JP2009143494A - Warning device, warning method, and warning program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To call a driver's attention at an appropriate timing according to the operation states of a moving body detected from an image and of his/her own vehicle. <P>SOLUTION: In this warning device 100, when a moving body detection part 120 detects the moving body based on the image taken by a camera mounted on a vehicle, an output part 150 does not equally output warning sound, a warning determination part 140 determines kinds of warning sound (first warning sound or second warning sound) according to operation state information of the own vehicle (accelerator flag, brake flag, and vehicle speed flag), and an output part 150 outputs the warning sound according to the determination result. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a warning device that outputs a warning to a driver and a warning method thereof, and more particularly to a warning device, a warning method, and a warning method that can alert a driver at an appropriate timing without causing discomfort to the driver. It relates to warning programs.

  In recent years, a blind corner monitor (BCM) or the like has been used to prevent a traffic accident by acquiring an image of a position that is not visible to the driver by a camera provided outside the vehicle and presenting the image to the driver. Products are used.

  Various techniques have been devised for detecting moving bodies from images taken by the BCM and notifying the driver. For example, in Patent Document 1, a moving body approaching from an image is detected under the condition that the speed of the host vehicle is equal to or lower than a predetermined speed, the time for the moving body to pass through the front of the host vehicle is obtained, and the expected passing time is determined A technique for notifying the driver of the approach of a moving body using a warning sound or the like has been disclosed.

JP 2006-253932 A

  However, in the above-described conventional technology, the driver does not evaluate any warning timing such as whether or not the host vehicle is approaching the moving body, and outputs a warning to the driver uniformly. There was a problem that even if it was in a dangerous state, it was difficult to recognize the situation.

  Further, in the above-described conventional technology, even when the driver can sufficiently recognize the situation of the host vehicle through a monitor or the like, since the notification by the warning sound is performed, there is a possibility that the driver may feel uncomfortable. .

  That is, it is an extremely important issue to alert the driver at an appropriate timing according to the moving object detected from the image and the driving situation of the host vehicle.

  The present invention has been made to solve the above-described problems caused by the prior art, and can alert the driver at an appropriate timing in accordance with the moving object detected from the image and the driving situation of the host vehicle. An object is to provide a warning device, a warning method, and a warning program.

  In order to solve the above-described problems and achieve the object, the warning device includes a moving body detecting means for detecting a moving body based on an image taken by a camera mounted on the vehicle, and the vehicle is in a stopped state. Determining means for determining whether or not the moving body detection means detects a moving body and the determination means determines that the determination means is not in a stopped state, and an output means for outputting sound or light. Is a requirement.

  Further, the warning device according to the above warning device, wherein the determination means determines an operation state of an accelerator and a brake of the vehicle, and when the accelerator is stepped on or when the brake is not stepped on. Determining that the vehicle is not in a stopped state, and the output means outputs a first type of sound or light when the accelerator is not stepped on by the determination means and the brake is not stepped on. If the accelerator is stepped on, the second type of sound or light is required to be output.

  Further, this warning device is the above warning device, wherein the determining means further determines the operation state of the gear, the output means is detected by the moving body by the moving body detecting means, and the accelerator is stepped on. And the second type of sound or light is output when it is determined that the gear is in the running state.

  Further, the warning device according to the above warning device, wherein the determination means determines whether or not the vehicle is moving in an image capturing direction based on a direction of the camera and an operation state of the gear. The output means is the second type when the moving body detecting means detects the moving body, the accelerator is stepped on, and it is determined that the vehicle is moving in the image capturing direction. It is a requirement to output sound or light.

  The warning method is a warning method of a warning device that outputs a warning to the driver of the vehicle, and the warning device stores an image taken by a camera mounted on the vehicle in a storage device. A moving body detecting step for detecting a moving body based on an image stored in the storage device; a determining step for determining whether or not the vehicle is in a stopped state; and the moving body detecting step is moved. And an output step of outputting sound or light from the output device when the body is detected and it is determined that the determination step is not in a stopped state.

  Further, the warning program stores in a computer a storage procedure for storing an image captured by a camera mounted on the vehicle in a storage device, and a mobile body that detects the mobile body based on the image stored in the storage device. A detection procedure, a determination procedure for determining whether or not the vehicle is in a stopped state, and an output when the moving body detection procedure detects a moving body and the determination procedure determines that the vehicle is not in a stopped state. And an output procedure for outputting sound or light from the apparatus.

