JP2004295472A - Warning device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent an annunciating device from outputting any warning signal when a driver already recognizes an obstacle in order to prevent a warning device from interfering. <P>SOLUTION: When an obstacle detecting device detects any obstacle to a vehicle, an obstacle direction detecting device detects the direction of the obstacle. A driver's line of sight direction detecting device detects the direction of the line of sight of a driver. A direction deciding device decides whether the direction of the obstacle detected by the obstacle direction detecting device is in the same direction as the line of sight of the driver detected by the line of sight direction detecting device. When it is decided that those directions are not matching, a warning signal is outputted from an annunciating device, and when it is decided that those directions are the same, no warning signal is outputted, or only a weak warning signal is outputted. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an alarm device that detects an obstacle to a vehicle and notifies a driver of the obstacle.
[0002]
[Prior art]
Conventionally, the driver's eyeball is photographed with an infrared camera, the gaze direction is detected from the image, the driver's gaze direction area is set on the front windshield, and the position of obstacles around the vehicle is detected using infrared radar. Detect the direction, between the position direction of the obstacle and the center of the line-of-sight direction area, display an alarm mark with a head-up display, the position direction of the obstacle is separated from the driver's line-of-sight direction by a predetermined amount Japanese Patent Application Laid-Open No. Hei 6-230132 describes that the warning mark is emphasized when it is present.
[0003]
[Patent Document 1]
JP-A-6-230132 (pages 5, 6; FIG. 11)
[0004]
[Problems to be solved by the invention]
In the above-described conventional device, when the obstacle detection unit detects an obstacle around the vehicle, the driver issues a warning signal even if the driver recognizes the obstacle. There is a risk of stopping.
[0005]
SUMMARY OF THE INVENTION The present invention has been made to solve such a conventional problem. When a driver recognizes an obstacle, a warning signal is not output from a notification device or a weak warning signal is output. This eliminates the need for an alarm device.
[0006]
[Means for Solving the Problems]
In order to solve the above problem, a structural feature of the invention according to claim 1 is a vehicle alarm device that sends an alarm signal from a notification device when an obstacle detection device detects an obstacle to a vehicle. A gaze direction detecting device for detecting the direction of the line of sight, an obstacle direction detecting device for detecting the direction of the obstacle, and determining whether or not the direction of the obstacle and the direction of the line of sight of the driver are the same. A direction determination device, when the direction determination device determines that the direction is not the same direction, outputs an alarm signal from the notification device, and when it is determined that the direction is the same direction, does not output a warning signal from the notification device or a weak warning signal. That is, an alarm output device for outputting is provided.
[0007]
A structural feature of the invention according to claim 2 is that, in claim 1, the obstacle direction detection device detects a direction of the obstacle as viewed from a driver, and the determination unit determines a direction from the driver of the obstacle. When the angle between the viewing direction and the direction of the driver's line of sight is equal to or less than a predetermined value, it is determined that the direction of the obstacle and the direction of the driver's line of sight are the same.
[0008]
According to a third aspect of the present invention, in the first aspect, the obstacle direction detection device divides the periphery of the vehicle into a plurality of areas, and identifies the area where the obstacle exists by specifying the area where the obstacle exists. The direction of the obstacle is detected, and the direction determination unit determines the direction of the obstacle and the direction of the driver when the driver's line of sight is within an angular range defined as being the same direction as the area where the obstacle is present. This is to determine that the direction of the line of sight is the same direction.
[0009]
According to a fourth aspect of the present invention, there is provided any one of the first to third aspects, further comprising: an obstacle risk identification device that identifies a risk of an obstacle detected by the obstacle detection device; The notification device can output a plurality of types of alarm signals set in association with the obstacle risk, and the direction determination device determines that the direction of the obstacle and the direction of the driver's line of sight are not the same direction. In this case, the alarm output device outputs an alarm signal associated with the obstacle risk specified by the obstacle risk specifying device to the notification device.
