JP2009122854A - Reminder system and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To sufficiently call a driver's attention when a front vehicle is a two-wheeler. <P>SOLUTION: The reminder system includes a current location detection part; a front monitoring part for monitoring the front part of an own vehicle; a vehicle decision processing means for deciding whether a two-wheeler traveling ahead the own vehicle has been detected based on monitoring results from the front monitoring part; a road information acquisition processing means for acquiring road information of the front part of the own vehicle location when the two-wheeler has been detected; a road surface state decision processing means for deciding a road surface state based on the road information; a front vehicle traveling state decision processing means for deciding the traveling state of the two-wheeler based on the decision results of the road surface state; and a warning processing means for issuing a warning based on the decision results of the traveling state of the two-wheeler. When the two-wheeler is detected, the warning is issued based on the decision results of the road surface state. Thus, it is possible to sufficiently call a driver's attention. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an alerting system and program.

  Conventionally, in a navigation device, for example, the current position of a vehicle that is the vehicle, that is, the current location, is detected by GPS (Global Positioning System), map data is read from a data recording unit, and a map screen is displayed on a display unit. The vehicle position is formed, and the vehicle position indicating the current location, a map around the vehicle position, and the like are displayed on the map screen. Therefore, the driver can drive the vehicle in accordance with the vehicle position displayed on the map screen.

  Further, when the driver inputs a destination and sets search conditions, a route search process is performed based on the search conditions, and a route from the departure point to the destination represented by the current location based on the map data. Is searched. Then, the searched route, that is, the searched route is displayed on the map screen together with the vehicle position, and guidance for the searched route, that is, route guidance is performed. Therefore, the driver can drive the vehicle along the displayed search route.

By the way, the front of the host vehicle is monitored, the vehicle traveling in front of the host vehicle, that is, the traveling state of the preceding vehicle is monitored, and if the traveling state of the preceding vehicle is unstable, the driver is notified accordingly. Is provided, and an alerting system that alerts the attention is provided (see, for example, Patent Document 1).
JP 2006-85285 A

  However, in the conventional alert system, the driver's attention can be alerted when the traveling state of the front vehicle is unstable. However, if the front vehicle is a two-wheeled vehicle, for example, a bicycle, the driver I can't get enough attention.

  That is, when the vehicle in front is a bicycle, even if the running state is stable, there is a risk that the bicycle will tip over if, for example, the road surface becomes worse in front of the bicycle. Therefore, the driver's attention cannot be sufficiently alerted only by monitoring the running state of the bicycle.

  An object of the present invention is to solve the problems of the conventional alerting system, and to provide an alerting system and program capable of sufficiently alerting the driver when the vehicle ahead is a motorcycle. And

  Therefore, in the alert system of the present invention, based on the current position detection unit that detects the vehicle position, the front monitoring unit that monitors the front of the vehicle, and the monitoring result by the front monitoring unit, the front of the vehicle Vehicle determination processing means for determining whether a two-wheeled vehicle is detected, road information acquisition processing means for acquiring road information ahead of the own vehicle position when the two-wheeled vehicle is detected, and the road information Based on the road surface state determination processing means for determining the road surface state based on the road surface state determination processing means for determining the traveling state of the two-wheeled vehicle based on the determination result of the road surface state, and based on the determination result of the traveling state of the two-wheeled vehicle. Warning processing means for giving a warning.

  According to the present invention, when a motorcycle traveling in front is detected, the road surface state is determined based on road information ahead of the vehicle position, and the traveling state of the motorcycle is determined based on the determination result of the road surface state. Since the warning is performed based on the determination result of the traveling state of the motorcycle, the driver's attention can be sufficiently alerted.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this case, a navigation system as an alerting system will be described.

  FIG. 1 is a diagram showing a navigation system according to an embodiment of the present invention.

