicle V2 whose length is "medium" is set to an intermediate length between the vibration duration for a "long" length and the vibration duration for a "short" length.

[0123] In this embodiment, the situation of the notification target vehicle V2 is the same as the situation shown in FIG. 7A . The three notification target vehicles V2 are, from the front (from closest to closest), a passenger car, a truck, and a passenger car, and their length classifications are, respectively, “medium,” “long,” and “medium.” That is, the notification target vehicle V2 located close to the notification target vehicle V2 and the notification target vehicle V2 located far from the notification target vehicle V2 have the same length classification (“medium”), so the duration (length) of the vibrations notifying their presence status is the same. Furthermore, since the notification target vehicle V2 located “medium” in distance is longer than the other two notification target vehicles V2, the vibrations notifying its presence status are longer than the vibrations notifying the presence status of the other two vehicles. Note that, as shown in FIG. 10A , in this embodiment, the vibration intensity is the same regardless of the difference in length of the notification target vehicles V2. However, the difference in size may be expressed by vibration intensity, as in the third embodiment.

[0124] The length of the notification target vehicle V2 may be classified into categories other than the three categories of "long," "medium," and "short," and may be classified into two or four or more categories.

[0125] The vibration control device 5 generates a vibration signal in a manner similar to that of the second embodiment. However, when generating a vibration signal, in addition to selecting the vibrator 6 and its intensity ratio, it is also necessary to select the length of vibration time. For this reason, a selection table different from the selection table 300 shown in FIG. 8B is used.

[0126] FIG. 10B is a diagram illustrating the configuration of a selection table 300B in the fourth embodiment. In the selection table 300B, "side," "distance," and "length" are information input to select the vibrator 6 to be used, etc. "Side" is information indicating the side of the notification target on which the notification target vehicle V2 is located. "Distance" is information indicating the classification of the vertical distance from vehicle V1 to the notification target vehicle V2. "Length" is information indicating the classification of the length of the notification target vehicle V2. Based on this input information, the vibration control device 5 can determine the vibrator 6 to be used, the intensity ratio, and the vibration time. Note that FIG. 10B only shows information when the "side" is the right side, and omits information when the "side" is the left side.

[0127] Applying this to the situation of this embodiment (corresponding to the situation shown in FIG. 7A ), in the case of the leading vehicle V2 to be notified, the "side" is "right," the "distance" is "close," and the "length" is "medium," so it is determined that the second vibrator 6b should be used for the normal vibration time length. In the case of the middle vehicle V2 to be notified, the "side" is "right," the "distance" is "medium," and the "length" is "long," so it is determined that the first vibrator 6a and the second vibrator 6b should be used for a time length longer than the normal vibration time length with a 1:1 intensity ratio. In the case of the trailing vehicle V2 to be notified, the "side" is "right," the "distance" is "far," and the "length" is "medium," so it is determined that the first vibrator 6a should be used for the normal vibration time length.

[0128] 10C is a diagram schematically illustrating the configuration of vibration signals in the fourth embodiment. The vibration pattern signal SG1 is a signal for generating vibrations that notify the presence of the leading vehicle V2 to be notified. The vibration pattern signal SG2, which is generated with a time interval t1 from the end of the vibration pattern signal SG1, is a signal for generating vibrations that notify the presence of the middle vehicle V2 to be notified. The vibration pattern signal SG3, which is generated with a time interval t1 from the end of the vibration pattern signal SG2, is a signal for generating vibrations that notify the presence of the last vehicle V2 to be notified.

[0129] In the fourth embodiment, as in the second embodiment, the number of vibration pattern signals SG2 that generate vibrations for the central notification target vehicle V2 is two, corresponding to the number of vibrators 6 to be vibrated. Fig. 10C is a schematic diagram that makes it easy to visualize that the vibration duration changes depending on the length of the notification target vehicle V2. The vibration duration of the vibration pattern signal SG2 that generates vibrations to notify the presence of the long notification target vehicle V2 is longer than that of the other vibration pattern signals S1 and SG3. Note that, due to distribution based on the vibration ratio, the vibration intensity of each of the first vibrator 6a and the second vibrator 6b by the vibration pattern signal SG2 is approximately half the signal intensity of the other vibration pattern signals SG1 (SG3).

[0130] (1-2-3-5. Fifth Example) Next, a fifth example will be described. In describing the fifth example, descriptions of content that overlaps with at least one of the first, second, third, and fourth examples will be omitted as much as possible.

[0131] In the above embodiment, when there are multiple vehicles V2 to be notified, vibrations are performed with a time difference corresponding to the number of vehicles present. In this embodiment, when there are multiple vehicles V2 to be notified, the vibrators 6 corresponding to the number of vehicles are vibrated simultaneously. In detail, the vibrators 6 that vibrate are the vibrators 6 that are arranged on the side of the vehicles to be notified.

[0132] 11 is a diagram schematically illustrating the presence state of a vehicle V2 to be notified in the fifth embodiment and the vibration state of the seat 111 corresponding to the presence state. In the example shown in FIG. 11 , it is assumed that a vehicle (host vehicle) V1 is changing lanes from a current driving lane L1 to a driving lane L2 on the right side. The detection range (shown by a two-dot chain line) set as a range for detecting other vehicles that should alert the occupants of the vehicle V1 is set only in the direction in which the vehicle V1 is moving. In the example shown in FIG. 11 , the detection range is set to the right side of the vehicle V1 because the vehicle V1 is changing lanes to the right driving lane L2.