[0010]
[Action and Effect of the Invention]
When the obstacle detection device detects an obstacle to the vehicle, the obstacle direction detection device detects the direction of the obstacle. The driver's line-of-sight direction detection device detects the direction of the driver's line of sight. The direction determination device determines whether the direction of the obstacle detected by the obstacle direction detection device and the direction of the driver's line of sight detected by the gaze direction detection device are the same. When the direction is not the same, an alarm signal is output from the notification device, but when the direction is the same, no alarm signal is output or a weak alarm signal is output. With this, when the driver recognizes the obstacle, the warning signal is not output or a weak warning signal is output, so that the warning has no sense of intervention, and the driver feels noisy and stops operating the warning device. No more.
[0011]
In the invention according to claim 2 configured as described above, the direction of the obstacle detected by the obstacle direction detection device as viewed from the driver and the driver's gaze detected by the driver's gaze direction detection device are determined. If the angle between the direction and the direction is equal to or less than a predetermined value, it is determined that the direction of the obstacle and the direction of the driver's line of sight are the same direction. can do.
[0012]
In the invention according to claim 3 configured as described above, when the driver's line of sight is in an angle range defined as being in the same direction as the area where the obstacle exists, the direction of the obstacle and the driver Is determined to be the same direction, it is possible to quickly determine with a simple configuration whether or not the driver has recognized the obstacle.
[0013]
In the invention according to claim 4 configured as described above, the danger level of the obstacle is specified by the obstacle danger identification device, and the obstacle is determined only when the direction of the obstacle and the direction of the driver's line of sight are not the same direction. Since the warning signal associated with the degree of object danger is output, the presence of the obstacle can be notified without a sense of care through an alarm signal appropriately selected according to the degree of danger.
[0014]
Embodiment
Hereinafter, a vehicle alarm device 1 according to a first embodiment of the present invention will be described with reference to the drawings. In the present invention, the obstacle is an object such as a car, a bicycle, a person, and a three-dimensional object that may come into contact with or collide with the vehicle 2 on which the vehicle alarm device 1 is mounted. In the first embodiment, It is assumed that all the vehicles 2 have the vehicle alarm device 1 mounted thereon, and one of the two vehicles located within a predetermined distance (hereinafter, referred to as the own vehicle 2a) and the other vehicle (hereinafter, referred to as another vehicle 2b). .) Is an obstacle. As shown in FIG. 1, each vehicle 2 includes an electronic control unit 5 including a central processing unit 3 and a storage device 4, a traveling state detection device 6, a line-of-sight direction detection device 7, a communication device 8, and a light emitting device serving as a notification device. 9 is mounted. The storage device 4 stores various programs, which will be described later, and also stores information on the overall length of the vehicle and vehicle information including the vehicle type. The traveling state detection device 6 includes a GPS receiver 10, a wheel speed sensor 11, position information (latitude, longitude, altitude, etc.) obtained from the GPS receiver 10, and a wheel speed obtained from the wheel speed sensor 11. And a running state calculating device 12 for calculating a running state such as a current position, a traveling direction, and a vehicle speed based on the information. Are sequentially updated and stored. Between the vehicles 2 existing within a range limited by communication (for example, within a few hundred meters), the vehicle includes traveling state information such as the current position, the traveling direction and the vehicle speed of each vehicle, and information on the total length of the vehicle and the vehicle type. The information and the information are mutually transmitted and received by the communication device 8 in the vehicle-to-vehicle communication. The latest traveling state information such as the current position, traveling direction, and vehicle speed of the other vehicle 2b stored in the storage device 4 of the electronic control unit 5 of the other vehicle 2b, and the vehicle information including the information on the overall length of the vehicle and the vehicle type are constant. The data is taken into the electronic control unit 5 by the communication device 8 at intervals, and is sequentially updated and stored in the storage device 4.