  In the figure, 14 is an information terminal, for example, a navigation device as an in-vehicle device mounted on a vehicle, 63 is a network, 51 is an information center as an information provider, the navigation device 14, the network 63, the information center 51, etc. The navigation system is configured by the above.

  The navigation device 14 includes a GPS sensor 15 as a current position detection unit that detects the current position of the vehicle as the vehicle position and the vehicle direction as the vehicle direction, and a recording unit in which various information is recorded in addition to map data (not shown). The data recording unit 16 as a navigation unit, a navigation processing unit 17 that performs various arithmetic processes such as navigation processing, and an operation unit 34 as a first input unit for performing a predetermined input when operated by a driver as an operator. A display 35 serving as a first output unit for performing various displays by an image displayed on a screen (not shown) and notifying the driver, a second input for the driver to make a predetermined input by voice A voice input unit 36 as a unit, a voice output unit 37 as a second output unit for performing voice output and notifying the driver of various information by voice, A communication unit 38 serving as a transmission / reception unit functioning as a communication terminal and a vehicle speed sensor 44 serving as a vehicle speed detection unit for detecting a vehicle speed are provided. The navigation processing unit 17 includes a GPS sensor 15, a data recording unit 16, an operation unit 34, a display The unit 35, the audio input unit 36, the audio output unit 37, the communication unit 38, and the vehicle speed sensor 44 are connected. The GPS sensor 15 detects time in addition to the vehicle position and the vehicle direction. In addition, the vehicle direction can be detected by disposing the direction sensor separately from the GPS sensor 15.

  Further, the navigation processing unit 17 is a camera (front monitoring camera) as a first front monitoring unit that captures and monitors the periphery of the vehicle, in the present embodiment, the front of the vehicle and monitors it. 48, an auxiliary monitoring device 49 serving as a second forward monitoring unit that assists in monitoring the front of the vehicle, an optical sensor 61 serving as a light detection unit that detects the brightness of the surroundings of the vehicle, and the like.

  The data recording unit 16 includes a map database (not shown) composed of map data files, and map data is recorded in the map database. The map data includes intersection data related to intersections (branch points), node data related to nodes, road data related to road links, search data processed for searching, facility data related to facilities, and other data related to features. Is included.

  The feature is a display object that is installed or formed on a road in order to provide various driving information to the driver or to perform various driving guidance. For example, the vehicle is stopped. Stop line indicating the location to be used, traffic band boundary line indicating the vehicle traffic zone, roadside belt boundary line indicating the roadside zone, lane line indicating the parking space, lane line indicating the pedestrian crossing, lane line indicating the off-limits area, lane change In addition to display lines such as a traffic classification restriction line that prohibits traffic, characters that indicate the traffic classification of vehicles that are classified by the vehicle traffic band, characters that indicate the maximum speed in the vehicle traffic band, and the traveling direction in the vehicle traffic band A temporary stop point (including an entry point from a non-priority road to a priority road, a railroad crossing, an intersection where a red light flashes, etc.) is notified in advance, and is formed on each lane. In the lane, ○ direction "guidance indication such as characters or the direction guidance as and the like, the road marking is constituted by marking line and the guide marking. The lane boundary line includes a road boundary line formed by a solid line on the shoulder side and the opposite lane side of the road, and a lane formed by a broken line between the lanes in an area sandwiched between the road boundary lines. Includes a border. The road marking is drawn on the road with paint or the like. The features include a manhole cover, a road sign made of a sign board installed at a predetermined location on the road, a traffic light, and the like.

  Further, the data recording unit 16 is formed with an image recognition database (not shown) composed of an image recognition data file, and an image for performing image recognition on an object photographed by the camera 48 in the image recognition data file. Recognition data is recorded.

  The data recording unit 16 includes a disk (not shown) such as a hard disk, a CD, a DVD, and an optical disk for recording the various types of data, as well as a read / write unit for reading and writing various types of data. A head (not shown) such as a writing head is provided. Further, a memory card or the like can be used for the data recording unit 16. An external storage device is constituted by the disks, memory cards, and the like.