[0133] As described above, the vibrator 6 that vibrates is the vibrator 6 that is arranged on the side of the notification target. In the example shown in Fig. 11 , the side of the notification target is the right side. Two notification target vehicles V2 are lined up, one in front and one in back. To notify the occupants of vehicle V1 that there are two notification target vehicles V2 on the right side, the two vibrators 6 arranged on the right side, that is, the first vibrator 6a and the second vibrator 6b, simultaneously vibrate.

[0134] As long as the distance between the first vibrator 6 a and the second vibrator 6 b is sufficient, the vibration signals that vibrate the first vibrator 6 a and the second vibrator 6 b may be the same in form, but in order to make the occupant of the vehicle V1 clearly recognize that there are multiple vehicles V2 to be notified, it is necessary to make the occupant of the vehicle V1 clearly recognize that the vibrations of the first vibrator 6 a and the second vibrator 6 b are different vibrations.

[0135] For this reason, in this embodiment, as a preferred embodiment, frequency modulation is performed between a vibration signal that vibrates the first vibrator 6a and a vibration signal that vibrates the second vibrator 6b. In FIG. 11 , the hatching inside the circle representing the first vibrator 6a is different from the hatching inside the circle representing the second vibrator 6b. This means that the frequency characteristics of the two vibrations are different. The frequency modulation may be performed by, for example, changing the peak frequency. The frequency modulation may also be performed by changing the frequency characteristics using an equalizer. For example, multiple vibration data (sound source data) with different frequency characteristics may be prepared in advance. In the example shown in FIG. 11 , the vibration intensities of the two vibrators 6a and 6b are the same, but they may also be different from each other.

[0136] In some cases, instead of using frequency modulation, the timing at which the first vibrator is vibrated and the timing at which the second vibrator 6b is vibrated may be slightly shifted from each other.

[0137] In order to increase the number of vibrators 6 that can be vibrated simultaneously, a configuration in which the vibrators 6 are arranged on the backrest 112 of the seat 11 may be used, as shown in FIG. 3B described above.

[0138] (1-2-3-6. Sixth Example) Next, a sixth example will be described. In describing the sixth example, explanations of content that overlaps with at least one of the first, second, third, fourth, and fifth examples will be omitted as much as possible.

[0139] 12A is a diagram schematically illustrating the presence state of a vehicle V2 to be notified in the sixth embodiment and the vibration state of the seat 111 corresponding to the presence state. The surrounding situation of the vehicle (host vehicle) V1 in the sixth embodiment is the same as the situation shown in FIG. 7A used to explain the first embodiment. Three vehicles V2 to be notified are present in a lane L2 to the right of the lane L1 in which the vehicle V1 is traveling. The vehicle V1 is attempting to change lanes from the current lane L1 to the lane L2 to the right.

[0140] In this embodiment, when there are multiple notification target vehicles V2, only information on some of the notification target vehicles V2 is notified by vibration, and the remaining information is notified using at least one of a display using the display device 8 and a sound using the sound output device 10. The notification target vehicles V2 that are the targets of the vibration notification are preferably the vehicles that are in the most dangerous position for vehicle V1 among the notification target vehicles V2. Specifically, the notification target vehicles V2 that are the targets of the vibration notification are the vehicles that are closest to vehicle V1. In FIG. 12A , this corresponds to the leading vehicle (the vehicle with diagonal lines) traveling in lane L2. Vibration notification is an advantageous method for notifying the presence or absence of an object, such as the notification target vehicle V2, because it is not prone to being overlooked like a visual notification and is less susceptible to interference from noise, etc., like a sound notification. In this embodiment, this characteristic is utilized to realize a notification that is highly recognizable and provides a wealth of information.

[0141] The target vehicle V2, which is the target of the vibration alert, is alerted by vibration so that the occupant of the vehicle V1 can recognize the direction of the target vehicle V2. Specifically, the vibrations of the multiple vibrators 6 on the target vehicle side are utilized. The position at which the occupant feels the vibration is adjusted so that the direction of the target vehicle V2 (the leading vehicle) obtained by the millimeter-wave radar or the like constituting the situation detection device 3 is close to (preferably coincides with) the direction in which the occupant sitting on the seat 111 feels the vibration, based on the center of gravity G of the occupant.

[0142] In the example shown in Fig. 12A, the intensity ratio (proportion) of the in-phase signals that drive the first vibrator 6a and the second vibrator 6b is adjusted so that the occupant can feel vibration at a target position. The relationship between the intensity ratio and the position at which the vibration is felt may be stored in advance as a table in the memory 52. ​​Alternatively, a relational expression indicating the relationship between the intensity ratio and the position at which the vibration is felt may be stored in the memory 52. ​​In Fig. 12A, the hatching inside the circle representing the first vibrator 6a and the hatching inside the circle representing the second vibrator 6b are the same type but in different colors. This indicates that the vibration parameters are the same except for the difference in signal intensity.

[0143] In this embodiment, the intensity of the vibration (vibration signal) is constant regardless of the longitudinal distance of the target vehicle V2. However, the intensity of the vibration may be increased as the target vehicle V2 approaches the vehicle V1 and the longitudinal distance decreases. This configuration allows the occupant of the vehicle V1 to recognize the direction and distance of the target vehicle V2.