[0015]
The electronic control unit 5 executes the program 15P for detecting an obstacle as the obstacle detection device 15, calculates the inter-vehicle distance from the current positions of the own vehicle 2a and the other vehicle 2b, and sets the position within a certain distance from the own vehicle 2a. The other vehicle 2b is detected as an obstacle. The program 16P for detecting the direction of the obstacle is executed as the obstacle direction detection device 16. The program 17P for identifying the danger of an obstacle is executed as the obstacle danger identification device 17, and the possibility that the other vehicle 2b detected as an obstacle by the obstacle detection device 15 and the own vehicle 2a collide with each other is determined. The obstacle risk is specified by estimating the current position, traveling direction, speed, and the like of the vehicle 2a and the other vehicle 2b. The program 18P that determines whether the direction of the obstacle and the direction of the driver's line of sight is the same direction is executed as the direction determination device 18, the alarm output program 19P is executed as the alarm output device 19, and the direction determination device 18 When it is determined that the directions are not the same direction, an alarm signal associated with the obstacle danger specified by the obstacle danger identification device 17 is output from a plurality of types of alarms set in association with the obstacle danger. The light emitting device 9 is output, and when it is determined that the directions are the same, a weak warning signal is output to the light emitting device 9.
[0016]
That is, the electronic control unit 5 of the own vehicle 2a detects the obstacle by executing the obstacle detection program 15P shown in FIG. 2 at a constant cycle (for example, several msec). The traveling state information of the own vehicle 2a and the other vehicle 2b is read from the storage device 4 (step S21), and the own vehicle 2a and the other vehicle 2b are displayed on the map 21 as shown in FIG. Step S22). In the example shown in FIG. 3, there is shown a case where two competitors 2b1 and 2b2 exist around the own vehicle 2a. In step S23, it is determined whether or not the other vehicle 2b1 is located within a certain distance (for example, 400 m) with respect to the own vehicle 2a. When the other vehicle 2b1 is located within a certain distance from the own vehicle 2a, the other vehicle 2b1 is detected as an obstacle and stored in the storage device 4 (step S24). Next, it is determined for the other vehicle 2b2. If it is not located within a certain distance, it is determined that there is no possibility of collision with the own vehicle 2a, and the process jumps to step S25. When the determination has been completed for all the other vehicles 2b, the obstacle direction detection program 16P shown in FIG. 4 is executed, and the other vehicle 2b1 detected as an obstacle and the driver 13 are connected by a straight line, and the driver of the obstacle Is detected (step S41). The angle β of the direction 31 as viewed from the driver of the obstacle with respect to the straight traveling direction of the vehicle is determined (step S42).
[0017]
Next, the obstacle risk identification program 17P shown in FIG. 5 is executed. In order to calculate the obstacle risk of the other vehicle 2b1 detected as an obstacle, the routes 22a and 22b are assumed in the traveling direction from the current positions of the own vehicle 2a and the other vehicle 2b1 and are written in the map 21 ( Step S51). The time t required for the vehicle 2a to arrive at the predicted vehicle arrival point 23a, which is the intersection of the paths 22a and 22b, from its current position is calculated, and the other vehicle 2b arrives on the path 22b after the elapse of the time t. The predicted arrival point 23b is predicted. The own vehicle and other vehicle predicted circles 24a and 24b are drawn on the map 21 as shown in FIG. 3 with the own vehicle and other vehicle predicted arrival points 23a and 23b as the center (step S52).
[0018]
In this case, the radii of the predicted circle 24a of the own vehicle 2a and the predicted circle 24b of the other vehicle 2b1 are basically determined based on the total lengths of the own vehicle 2a and the other vehicle 2b1 (the radius of the predicted circle = the total length of the vehicle). ), The overall length of each vehicle is determined by weighting according to the vehicle speed of each vehicle. As shown in FIG. 6, the radius of the expected vehicle circle 24a is obtained by multiplying the total length of the own vehicle 2a by a weighting coefficient proportional to the vehicle speed of the own vehicle 2a. The expected vehicle circle 24a is drawn. The radius of the other vehicle predicted circle 24b is obtained by multiplying the total length of the other vehicle 2b1 by a weighting coefficient proportional to the vehicle speed of the other vehicle 2b1. be painted. In this way, if the own vehicle 2a and the other vehicle 2b1 are weighted by the vehicle speed, an error due to the vehicle speed of the own vehicle 2a and the other vehicle 2b1 up to the own vehicle and the other vehicle arrival expected points 23a and 23b is taken into consideration. It is possible to draw the expected circles 24a and 24b of the own vehicle and the other vehicle.