  In the present embodiment, the map database or the like is formed in the data recording unit 16, but the map database or the like may be formed in the information center 51.

  The navigation processing unit 17 is a control device that controls the entire navigation device 14 and a CPU 31 as an arithmetic device, a RAM 32 that is used as a working memory when the CPU 31 performs various arithmetic processes, and a control device. In addition to the program, it includes a ROM 33 in which various programs for searching for a route to the destination, route guidance, etc. are recorded, a flash memory (not shown) used for recording various data, programs, and the like. . The RAM 32, ROM 33, flash memory, etc. constitute an internal storage device.

  As the operation unit 34, a keyboard, a mouse, etc. (not shown) arranged independently of the display unit 35 can be used. Further, as the operation unit 34, a predetermined input operation can be performed by touching an image operation unit such as various keys, switches, and buttons displayed as images on the screen formed on the display unit 35. The touch panel made can be used.

  A display is used as the display unit 35, and the vehicle position and direction are displayed on various screens formed on the display unit 35. A map, a search route, guidance information along the search route, and traffic information are displayed. , Etc., the distance to the next intersection on the searched route, and the traveling direction at the next intersection can be displayed.

  The voice input unit 36 includes a microphone (not shown) and the like, and can input necessary information by voice. Further, the voice output unit 37 includes a voice synthesizer and a speaker (not shown), and the search route, guidance information, traffic information, and the like are output from the voice output unit 37, for example, as voice synthesized by the voice synthesizer. .

  The communication unit 38 receives the information as FM multiplex broadcast via a beacon receiver (not shown) for receiving various information such as current traffic information and general information transmitted from the road traffic information center, and an FM broadcasting station. For example, an FM receiver (not shown) is provided.

  The traffic information includes an information type that indicates the type of information, a mesh number for specifying a mesh, a road link that connects two points (for example, intersections), and a link that indicates whether it is up / down. Number, including link information representing the content of information provided corresponding to the link number. For example, when the traffic information is traffic jam information, the link information is a distance from the start point of the road link to the head of the traffic jam Traffic congestion head data, traffic congestion degree, traffic congestion length expressed by the distance from the head of the traffic jam to the end of the traffic jam, link required time indicating the time required to travel on the road link, and the like.

  The communication unit 38 can receive various information such as traffic information and general information from the information center 51 in addition to data such as the map data, statistical data, and travel history data via the network 63. .

  For this purpose, the information center 51 includes a server 53, a communication unit 57 connected to the server 53, a database (DB) 58 as an information recording unit, and the like. A CPU 54, a RAM 55, a ROM 56, etc. are provided as devices. In addition, data similar to various data recorded in the data recording unit 16 is recorded in the database 58.

  The navigation system, the navigation processing unit 17, the CPUs 31, 54, the server 53, and the like function as a computer alone or in combination of two or more, and perform arithmetic processing based on various programs, data, and the like. The data recording unit 16, the RAMs 32 and 55, the ROMs 33 and 56, the database 58, the flash memory, and the like constitute a recording medium. An MPU or the like can be used instead of the CPUs 31 and 54 as the arithmetic unit.

  The camera 48 is composed of a CCD, a C-MOS, etc., and shoots the surroundings of the vehicle, that is, objects to be photographed in front of the vehicle, for example, features, intersections, traffic lights, buildings, vehicles, etc. Then, the image data of the photographed object is sent to the CPU 31. When the CPU 31 receives the image data, the CPU 31 processes the image data to detect the position of the feature, the state of the intersection, the color of the traffic light, the position of the building, the position of the surrounding vehicle, the dimensions of the surrounding vehicle, and the surrounding vehicle. Judging the number, etc., monitor the surroundings of the vehicle.