[0144] Fig. 12B is a diagram showing an example of a screen that assists in the notification by vibration. The screen 8a shown in Fig. 12B displays information on the number of vehicles V2 to be notified, which is information that could not be notified by vibration. The displayed information is, for example, a figure or text indicating the number of vehicles V2 to be notified. In the example shown in Fig. 12, the figure is a configuration in which illustrations of vehicles are lined up in the same number as the number of vehicles. The text reads "3 vehicles approaching." With this configuration, an occupant who feels that the information provided by vibration alone is insufficient can supplement the information by looking at the screen 8a.

[0145] Instead of or in addition to a display, audio may be used. In this case, the audio output device 10 may output a voice (such as "3 vehicles approaching") or a sound signal (such as "beep beep beep") that notifies specific details.

[0146] Furthermore, when there is information to be notified other than the notification content regarding the notification target vehicle V2, the information may be displayed or audible. Such information may include dangerous driving information such as speeding.

[0147] (1-2-3-7. Seventh Example) Next, we will explain the seventh example. In explaining the seventh example, we will omit as much as possible any explanation that overlaps with at least one of the first, second, third, fourth, fifth, and sixth examples.

[0148] FIG. 13A is a diagram schematically illustrating the presence status of a notification target vehicle V2 in the seventh embodiment and the vibration state of the seat 111 corresponding to the presence status. In the example shown in FIG. 13A , a vehicle (host vehicle) V1 is assumed to be changing lanes from the current driving lane L1 to the right driving lane L2. Unlike the first to sixth embodiments, this embodiment has multiple notification target sides, on which the notification target vehicle V2 is located relative to the occupant of the vehicle V1. In other words, multiple detection ranges for the other vehicle V2 are provided. This configuration allows the occupant to be aware of the presence status of the other vehicle V2 that requires attention around the vehicle V1, not just the side on which the vehicle V1 is turning. This improves safety during lane changes. In this embodiment, the notification target vehicle V2 is also a vehicle that is present within the detection range of the vehicle V1, but the set area of ​​the detection range is different from that in the first to sixth embodiments.

[0149] It is preferable that the notification target side be configurable. In other words, it is preferable that the detection range of the other vehicle V2 be configurable. This can improve the usability of the vibration-based notification function. In this embodiment, the notification target side is both the left and right sides of the vehicle V1 (occupants or seats of the vehicle V1). However, this is not limited to this, and the rear and front of the vehicle V1 may also be the notification target side. A configuration may be adopted in which the occupants of the vehicle V1 can freely select (turn on / off) whether or not to set the left, right, rear, or front side of the vehicle V1 as the notification target side. Furthermore, the sides (directions) that can be turned on / off may be limited to only some (for example, the front, etc.).

[0150] For example, the notification target side may be the left side, right side, or rear side of the vehicle V1. In this case, the presence status of the notification target vehicle V2 on the rear side may be notified using two vibrators 6a and 6c provided on the rear side of the seat 111. For example, by setting the intensity ratio of the first vibrator 6a to the third vibrator 6c to 1:1, the occupant of the vehicle V1 can be made aware of the presence of the notification target vehicle V2 on the rear side. In addition, by adjusting the magnitude (absolute value) of the vibration intensity, the occupant can be made aware of the distance of the notification target vehicle V2. For example, the absolute value of the intensity may be increased as the notification target vehicle V2 approaches. In addition, the presence status of the notification target vehicle V2 on the rear side may be notified using the vibrator 6 provided on the backrest 112 of the seat 11, as shown in FIG. 3B .

[0151] In the example shown in FIG. 13A , because a notification target vehicle V2 is present on the left and right sides, which are the notification target sides, the vibrators 6 on both the right and left sides of the seat 111 generate vibrations. In this case, the same method as described in the sixth embodiment is used to enable the occupant of the vehicle V1 to feel the vibrations at positions corresponding to the direction of the notification target vehicle V2 on both the left and right sides. That is, the vibration intensity ratio between the first vibrator 6 a and the second vibrator 6 b on the right side of the seat 111 is adjusted so that the vibrations are felt at positions corresponding to the direction of the notification target vehicle V2 located to the right rear of the vehicle V1. Furthermore, the vibration intensity ratio between the third vibrator 6 c and the fourth vibrator 6 d on the left side of the seat 111 is adjusted so that the vibrations are felt at positions corresponding to the direction of the notification target vehicle V2 located to the left front of the vehicle V1.

[0152] FIG. 13B is a diagram showing a preferred embodiment of the seventh embodiment. When changing lanes, the direction of movement for the lane change can be considered to be the danger side of the vehicle V1. In FIG. 13B , a configuration is configured to strongly make the occupant of the vehicle V1 aware of the presence of a notification target vehicle V2 on the danger side. In the example shown in FIG. 13B , a notification using vibration is given priority over other notification target vehicles V2 on a notification target vehicle V2 with a high risk level among multiple notification target vehicles. In other words, a notification using a continuous vibration pattern is given priority over other vehicles V2 detected in a detection range with a high risk level among multiple detection ranges. This reduces the possibility that the occupant of the vehicle V1 will fail to recognize the presence of a notification target vehicle V2 on the danger side.