[0019]
Thereafter, it is determined whether or not the own vehicle predicted circle 24a and the other vehicle predicted circle 24b overlap (step S53), and if they do not overlap, the degree of risk is specified as small (step S54). When the predicted vehicle circle 24a (area Sa) and the predicted vehicle circle 24b (area Sb) overlap, the area of the overlapping portion (Sa∧Sb) is calculated (step S55). The ratio (Sa∧Sb) / Sa of the area Sa of the overlapping portion and the area Sa of the estimated vehicle circle 24a is calculated as the collision ratio at which the own vehicle 2a and the other vehicle 2b collide (step S56). If the collision rate is 30% or more (Step S57), the obstacle risk is determined to be high (Step S58), and if the collision ratio is equal to or less than 30%, the obstacle risk is determined to be medium (Step S59). . Steps S51 to S59 are repeated for all other vehicles 2b located within a certain distance from the host vehicle 2a and detected as obstacles (step S60), and the degree of obstacle risk is specified.
[0020]
A gaze direction detection device 7 that detects the direction of the gaze of the driver 13 and inputs the gaze direction to the electronic control unit 5, as shown in FIG. A light 25 and an infrared camera 26 for photographing the face of the driver 13 are mounted on the instrument panel 27 so as to face the driver 13. An infrared camera 28 for photographing the head of the driver 13 is mounted on the ceiling of the passenger compartment. Images taken at regular time intervals by the infrared cameras 26 and 28 are taken into the image processing device provided in the gaze direction detection device 7 and subjected to image processing, and the head direction and the gaze direction with respect to the face are superimposed. The gaze direction 30 of the driver 13 is detected, and an angle γ between the gaze direction of the driver and the straight traveling direction of the vehicle is determined. Since the measurement of the gaze direction with respect to the face is generally performed by a commercially available gaze measurement device based on the relative positional relationship between the center of the pupil and the Purkinje image, detailed description is omitted.
[0021]
The electronic control unit 5 executes a program 18P for determining whether the direction of the obstacle and the direction of the driver's line of sight shown in FIG. The angle α = β−γ between the direction 31 viewed from the driver 13 and the direction 30 of the driver's 13 gaze detected by the gaze direction detection device 7 is calculated (step S81). If this angle α is equal to or smaller than the predetermined angle (step S82), it is determined that the direction of the obstacle detected by the obstacle detection device 15 and the direction of the line of sight of the driver 13 are the same (step S83). If the angle is exceeded, it is determined that the direction is not the same (step S84).
[0022]
The electronic control unit 5 executes, as the alarm output device 19, an alarm output program 19P shown in FIG. 9 for selecting whether or not to output an alarm signal, and in the case of outputting an alarm signal, selecting the type of the alarm signal and outputting it to the light emitting device 9. When the determining device 18 determines that the direction of the obstacle and the direction of the driver's line of sight are the same (step S91), the light emitting device 9 emits light weakly. That is, the light emitting device 9 emits light with a weak light amount or light color. Light with a weak light amount and light color may be turned on (step S92). If it is determined that the directions are not the same, the three types of alarms set in association with the three levels of obstacle danger are associated with the vehicle danger specified by the obstacle danger identification device 17. The light emitting device 9 is caused to emit light with the light of the selected color. For example, a red warning lamp (steps S93 and S94) is lit when the degree of obstacle danger is large, a yellow warning lamp (steps S95 and S96) when medium, and a green or blue warning lamp when small. Steps S97 and S98). As shown in FIG. 7, the light-emitting device 9 is attached to the upper portion of the pad of the instrument panel 27 of the vehicle 2 along the windshield so as to be easily recognized by the driver 13. The light emitting device 9 may be mounted to extend vertically below the right and left pillars so that the driver 13 can more easily recognize the light emitting device 9. Further, the light emitting device 9 may turn on the warning lamp with a fast blink when the vehicle risk is large, a medium blink when the vehicle risk is medium, and a slow blink when the vehicle risk is small.