  The auxiliary monitoring device 49 is composed of a radar such as a laser radar or a millimeter wave radar, an ultrasonic sensor, or a combination thereof, and auxiliaryly monitors a vehicle traveling ahead as a front vehicle, As vehicle periphery information, a relative speed representing a relative vehicle speed with respect to the preceding vehicle is detected, an inter-vehicle distance, an inter-vehicle time, and the like are calculated.

  Next, a basic operation of the navigation system having the above configuration will be described.

  First, when the operation unit 34 is operated by the driver and the navigation device 14 is activated, a current location reading processing unit (not shown) of the CPU 31 performs current location reading processing, and the vehicle position and the vehicle detected by the GPS sensor 15 are detected. Read direction. Next, the matching processing means (not shown) of the CPU 31 performs matching processing, based on the trajectory of the read vehicle position and the shape, arrangement, etc. of each road link constituting the road around the vehicle position, The vehicle position is specified by determining on which road link the vehicle is located.

  Subsequently, a basic information acquisition processing unit (not shown) of the CPU 31 performs a basic information acquisition process and acquires the map data by reading it from the data recording unit 16 or receiving it from the information center 51 or the like via the communication unit 38. And get. In addition, when acquiring map data from the information center 51 etc., the said basic information acquisition process means downloads the received map data to flash memory.

  A display processing unit (not shown) of the CPU 31 performs display processing and forms various screens on the display unit 35. For example, the map display processing unit of the display processing unit performs a map display process, forms a map screen on the display unit 35, displays a surrounding map on the map screen, and displays a vehicle position and a vehicle direction. .

  Accordingly, the driver can drive the vehicle according to the map, the vehicle position, and the vehicle direction.

  Further, when the driver operates the operation unit 34 to input a destination, a destination setting processing unit (not shown) of the CPU 31 performs a destination setting process to set the destination. Note that the departure place can be input and set as necessary. Moreover, a predetermined point can be registered in advance, and the registered point can be set as a destination. Subsequently, when the driver operates the operation unit 34 to input a search condition, a search condition setting processing unit (not shown) of the CPU 31 performs a search condition setting process to set the search condition.

  When the destination and search conditions are set in this way, the route search processing means (not shown) of the CPU 31 performs route search processing and reads the vehicle position, vehicle direction, destination, search conditions, etc. The search data is read from the data recording unit 16, and the route from the start point to the destination represented by the vehicle position is searched based on the search conditions based on the vehicle position, the vehicle direction, the destination, the search data, etc. And route data representing the searched route is output. At this time, the route with the smallest total link cost assigned to each road link is set as the searched route.

  The information center 51 can perform a route search process. In that case, the CPU 31 transmits the vehicle position, the vehicle direction, the destination, the search condition, and the like to the information center 51 via the network 63. When the information center 51 receives the vehicle position, the vehicle direction, the destination, the search condition, etc., the route search processing means (not shown) of the CPU 54 performs the route search processing similar to that of the CPU 31 and obtains the search data from the database 58. Based on the readout, the vehicle position, the destination, and the search data, a route from the departure point to the destination is searched under the search conditions, and route data representing the searched route is output. Next, a transmission processing unit (not shown) of the CPU 54 performs transmission processing and transmits the route data to the navigation device 14 via the network 63.

  Subsequently, a guidance processing means (not shown) of the CPU 31 performs guidance processing and provides route guidance. For this purpose, the route display processing means of the guidance processing means performs route display processing, reads the route data, and displays the searched route on the map screen according to the route data.

  By the way, the traveling of a two-wheeled vehicle is easily affected by the road surface condition, and if the road surface condition is bad, it becomes difficult to stably travel and the vehicle tends to fall. Therefore, in the present embodiment, when the two-wheeled vehicle is traveling in front of the host vehicle, the state of the road surface is determined, and the driver is alerted according to the state of the road surface.