[0153] In the example shown in Fig. 13B, vehicle V1 changes lanes to the right. Therefore, the right side of vehicle V1 is the dangerous side, and the right side is given a priority in vibration alert notification. In this example, the priority is to increase the intensity of vibration compared to the other sides. The output levels of vibrators 6a and 6b on the right side of seat 111 are set to be higher than the output levels of vibrators 6c and 6d on the left side of seat 111 (see the size of the black dots in the figure).

[0154] (1-2-3-8. Eighth Example) Next, an eighth example will be described. The eighth example is a modified version of the seventh example, and is similar to the seventh example in terms of the surroundings of the vehicle (host vehicle) V1 and the fact that the vehicle V1 is scheduled to change lanes to the right-hand driving lane L2. The following description will focus on the differences from the seventh example.

[0155] 14A is a diagram showing a schematic diagram of the vibration state of the seat 111 in the eighth embodiment. In the seventh embodiment, notifications using vibration were simultaneously issued for multiple notification targets. In this embodiment, notifications using vibration are issued for multiple notification targets with a time lag. In other words, notifications using a continuous vibration pattern are issued for other vehicles V2 detected in multiple detection ranges with a time lag. In this way, the presence status of the notification target vehicle V2 is notified at different times for each of the multiple notification targets, so that the presence status of the notification target vehicle V2 for each notification target can be clearly grasped.

[0156] In Fig. 14A, two seats 111 are shown, which show how the vibration state of the seats 111 changes along the time axis indicated by the arrows. In the example shown in Fig. 14, first, the presence of a vehicle V2 to be notified on the right side, which is one of the notification targets, is notified by vibration. Specifically, the first vibrator 6a and the second vibrator 6b on the right side of the seat 111 vibrate with the intensity ratio of their vibrations adjusted (in this example, the vibration intensity of the second vibrator 6b is higher). This allows the occupant of the vehicle V1 to recognize the presence of another vehicle V2 to the right rear of the vehicle V1.

[0157] Next, the presence of another vehicle V2 to be notified on the left side of the vehicle V1 is notified by vibration. Specifically, the third vibrator 6c and the fourth vibrator 6d on the left side of the seat 111 vibrate with the intensity ratio of their vibrations adjusted (in this example, the vibration intensity of the fourth vibrator 6d is higher). This allows the occupant of the vehicle V1 to recognize that the other vehicle V2 is located to the left front of the vehicle V1.

[0158] Here, the presence status of the vehicle V2 to be notified is notified in the order of right side and left side, but the presence status of the vehicle V2 to be notified may also be notified in the order of left side and right side.

[0159] FIG. 14B is a diagram showing a preferred embodiment of the eighth embodiment. The configuration shown in FIG. 14B is a configuration that makes the occupant of vehicle V1 strongly aware of the presence of a notification target vehicle V2 on the danger side of vehicle V1. As shown in FIG. 13B of the seventh embodiment, the configuration may be such that the danger side is made aware by changing the vibration intensity. However, in this example, the danger side is made aware by changing the frequency of notification. In other words, the priority mode executed on the danger side is to increase the frequency of notification. In addition, priority notification based on each vibration parameter such as notification order and vibration intensity is possible.

[0160] In the example shown in FIG. 14B , vehicle V1 changes lanes to the right. For this reason, the right side of vehicle V1 is the dangerous side, and a notification using vibration is given priority on the right side. In this example, a notification of the notification target vehicle V2 is given twice in succession on the right side, which is the priority side. Then, a notification of the notification target vehicle V2 is given once on the left side, which is not the priority side. Note that the number of consecutive notifications on the priority side is not limited to two, and may be three or more. Furthermore, it is preferable to insert a division vibration (a period without vibration or a period with highly distinguishable vibration) indicating the division between notifications between each notification vibration.

[0161] <<2. Second Embodiment>> Next, a second embodiment will be described. In describing the second embodiment, the description of the same content as in the first embodiment will be omitted unless there is a particular need to explain it.

[0162] 15 is a block diagram showing a schematic configuration of a notification system 200A according to the second embodiment. Similar to the notification system 200 according to the first embodiment, the notification system 200A includes a vibration control device 5A and a plurality of vibrators 6. The plurality of vibrators 6 are made up of a first vibrator 6a, a second vibrator 6b, a third vibrator 6c, and a fourth vibrator 6d. Similar to the first embodiment, the four vibrators 6a to 6d are disposed in the seat 111 of the vehicle V1.

[0163] The notification system 200A further includes a microphone 12. In this embodiment, there are multiple microphones 12. Specifically, the microphones 12 are composed of a first microphone 12a, a second microphone 12b, a third microphone 12c, and a fourth microphone 12d. The four microphones 12a to 12d are disposed at appropriate positions of the vehicle (host vehicle) V1 where the vibrator 6 is disposed. In this embodiment, the first microphone 12a is disposed on the right rear side of the vehicle V1, the second microphone 12b is disposed on the right front side of the vehicle V1, the third microphone 12c is disposed on the left rear side of the vehicle V1, and the fourth microphone 12d is disposed on the left front side of the vehicle V1.