[0023]
Next, the operation of the vehicle alarm device according to the first embodiment will be described. The electronic control unit 5 executes the obstacle detection program 15P, and detects another vehicle 2b located within a predetermined distance from the host vehicle 2a as an obstacle. The obstacle direction detection program 16P is executed to detect the direction of the other vehicle 2b1 detected as an obstacle. The obstacle danger specifying program 17P is executed, and the other vehicle 2b1 may contact or collide with the own vehicle 2a based on the current position, the traveling direction, the vehicle speed, the overall length, and the like of the own vehicle 2a and the other vehicle 2b1, which is an obstacle. Gender is calculated as the collision rate. When the collision ratio is 0, the obstacle risk is small, when it is 30% or less, it is medium, and when it exceeds 30%, it is large.
[0024]
The direction determination program 18P is executed, and the angle α formed between the direction 31 when the other vehicle 2b1 is viewed from the driver 13 and the direction 30 of the line of sight of the driver 13 detected by the line-of-sight direction detection device 7 with respect to the vehicle 2 is a predetermined angle. In the following cases, it is determined that the direction of the obstacle and the direction of the line of sight of the driver 13 are the same direction, and that the direction is not the same when the angle exceeds a predetermined angle. When the warning output program 19P is executed, and the direction determination program 19P determines that the direction of the obstacle and the direction of the driver's line of sight are the same, the electronic control unit 5 recognizes that the driver 13 has recognized the obstacle and the electronic control unit 5 recognizes the obstacle. It is assumed that the driver 13 emits light weakly, and if it is determined that the direction is not the same direction, it is estimated that the driver 13 does not recognize the obstacle. Illuminates the yellow warning lamp when it is small and green when it is small.
[0025]
Next, the periphery of the vehicle is divided into a plurality of regions, the direction of the obstacle is detected by specifying the region where the obstacle exists, and the angle range divided as being in the same direction as the region where the obstacle exists is detected. A second embodiment will be described in which it is determined that the direction of the obstacle is the same as the direction of the driver's line of sight when the driver's line of sight is in the vehicle.
[0026]
As shown in FIGS. 10 and 11, for example, three cameras 35 to 37 are attached near the front grill of the vehicle and near both ends of the front bumper of the front fender. An object that may come into contact with or collide with the vehicle 2 such as a car, a motorcycle, a bicycle, and a person located within the vehicle 2 is detected as an obstacle. Images from the cameras 35 to 37 taken at predetermined time intervals are transmitted to the image processing device 41. The image processing device 41 performs image processing according to the obstacle extraction program 42P and is moving a car, motorcycle, bicycle, or person. And the like, and calculates the distance from the vehicle 2 based on the moving speed of the vehicle 2 and a change in the angle of the mobile body with respect to the vehicle 2, and extracts a moving body located within a predetermined distance from the vehicle 2 as an obstacle 43. I do. An obstacle extraction program 42P that extracts the obstacles 43 of the cameras 35 to 37 and the image processing device 41 constitutes an obstacle detection device 45 that detects an obstacle to the vehicle 2. The image processing device 41 is connected to a wheel speed sensor 44 that detects the rotational speed of the driven wheel in order to determine the moving speed of the vehicle 2.
[0027]
The obstacle detection device 45 patterns an object that may come into contact with or collide with the vehicle 2 such as a car or a person, registers the pattern in the storage device of the image processing device 41, and stores an image captured by the cameras 35 to 37 as an edge. By performing various processes such as detection and pattern search, an object that may collide with the vehicle 2 is extracted, a distance to the vehicle 2 is determined from a size of an image of the extracted object, and a predetermined distance from the vehicle 2 is determined. An object located within the range may be detected as the obstacle 43. If this is used together, a stopped vehicle, a stopped person, and the like can be detected as the obstacle 43.
[0028]
The image processing device 41 executes a program 46P for detecting the direction of an obstacle as an obstacle direction detection device 46, and the detected obstacle 43 is viewed from the driver in a front area 51, a right front area 52, and a right area 53. , The left front area 54 or the left side area 55 is specified. When the driver 13 looks at the obstacle 43 located in each area, the areas 51 to 55 can be sensed without discomfort when the obstacle 43 is located in the direction of the obstacle associated with each area. It is provided so as to partition the periphery of the vehicle so that it can be performed, and is registered in the storage device of the image processing device 9.