  FIG. 2 is a flowchart showing the operation of the alerting system in the embodiment of the present invention, FIG. 3 is a diagram showing an example of a road state in the embodiment of the present invention, and FIG. 4 shows the attention in the embodiment of the present invention. It is a figure which shows the map screen at the time of arousing.

  First, an image recognition processing means (not shown) of the CPU 31 performs image recognition processing, reads image data of the object to be photographed sent from the camera 48, reads image recognition data from the image recognition database of the data recording unit 16, and Recognize the image of the photographic object. Subsequently, the vehicle determination processing means of the CPU 31 performs vehicle determination processing, extracts the preceding vehicle from the result of image recognition of the object to be photographed, and extracts the preceding vehicle extracted within a predetermined range in front of the host vehicle vh. It is determined whether a traveling motorcycle, for example, a bicycle cy is detected. For this purpose, the vehicle determination processing means determines whether or not the extracted forward vehicle is a bicycle cy, reads the own vehicle position, and based on the own vehicle position, determines the position of the bicycle cy (hereinafter “front vehicle”). "Position"), the inter-vehicle distance represented by the distance between the host vehicle position and the forward vehicle position, and the speed (vehicle speed) of the bicycle cy represented by the rate of change of the forward vehicle position. In this case, the monitoring result by the auxiliary monitoring device 49, for example, the inter-vehicle distance calculated by the auxiliary monitoring device 49 can be read and the inter-vehicle distance can be referred to.

  Then, when the bicycle cy is detected, a weather determination processing unit (not shown) of the CPU 31 performs a weather determination process, and in the present embodiment, the weather information in the general information acquired via the communication unit 38, Reads the current weather and determines whether the current weather is rain, whether the temperature is low and below zero (0) [° C], whether it is snow, whether it is fog, etc. . In the present embodiment, the weather is categorized, the road surface sf is wet or frozen, and the weather in which the bicycle cy easily slips is set as the first type of weather, and the road surface sf is silently observed. The weather that makes it difficult is the second type of weather. Therefore, the weather determination processing means is more likely to cause the bicycle cy to slip when the current weather is rain, or when the temperature is low and below zero (0) [° C.]. If the current weather is snow or fog, it is difficult to silently observe the road surface sf, so it is determined that it belongs to the second type.

  Subsequently, the road information acquisition processing unit (not shown) of the CPU 31 performs road information acquisition processing, reads the front vehicle position, sets a predetermined range ahead of the front vehicle position as a determination area, Road information representing road r1 information ahead of the bicycle cy is acquired by reading road data from the road database and reading traffic information acquired via the communication unit 38.

  Next, a road surface state determination processing unit (not shown) of the CPU 31 performs a road surface state determination process, based on the road data, whether there is a sharp curve, whether there is a steep slope, whether there is a manhole cover, The road surface state representing the state of the road surface sf is determined by determining whether there is paint, gravel, or the like. In addition, the road surface condition determination processing means determines whether there is an obstacle such as an iron plate q1 on the road r1, whether there is a step, whether there is a fallen object, for example, due to circumstances such as construction. The road surface condition is determined by determining the above. In the present embodiment, the state where the road surface state is classified and the road surface sf is likely to slip is referred to as a first type, and the state where the road surface sf is uneven is referred to as a second type. Therefore, when the road surface condition determination processing means has a sharp curve, there is a steep slope, there is a manhole cover, there is paint, or there is an obstacle such as an iron plate q1, Since the road surface sf is likely to slip, it is determined that the road surface state belongs to the first type. If the road r1 has gravel, a step, or a fallen object, the road surface sf is uneven. The road surface state is determined to belong to the second type.

  Subsequently, the front vehicle travel state determination processing unit (not shown) of the CPU 31 performs the front vehicle travel state determination processing, and based on the determination result by the weather determination processing unit and the determination result by the road surface state determination processing unit, the bicycle cy Determine the running state. For this purpose, the forward vehicle running state determination processing means reads whether the weather belongs to the first type or the second type, and the road surface state is the first type or the second type. Read whether it belongs to.