[0164] The first microphone 12a is provided corresponding to the first vibrator 6a. The second microphone 12b is provided corresponding to the second vibrator 6b. The third microphone 12c is provided corresponding to the third vibrator 6c. The fourth microphone 12d is provided corresponding to the fourth vibrator 6d. In other words, each microphone is set to correspond to a vibrator 6 that generates vibrations corresponding to an object in the direction in which the microphone collects sound. The number of microphones 12 corresponds to the number of vibrators 6 in the vehicle V1. However, if the microphone 12 is, for example, a microphone that has directivity in a 360-degree direction and can extract sound from any direction (a 360-degree directional microphone), the number of microphones 12 may be one. If the microphone 12 is a 360-degree directional microphone, the microphone 12 may be located, for example, in the center of the ceiling of the vehicle V1 or near the seat 11 in which a passenger (preferably the driver) sits and who receives the vibration alert.

[0165] The vibration control device 5A includes a vibration signal generator 511 that generates a vibration signal that vibrates the vibrator 6 based on the sound picked up by the microphone 12. The vibration signal generator 511 is a functional part of a controller included in the vibration control device 5A. In this embodiment, the vibration signal generator 511 includes a first vibration signal generator 511a, a second vibration signal generator 511b, a third vibration signal generator 511c, and a fourth vibration signal generator 511d.

[0166] The first vibration signal generator 511a receives input of the sound data collected by the first microphone 12a. The second vibration signal generator 511b receives input of the sound data collected by the second microphone 12b. The third vibration signal generator 511c receives input of the sound data collected by the third microphone 12c. The fourth vibration signal generator 511d receives input of the sound data collected by the fourth microphone 12d. Note that this configuration is merely an example, and a configuration may also be adopted in which one vibration signal generator 511 acquires data from the four microphones 12a to 12d and processes the acquired data.

[0167] Each of the vibration signal generators 511a to 511d acquires a sound to be used for vibration alerts from the input sound collection data by performing processing such as sound source separation. The sound used for vibration alerts is a sound (running sound) emitted by a target vehicle (other vehicle) V2 that is present around the vehicle V1. Each of the vibration signal generators 511a to 511d generates a vibration signal based on sound data of the running sound of the target vehicle (other vehicle) V2 that is acquired by processing such as canceling processing of the sound emitted by the vehicle itself (eliminating the sound using an antiphase sound, etc.) and attenuating processing of ambient environmental sounds (attenuating filter processing of specific frequency band sounds for raindrops, etc.).

[0168] The collected sounds may be used without being subjected to sound source separation. Furthermore, each of the vibration signal generators 511a to 511d may appropriately perform pitch shifting (frequency division) or equalization on the collected sounds. For example, the collected sounds may be pitch shifted or equalized so that they fall within a frequency range (e.g., 50-150 Hz) that is important for vibration generation.

[0169] In this embodiment, the vibrator 6 is vibrated by a vibration signal generated based on sounds collected from around the vehicle. The first vibrator 6a vibrates in response to the vibration signal generated by the first vibration signal generator 511a. The second vibrator 6b vibrates in response to the vibration signal generated by the second vibration signal generator 511b. The third vibrator 6c vibrates in response to the vibration signal generated by the third vibration signal generator 511c. The fourth vibrator 6d vibrates in response to the vibration signal generated by the fourth vibration signal generator 511d.

[0170] FIG. 16 is a diagram schematically illustrating the positional relationship between the microphone 12 and the vibrator 6. As shown in FIG. 16, the first vibrator 6a, located in the rear right portion of the seat 111, vibrates based on a vibration signal generated by the first microphone 12a picking up sounds mainly from the rear right of the vehicle V1. The second vibrator 6b, located in the front right portion of the seat 111, vibrates based on a vibration signal generated by the second microphone 12b picking up sounds mainly from the front right of the vehicle V1. The third vibrator 6c, located in the rear left portion of the seat 111, vibrates based on a vibration signal generated by the third microphone 12c picking up sounds mainly from the rear left of the vehicle V1. The fourth vibrator 6d, located in the front left portion of the seat 111, vibrates based on a vibration signal generated by the fourth microphone 12d picking up sounds mainly from the front left of the vehicle V1.

[0171] As can be seen from the above, in the second embodiment, an alert is provided using vibrations based on a vibration signal generated based on sound collected from around the vehicle V1. Specifically, an alert is provided using a vibrator 6 that vibrates in response to a vibration signal generated based on the collected sound. This differs from the first embodiment, in which a vibration signal is generated using vibration data (sound source data) 52a pre-stored in a memory 52 to vibrate the vibrator 6. According to the configuration of the second embodiment, the vibrator 6 is vibrated using sound from an actually approaching alert target (other vehicle) V2, making it easier to appropriately convey the direction and distance of the alert target vehicle V2. In other words, since the sound collected from around the vehicle V1 includes a directional component and a distance component of the alert target vehicle V2, using this sound makes it possible to generate vibrations that include directional information and distance information about the alert target vehicle V2.

[0172] In this embodiment, as in the first embodiment, notification control using vibration is started when the notification start condition is met, and notification control using vibration is ended when the notification end condition is met (see Figure 4).

[0173] 17A and 17B are diagrams schematically illustrating the presence state of a vehicle V2 to be notified and the vibration state of the seat 111 corresponding to the presence state. Fig. 17B is a diagram assuming that a short time has passed since the time shown in Fig. 17A. In Fig. 17A and 17B, a vehicle (host vehicle) V1 is attempting to change lanes from the current lane L1 to the right-hand lane L2. Furthermore, one other vehicle present around the vehicle V1 has been detected as a vehicle V2 to be notified.