[0029]
The electronic control unit 50 executes the program 47P for specifying the danger of the obstacle 43 as the obstacle danger identification device 47, and determines the possibility that the vehicle 43 will collide with the obstacle 43 detected by the obstacle detection device 45. Assuming the distance between the vehicle 2 and the obstacle 43 calculated by the image processing device 41, the risk of the obstacle 43 is large when the distance x is smaller than the predetermined value x1, and is larger than x1 and larger than the predetermined value x2. It is specified that it is medium when it is small and small when it is larger than x2.
[0030]
The electronic control unit 50 executes, as the direction determination device 48, a program 48P that determines whether the direction of the obstacle 43 and the direction of the line of sight of the driver 13 are the same. Each of the regions 51 to 55 partitioned around the vehicle is associated with each of the angular ranges θ1 to θ5 obtained by dividing the front of the driver 13 into five, assuming that the directions are the same. An angle range that includes the direction of the driver's 13 line of sight detected by the line of sight detection device 7 is determined (step S85). It is determined whether the area where the obstacle 43 detected by the direction detection device 46 is located and the angle range including the direction of the line of sight of the driver 13 are associated with the same direction (step S86). If they are associated, it is determined that the direction of the obstacle 43 and the direction of the line of sight of the driver 13 are the same direction (step S87), and if they are not associated, it is determined that they are not the same direction (step S88).
[0031]
When the direction of the obstacle 43 and the direction of the line of sight of the driver 13 are determined to be the same direction by the direction determination program 48P, it is estimated that the driver 13 recognizes the obstacle 43, and the light emitting device 9 emits light weakly. When it is determined that the direction is not the same direction, it is estimated that the driver 13 does not recognize the obstacle 43, and the obstacle 13 is red when the degree of obstacle danger is large, yellow when the degree of obstacle danger is small, and green when the degree of obstacle danger is small. The alarm output program 19P for turning on the alarm lamp is the same as in the first embodiment.
[0032]
In the above embodiment, the light emitting device 9 is configured by a warning lamp mounted on the entire width of the instrument panel 27 of the vehicle 2 along the windshield above the pad of the instrument panel 27. However, as shown by a virtual line in FIG. A display device 32 for displaying obstacles such as the vehicle 2a and the other vehicle 2b1 on the screen may be attached to the instrument panel 27, or a display device of a navigation system may be used. In the example shown in FIG. 13A of the screen displayed on the display device, the own vehicle 2a is represented by a triangular figure painted black, and the other vehicle 2b1 is displayed in red, yellow, and green according to the vehicle risk. A thin line, which is represented by a painted rectangle and indicates the distance, is drawn vertically and horizontally on the screen. In the screen illustrated in FIG. 13B, the figure of the own vehicle 2 a is displayed at the center, and the size and color mark in which an obstacle such as the other vehicle 2 b 1 is associated with the degree of vehicle danger is displayed. The vehicle is displayed at one of a plurality of positions that are sequentially set apart from the own vehicle image in association with the vehicle risk in the direction associated with the direction of the vehicle.
[0033]
In the above embodiment, the light emitting device 9 is used as the notification device. However, as shown by a virtual line in FIG. 6, when it is determined that the direction of the obstacle and the direction of the driver's line of sight are the same direction. A loud sound that emits a small volume and strongly warns such as a horn or brake sound when the direction of the obstacle and the direction of the driver's line of sight are determined to be not the same direction and the vehicle danger is large. A sound generator such as a speaker 33 that emits a medium warning sound such as a chime when the sound is medium and a soft melody sound when the sound is low may be used.
[0034]
In the above embodiment, when it is determined that the direction of the obstacle and the direction of the driver's line of sight are the same, the alarm output device 19 causes the light emitting device 9 to emit light weakly, but does not emit light at all. It is good. Further, the sound generator may not generate any sound.
[0035]
In the second embodiment, the obstacle detection device 45 performs image recognition using the cameras 35 to 37 and the image processing device 41. However, an obstacle around the vehicle is detected using a laser radar or a millimeter wave radar. You may make it detect. Further, when an infrastructure device (for example, a beacon) for detecting a surrounding three-dimensional object is installed on a road such as an intersection or an intersection, information of an object around the vehicle 2 is processed by the communication device using the infrastructure device. The data may be taken into the device 41 and subjected to image processing to detect an automobile, a person, or the like located within a predetermined distance from the vehicle 2 as the obstacle 43.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram of an alarm device that outputs an alarm signal according to a vehicle risk according to a first embodiment.