  When both the weather and the road surface state belong to the first type, and when both the weather and the road surface state belong to the second type, the front vehicle running state determination processing unit determines that the bicycle cy is likely to fall over. The warning processing means (not shown) of the CPU 31 performs warning processing.

  By the way, in the present embodiment, the warning processing means performs warnings in the first and second stages, and in the first stage, a part of the map screen formed on the display unit 35. 4, a warning frame fr as shown in FIG. 4 is formed, an image of the bicycle cy is formed in the warning frame fr, and a message such as “Bicycle is traveling ahead” is displayed, and The voice output unit 37 performs voice output of the message. Further, the warning processing means forms a warning frame fr in a part of the map screen formed on the display unit 35 in the second stage where the degree of warning is higher than that in the first stage, and the warning frame fr. An image of the bicycle cy is formed therein, and a message such as “There is a possibility that the bicycle in front of the bicycle may fall down” is displayed, and the voice output unit 37 outputs the message.

  When both the weather and the road surface state belong to the first type, and when both the weather and the road surface state belong to the second type, the warning processing means operates by performing a second stage warning. Alert the person.

  In addition, when the weather does not belong to the first and second types, the weather belongs to the first type, but the road surface state does not belong to the first type, and the weather belongs to the second type, When the road surface state does not belong to the second type, the forward vehicle running state determination processing unit determines that the bicycle cy is difficult to fall, and the warning processing unit does not issue a warning.

  Next, a visual field determination processing unit (not shown) of the CPU 31 performs visual field determination processing to determine the visual field around the point where the bicycle cy is traveling. For this purpose, the visual field determination processing means reads the light intensity detected by the optical sensor 61 and determines whether the periphery of the bicycle cy is dark or whether the front of the bicycle cy is dazzling. If the periphery of the bicycle cy is dark or the front of the bicycle cy is dazzling, it is determined that the field of view is bad. If the periphery of the bicycle cy is not dark and the front of the bicycle cy is not dazzling, the visibility determination processing means Judge that the field of view is good.

  Subsequently, the vehicle traveling state determination processing unit determines the traveling state of the bicycle cy based on the determination result by the visibility determination processing unit and the determination result by the road surface state determination processing unit. For this purpose, the forward vehicle running state determination processing means reads the light intensity and reads which type of the first and second types the road surface state belongs to.

  When the visibility is poor and the road surface state belongs to the second type, the forward vehicle running state determination processing unit determines that the bicycle cy is likely to fall over, and the warning processing unit performs the second stage warning. I do. When the visibility is good and the visibility is poor, but the road surface condition does not belong to any of the first and second types, the warning processing means issues a first stage warning.

  Thus, in the present embodiment, when it is determined that the bicycle cy traveling in front of the host vehicle vh is likely to fall based on the weather, the road surface condition, and the field of view, a warning is given to the driver. Because it is done, the driver's attention can be sufficiently alerted.

Next, a flowchart will be described.
Step S1: It is determined whether or not a bicycle cy is detected. If the bicycle cy is detected, the process proceeds to step S2, and if not detected, the process ends.
Step S2 A weather determination process is performed.
Step S3 A road information acquisition process is performed.
Step S4: A road surface condition determination process is performed.
Step S5: It is determined whether the bicycle cy is likely to fall. If the bicycle cy is likely to fall, the process proceeds to step S6, and if it is difficult to fall, the process proceeds to step S7.
Step S6: A second stage warning is performed.
Step S7: Visibility determination processing is performed.
Step S8: It is determined whether the visibility is bad. If the field of view is poor, the process proceeds to step S9. If not (good), the process proceeds to step S11.
Step S9: It is determined whether the bicycle cy is likely to fall. If the bicycle cy is likely to fall, the process proceeds to step S10. If the bicycle cy is difficult to fall, the process proceeds to step S11.
Step S10: A second stage warning is issued and the process is terminated.
Step S11: A warning at the first stage is performed and the process is terminated.