[0174] In the figures explaining the second embodiment, as in the figures explaining the examples of the first embodiment, in the figures showing the vibration state of the seat 111 (for example, the right-hand figure in FIG. 17A ), hatching inside the circle representing the vibrator 6 indicates that the vibrator 6 is vibrating. Differences in the density of the hatching color indicate different strengths. Furthermore, black circles in the figures indicate the locations where the occupant feels the vibration. Furthermore, the size of the black circle indicates the strength of the vibration, with larger sizes indicating greater (stronger) vibration strength.

[0175] 17A, another vehicle (notification target vehicle) V2 is present within the detection range (indicated by a two-dot chain line) on the right side, which is the notification target side, of vehicle V1, and therefore a vibration notification is issued. At this time, of the four microphones 12a to 12d, the microphones 12a and 12b, which are located on the right side of vehicle V1, pick up the sound of the notification target vehicle V2. In particular, because the notification target vehicle V2 is located on the right rear side of vehicle V1, a loud sound is picked up by the first microphone 12a, which is located on the right rear side of vehicle V1.

[0176] For this purpose, the first vibrator 6a, which vibrates based on the sound picked up by the first microphone 12a, vibrates with a high intensity. The second vibrator 6b, which vibrates based on the sound weakly picked up by the second microphone 12b, vibrates with a low intensity. Note that, in this example, the third vibrator 6c and the fourth vibrator 6d are not vibration targets because they are not the target of notification. Whether or not they are vibration targets is determined by, for example, controlling a switch (not shown) that switches between a state in which sound can be input to the vibrator 6 and a state in which sound cannot be input. It is also possible to prevent the third vibrator 6c and the fourth vibrator 6d from being vibration targets by controlling the corresponding microphones 12c and 12d to be blocked.

[0177] The occupant of vehicle V1 to which the vibrations are applied feels the vibrations at a position corresponding to the intensity ratio of the vibrations of the first vibrator 6a and the second vibrator 6b. In the right diagram of Fig. 17A, the center of gravity G is the center of gravity position (assumed center of gravity position) of the occupant sitting on the seat portion 111. With the center of gravity G as the reference, the position of the vibration felt by the occupant of vehicle V1 is in a direction close to the direction of the target vehicle V2.

[0178] 17B , when the relative positions of the target vehicle V2 and the vehicle V1 change, the ratio of the sounds picked up by the first microphone 12a and the second microphone 12b (the traveling sounds of the target vehicle V2) changes. Accordingly, the vibration intensity ratio between the first vibrator 6a and the second vibrator 6b changes. As a result, the position of the vibration felt by the occupant of the vehicle V1 changes.

[0179] In the example shown in Fig. 17B, the notification target vehicle V2 is closer to vehicle V1 than in the example shown in Fig. 17A. As a result, the proportions of sounds picked up by the first microphone 12a and the second microphone 12b become closer. As a result, the vibration intensity of the first vibrator 6a and the vibration intensity of the second vibrator 6b become closer, and the position of the vibration felt by the occupant of vehicle V1 is further forward than in the example shown in Fig. 17A. In other words, the vibration can be felt at a position corresponding to the actual direction and movement of the notification target vehicle V2.

[0180] In the second embodiment, when the vehicles V2 to be notified are lined up in the front-to-rear direction, vibrations (continuous vibration patterns) may be generated intermittently to notify the number of vehicles V2 to be notified. In this case, the number of vehicles V2 to be notified needs to be detected by image analysis processing of camera images, a radar device, or analysis processing of sounds collected by multiple microphones. In the second embodiment, as in the sixth example of the first embodiment, the information lacking due to vibration may be compensated for by providing a visual or audio notification in addition to the notification by vibration.

[0181] In the second embodiment, similarly to the seventh example of the first embodiment, a configuration in which there are multiple notification targets may be adopted. Fig. 18A is a diagram schematically illustrating the presence state of a notification target vehicle V2 and the vibration state of the seat 111 corresponding to the presence state when there are multiple notification targets. In Fig. 18A, the vehicle V1 is attempting to change lanes from the current driving lane L1 to the driving lane L2 to the right.

[0182] 18A, a passenger car, which is a vehicle V2 to be notified, is located in the right-hand driving lane L2, which is the vehicle to be notified. A truck, which is another vehicle V2 to be notified, is located in the left-hand driving lane L3, which is the other vehicle to be notified.

[0183] Of the four microphones 12a to 12d, microphones 12a and 12b, which are mainly arranged on the right side of vehicle V1, pick up sounds from a vehicle (standard passenger car) V2 that is located to the rear right of vehicle V1. The occupants of vehicle V1 feel the vibrations on the right side at a position corresponding to the vibration intensity ratio between first vibrator 6a, which vibrates based on the sound picked up by first microphone 12a, and second vibrator 6b, which vibrates based on the sound picked up by second microphone 12b.

[0184] Of the four microphones 12a to 12d, microphones 12c and 12d, which are mainly arranged on the left side of vehicle V1, pick up sounds from a target vehicle (truck) V2 located ahead on the left side of vehicle V1. The occupant of vehicle V1 feels the vibrations on the left side at a position corresponding to the vibration intensity ratio between third vibrator 6c, which vibrates based on the sound picked up by third microphone 12c, and fourth vibrator 6d, which vibrates based on the sound picked up by fourth microphone 12d.