FIG. 2 is a diagram showing an obstacle detection program.
FIG. 3 is a map showing the positions of a host vehicle and another vehicle.
FIG. 4 is a diagram showing an obstacle direction detection program.
FIG. 5 is a diagram showing an obstacle risk identification program.
FIG. 6 is a graph showing weighting of vehicle lengths by vehicle speed.
FIG. 7 is a diagram illustrating a gaze direction detection device, a notification device, and the like.
FIG. 8 is a diagram showing a direction determination program.
FIG. 9 is a diagram showing an alarm output program.
FIG. 10 is a system configuration diagram according to a second embodiment.
FIG. 11 is a diagram showing a mounted state of a camera, a notification device, and the like according to the second embodiment.
FIG. 12 is a diagram showing a direction determination program according to the second embodiment.
FIG. 13 illustrates an example of a screen of a display device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... This alarm device, 2 ... Vehicle, 2b1, 43 ... Other vehicle (obstacle), 3 ... Central processing unit, 4 ... Storage device, 5, 50 ... Electronic control unit, 6 ... Running state detection device, 7 ... Line of sight Direction detecting device, 8: Communication device, 9: Light emitting device (notification device), 10: GPS receiver, 11, 44: Wheel speed sensor, 12: Running state calculation device, 13: Driver, 15, 45: Obstacle Detection device, 16, 46: Obstacle direction detection device, 17, 47: Obstacle risk identification device, 18, 48: Direction determination device, 19: Alarm output device, 21: Map, 22a, 22b: Course, 23a, 23b: predicted arrival point of own vehicle and other vehicle, 24a, 24b: predicted circle of own vehicle and other vehicle, 25: infrared illumination light, 26.28: infrared camera, 27: instrument panel, 30: gaze direction, 31: obstacle Direction as seen from the driver, 32 ... display Location (notification device), 33 ... speaker (sound generator), 35-37 ... camera, 41 ... image processing apparatus, 51 to 55 ... region.

Claims (4)

A gaze direction detecting device for detecting a driver's gaze direction, wherein the gaze direction detecting device detects a direction of a gaze of a driver, and an obstacle detecting device for detecting a direction of the obstacle. An object direction detection device, a direction determination device that determines whether the direction of the obstacle and the direction of the driver's line of sight are the same direction, and an alarm from the notification device when the direction determination device determines that the direction is not the same direction. A warning device for a vehicle, comprising: a warning signal output device that outputs a signal and does not output a warning signal or outputs a weak warning signal from the notification device when it is determined that the direction is the same. 2. The obstacle direction detection device according to claim 1, wherein the obstacle direction detection device detects a direction of the obstacle as viewed from a driver, and the determination unit determines a direction of the obstacle as viewed from the driver and a direction of a driver's line of sight. An alarm device for a vehicle, wherein when the angle is equal to or less than a predetermined value, it is determined that the direction of the obstacle and the direction of the driver's line of sight are the same. 2. The obstacle direction detection device according to claim 1, wherein the obstacle direction detection device divides the periphery of the vehicle into a plurality of regions, detects a direction of the obstacle by specifying a region where the obstacle is present, and the direction determination unit includes: When the driver's line of sight is in an angle range defined as being in the same direction as the area where the obstacle is present, it is determined that the direction of the obstacle and the direction of the driver's line of sight are the same direction. A vehicle alarm device characterized by the following. 4. An obstacle risk identification device according to claim 1, further comprising an obstacle risk identification device that identifies a risk of the obstacle detected by the obstacle detection device, wherein the notification device is associated with the obstacle risk. When it is possible to output a plurality of types of alarm signals set, and the direction determination device determines that the direction of the obstacle and the direction of the driver's line of sight are not the same direction, the alarm output device specifies the obstacle risk level. An alarm device for a vehicle, wherein the alarm device outputs an alarm signal associated with the degree of obstacle danger specified by the device.

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