  In the present embodiment, the vehicle determination processing means determines whether or not a traveling bicycle cy is detected among the preceding vehicles extracted within a predetermined range in front of the host vehicle vh, and the bicycle cy is determined. Is detected, the processes after the weather determination process are performed. However, when the host vehicle vh is traveling along the searched route, the vehicle travels on a road off the searched route. The bicycle cy that is present can be removed from the target to alert the driver.

  In that case, when the traveling bicycle cy is detected in the preceding vehicle by the vehicle determination processing means, the forward vehicle traveling path determination processing means (not shown) of the CPU 31 performs the forward vehicle traveling path determination process, The searched route and the forward vehicle position are read, and it is determined whether or not the bicycle cy is traveling along the searched route. When the bicycle cy is traveling along the searched route, the bicycle cy is a target for alerting the driver, and the weather determination processing means performs the weather determination processing. If the bicycle cy is not traveling along the searched route, the CPU 31 ends the process. Therefore, the bicycle cy is excluded from a target for alerting the driver, and the warning processing means does not give a warning.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a figure which shows the navigation system in embodiment of this invention. It is a flowchart which shows operation | movement of the alerting system in embodiment of this invention. It is a figure which shows the example of the state of the road in embodiment of this invention. It is a figure which shows the map screen at the time of calling attention in embodiment of this invention.

Explanation of symbols

14 Navigation device 15 GPS sensor 31 CPU
48 camera 49 auxiliary monitoring device 51 information center 63 network cy bicycle vh own vehicle

Claims (5)

  Based on the monitoring result of the current position detection unit that detects the vehicle position, the front monitoring unit that monitors the front of the vehicle, and the front monitoring unit, whether or not a motorcycle traveling in front of the vehicle is detected Vehicle determination processing means for determining, road information acquisition processing means for acquiring road information ahead of the vehicle position when the two-wheeled vehicle is detected, and road surface state determination processing for determining a road surface state based on the road information And a front vehicle running state determination processing unit that determines a traveling state of the two-wheeled vehicle based on the determination result of the road surface state, and a warning processing unit that issues a warning based on the determination result of the traveling state of the two-wheeled vehicle. An alert system.   2. The caution according to claim 1, further comprising weather determination processing means for determining weather, wherein the forward vehicle traveling state determination processing means determines the traveling state of the two-wheeled vehicle based on the determination result of the weather and the determination result of the road surface state. Arousal system.   2. The caution according to claim 1, further comprising a visibility determination processing means for determining a visibility, wherein the forward vehicle traveling state determination processing means determines the traveling state of the motorcycle based on the visibility determination result and the road surface condition determination result. Arousal system.   The route search processing means for searching the route from the starting point to the destination and making it the search route of the own vehicle, and when the two-wheeled vehicle is detected, read the position of the two-wheeled vehicle and the search route of the own vehicle, and the two-wheeled vehicle A forward vehicle travel path determination processing means for determining whether or not the vehicle travels along the searched route, and the warning processing means does not warn when the two-wheeled vehicle is not traveling along the searched route of the own vehicle. The alerting system according to claim 1.   In the alert system having a current position detection unit for detecting the host vehicle position and a front monitoring unit for monitoring the front of the host vehicle, the computer is connected to the front of the host vehicle based on the monitoring result of the host vehicle position and the front monitoring unit. Vehicle determination processing means for determining whether a two-wheeled vehicle is detected, road information acquisition processing means for acquiring road information ahead of the vehicle position when the two-wheeled vehicle is detected, based on the road information The road surface state determination processing means for determining the road surface state, the front vehicle traveling state determination processing means for determining the traveling state of the motorcycle based on the determination result of the road surface state, and the warning based on the determination result of the traveling state of the motorcycle A program characterized by functioning as a warning processing means.

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