[0185] The volume of traveling noise differs between standard passenger cars and trucks. Specifically, trucks produce louder noise than standard passenger cars. For this reason, in the situation shown in FIG. 18A, the occupants of vehicle V1 will feel greater vibration on the left side than on the right side. Considering that vehicle V1 is about to change lanes to the right, it is not necessarily desirable for the occupants of vehicle V1 to focus on the left side rather than the right side.

[0186] FIG. 18B illustrates a preferred vibration state of the seat 111 in the surrounding conditions illustrated in FIG. 18A . As illustrated in FIG. 18B , it is preferable that the vibration intensity felt by the occupant of the vehicle V1 be greater on the side requiring increased attention (the side with the highest risk) (see the size of the black circle). That is, when there are multiple notification targets, it is preferable to adjust the output (vibration intensity) of the vibrator 6 so that it is stronger on the notification target side that requires particular attention. Furthermore, when a vehicle emitting a loud running noise, such as a truck, is detected around the vehicle V1, it is preferable to adjust the output (vibration intensity) of the vibrator 6, which vibrates based on the sound picked up by the microphone 12 located in the direction of the detected loud running vehicle. Alternatively, it is possible to change the notification priority by adjusting the notification frequency and notification order for the right and left sides. Regarding the generation of various continuous vibration patterns (including the setting of division periods), a data table having various parameters (conditions for determining a continuous vibration pattern) required for generating the continuous vibration pattern is appropriately created in advance using experiments, etc., as shown in Fig. 8B, Fig. 9B, and Fig. 10B. Then, by generating a continuous vibration pattern using the data in the data table, a continuous vibration pattern of a corresponding form can be generated.

[0187] <<3. Points to Note>> Various modifications can be made to the various technical features disclosed in the detailed description of the present invention without departing from the spirit of the technical creation. Furthermore, multiple embodiments, examples, and modifications disclosed in the detailed description of the present invention can be combined to the extent possible.

[0188] <<4. Supplementary Notes>> The following supplementary notes are further disclosed regarding the above-described embodiments, examples, and modifications.

[0189] The present disclosure can have the following configurations (1) to (22).

[0190] (1) A control method for notifying a vehicle occupant of the number of other vehicles around the vehicle by using vibrations, the control method including: generating a number of continuous vibration patterns equal to the number of other vehicles in a vibrator of the plurality of vibrators that transmits vibrations to the occupant of the vehicle; and

[0191] (2) The notification control method according to (1), further comprising changing the continuous vibration pattern depending on the distance of the other vehicle from the vehicle.

[0192] (3) The notification control method according to (1) or (2), further comprising changing the intensity of the continuous vibration pattern depending on the size of the other vehicle.

[0193] (4) The notification control method according to any one of (1) to (3), wherein a time period of the continuous vibration pattern is changed depending on a length of the other vehicle.

[0194] (5) The notification control method according to any one of (1) to (4), wherein the plurality of vibrators generate the continuous vibration patterns with different intensities depending on the position of the other vehicle.

[0195] (6) The notification control method according to any one of (1) to (4), wherein the plurality of vibrators generate the continuous vibration patterns with different intensities depending on the relative speed of the other vehicle with respect to the vehicle.

[0196] (7) The notification control method according to any one of (1) to (5), wherein the continuous vibration pattern for notifying the status of the other vehicle is repeated, and the continuous vibration pattern is changed depending on the movement of the other vehicle during the repetition.

[0197] (8) The notification control method according to any one of (1) to (7), wherein the detection range of the other vehicle is determined based on a driving operation state of the vehicle.

[0198] (9) The notification control method according to (8), wherein the detection range of the other vehicle is determined based on a planned direction of movement of the vehicle.

[0199] (10) The notification control method according to any one of (1) to (9), wherein the detection range for the other vehicle has a predetermined shape and size.

[0200] (11) The notification control method according to (10), further comprising generating a continuous vibration pattern different from the continuous vibration pattern when the number of other vehicles is zero.

[0201] (12) The notification control method according to any one of (1) to (11), wherein the detection range of the other vehicle is set so as to be changeable.

[0202] (13) The notification control method according to any one of (1) to (12), wherein the detection range of the other vehicle is plural.

[0203] (14) The notification control method according to (13), wherein the notification is performed using the continuous vibration pattern with a time lag for other vehicles detected in the plurality of detection ranges.

[0204] (15) The notification control method described in (13) or (14), in which a notification is given using the continuous vibration pattern in a manner that prioritizes other vehicles detected in a detection range with a high risk among the plurality of detection ranges compared to other vehicles detected in other detection ranges.

[0205] (16) The notification control method according to any one of (1) to (15), wherein the vibrator is vibrated by a vibration signal generated based on a sound collected from around the vehicle.

[0206] (17) A control method for notifying a vehicle occupant of the number of other vehicles around by using vibrations, the control method having a vibrator that applies vibrations at a variable position to give the occupant a vibration sensation, the notification control method generating a sense of continuous vibration patterns equal in number to the number of other vehicles at the body position of the occupant on the side facing the other vehicles.

[0207] (18) The notification control method according to any one of (1) to (17), wherein the occurrence of a new vehicle that is to be notified is notified to an occupant of the vehicle by using vibration.

[0208] (19) The notification control method according to any one of (1) to (18), wherein the notification is made to an occupant of the vehicle by using vibrations to notify the occupant that the other vehicle is no longer a target for notification.

[0209] (20) A control device having a plurality of vibrators that transmit vibrations to vehicle occupants, and for notifying the occupants of the number of other vehicles around the vehicle by the vibrations, wherein the control device detects other vehicles around the vehicle, and generates continuous vibration patterns in the same number as the number of other vehicles in one of the plurality of vibrators that is opposite the detected other vehicle.

[0210] (21) A notification control program that controls a plurality of vibrators that transmit vibrations to vehicle occupants and notifies the occupants of the number of other vehicles around the vehicle by the vibrations, the notification control program detecting other vehicles around the vehicle and causing one of the plurality of vibrators that is facing the detected other vehicle to generate continuous vibration patterns in the same number as the number of the other vehicles.

[0211] (22) An alarm system that uses vibrations to notify occupants of a vehicle of the presence of other vehicles around the vehicle, comprising: a seat arranged in the vehicle; a plurality of vibrators arranged in the seat; and a vibration control device that controls the operation of the vibrators, wherein the vibration control device detects other vehicles around the vehicle, and generates continuous vibration patterns in the same number as the number of other vehicles in one of the plurality of vibrators that is opposite the detected other vehicle.

[0212] 5, 5A... Vibration control device 6... Vibrator 6a... First vibrator 6b... Second vibrator 6c... Third vibrator 6d... Fourth vibrator 52b... Notification control program 200, 200A... Notification system V1... Vehicle V2... Other vehicle, vehicle to be notified

Claims

1. A control method for a vehicle having a plurality of vibrators that transmit vibrations to occupants, and for notifying the occupants of the number of other vehicles around by the vibrations, the notification control method comprising generating a number of continuous vibration patterns equal to the number of other vehicles in one of the plurality of vibrators that faces the other vehicles.

2. The notification control method according to claim 1, further comprising changing the continuous vibration pattern in accordance with the distance of the other vehicle from the vehicle.

3. The notification control method according to claim 1, further comprising changing the intensity of the continuous vibration pattern depending on the size of the other vehicle.

4. The notification control method according to claim 1, further comprising changing a duration of the continuous vibration pattern in accordance with a length of the other vehicle.

5. The notification control method according to claim 1, further comprising the step of causing each of said plurality of vibrators to generate said continuous vibration pattern with a different intensity depending on the position of said other vehicle.

6. The notification control method according to claim 1, further comprising the step of: causing each of said plurality of vibrators to generate said continuous vibration pattern with a different intensity in accordance with the relative speed of said other vehicle with respect to said vehicle.

7. The notification control method according to claim 1, wherein the continuous vibration pattern for notifying the other vehicle of the situation is repeated, and the continuous vibration pattern is changed according to the movement of the other vehicle during the repetition.

8. A notification control method according to any one of claims 1 to 7, wherein the detection range of the other vehicle is determined based on a driving operation state of the vehicle.

9. The notification control method according to claim 8, wherein the detection range for the other vehicle is determined based on a planned direction of movement of the vehicle.

10. The notification control method according to claim 8, wherein the detection range of the other vehicle has a predetermined shape and size.

11. The notification control method according to claim 10, further comprising generating a continuous vibration pattern different from the continuous vibration pattern when the number of other vehicles is zero.

12. A notification control method according to any one of claims 1 to 7, wherein the detection range for other vehicles is set in a changeable manner.

13. The notification control method according to claim 12, wherein the detection range for the other vehicle is a plurality of ranges.

14. The notification control method according to claim 13, further comprising the step of: notifying other vehicles detected within the plurality of detection ranges using the continuous vibration pattern with a time lag.

15. The notification control method as described in claim 13, wherein a notification using the continuous vibration pattern is given priority to other vehicles detected in a detection range having a high risk among the plurality of detection ranges compared to other vehicles detected in other detection ranges.

16. The notification control method according to claim 1, further comprising vibrating the vibrator in response to a vibration signal generated based on a sound picked up from around the vehicle.

17. A control method for notifying a vehicle occupant of the number of nearby vehicles by vibration, the control method having a vibrator that applies vibrations at a variable position to give the occupant a vibration sensation, the control method generating a sense of continuous vibration patterns equal in number to the number of nearby vehicles at the occupant's body position on the side facing the other vehicles.

18. A control device having a plurality of vibrators that transmit vibrations to vehicle occupants, and for notifying the occupants of the number of other vehicles in the vicinity through the vibrations, the control device detecting other vehicles around the vehicle, and generating continuous vibration patterns in the same number as the number of other vehicles in one of the plurality of vibrators that faces the detected other vehicles.

19. A notification control program that controls a plurality of vibrators that transmit vibrations to vehicle occupants and notifies the occupants of the number of other vehicles in the vicinity through the vibrations, the notification control program detecting other vehicles around the vehicle and generating continuous vibration patterns in the same number as the number of other vehicles in one of the plurality of vibrators that faces the detected other vehicles.

20. An alarm system that uses vibration to inform occupants of a vehicle of the presence of other vehicles around the vehicle, comprising: a seat arranged in the vehicle; a plurality of vibrators arranged in the seat; and a vibration control device that controls the operation of the vibrators, wherein the vibration control device detects other vehicles around the vehicle, and generates continuous vibration patterns in the same number as the number of other vehicles in one of the plurality of vibrators that faces the detected other vehicles.

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