  According to this warning device, when a moving body is detected based on an image photographed by a camera mounted on the vehicle, sound or light is not output uniformly, but according to driving state information of the own vehicle. Since the type of sound or light is determined and the sound or light is output according to the determination result, the driver can be alerted at an appropriate timing without causing discomfort to the driver.

  Further, the warning device determines the operation state of the accelerator and the brake of the vehicle, and determines that the vehicle is not in a stopped state when the accelerator is depressed or when the brake is not depressed. When the accelerator is not depressed and the brake is not depressed, the first type sound or light is output. When the accelerator is depressed, the second type sound or light is output. Is output to the driver at an appropriate timing.

  The warning device also determines the operation state of the gear, detects the moving body, is stepped on the accelerator, and determines that the gear is in the running state. Alternatively, since the light is output, the driver can be notified of the danger at an appropriate timing.

  Further, this warning device determines whether or not the vehicle is moving in the image capturing direction based on the direction of the camera and the operation state of the gear. Since the second type of sound or light is output when it is determined that the moving body is detected, the accelerator is stepped on, and the vehicle is moving in the image capturing direction, an appropriate timing is output. Can inform the driver of the danger.

  Exemplary embodiments of a warning device, a warning method, and a warning program according to the present invention will be explained below in detail with reference to the accompanying drawings.

  First, an outline and features of the warning device according to the first embodiment will be described. The warning device according to the first embodiment does not output a warning sound uniformly when a moving body is detected based on an image photographed by a camera mounted on the vehicle, but in the driving situation of the host vehicle. In response, the type of warning sound is selected and output.

  For example, when there are two types of warning sounds, a first warning sound and a second warning sound (for example, the volume of the first warning sound> the volume of the second warning sound), the warning according to the first embodiment. The apparatus outputs a first warning sound when the accelerator of the vehicle is stepped on. On the other hand, the warning device outputs a second warning sound when the accelerator of the vehicle is not stepped on and the brake is not stepped on.

  Thus, since the warning device according to the first embodiment selects and outputs the type of warning sound according to the driving situation of the vehicle, the driver can be alerted at an appropriate timing.

  Next, the configuration of the warning device according to the first embodiment will be described. FIG. 1 is a functional block diagram of the configuration of the warning device 100 according to the first embodiment. As shown in the figure, the warning device 100 includes an image input unit 110, a moving body detection unit 120, a vehicle sensor 130, a warning determination unit 140, and an output unit 150. It is assumed that the warning device 100 is mounted on a vehicle and connected to a camera such as a BCM (not shown).

  The image input unit 110 is a unit that is connected to a camera such as a BCM and outputs image information to the moving object detection unit 120 when image information input is received from the camera.

  The moving body detection unit 120 is a unit that detects a moving body included in the acquired image when image information is acquired from the image input unit 110. A known technique may be used as a method by which the moving body detection unit 120 detects a moving body from an image.

  For example, when the moving body detection unit 120 defines an image of the current frame as an n-frame image and an image of a frame immediately before the n-frame image as an n-1 frame image, the moving body detection unit 120 The image area where the difference is equal to or greater than the threshold value can be detected as a moving object (or the moving object may be detected using a block matching method using an optical flow method or a gradient method). ).

  The moving body detection unit 120 outputs the detection result of the moving body to the warning determination unit 140. In addition, when the moving body detection unit 120 detects the moving body, the moving body detection unit 120 outputs the coordinate information of the moving body and the information of the image input from the image input unit 110 to the output unit 150.

  The vehicle sensor 130 is means for detecting various states of the vehicle on which the warning device 100 is mounted. Here, the various states of the vehicle include information on whether the accelerator of the vehicle is depressed (accelerator information), information on whether the brake is depressed (brake information), vehicle speed information, and the like.

  For example, the vehicle sensor 130 is connected to a device that detects whether or not the accelerator is depressed, a device that detects whether or not the brake is depressed, and a device that detects the vehicle speed, respectively. Detect vehicle speed information. Then, the vehicle sensor 130 outputs the detected accelerator information, brake information, and vehicle speed information to the warning determination unit 140. Hereinafter, the accelerator information, the brake information, and the vehicle speed information are referred to as vehicle state information.

  The warning determination unit 140 determines whether to output a warning sound based on the detection result acquired from the moving body detection unit 120 and the vehicle state information acquired from the vehicle sensor 130, and outputs a warning sound. Is means for determining the type of warning sound based on the vehicle state information. The warning determination unit 140 outputs the determination result to the output unit 150.

  The warning determination unit 140 holds a vehicle management table. FIG. 2 is a diagram illustrating an example of a vehicle management table. As shown in the figure, this vehicle management table has a detection flag, an access flag, a brake flag, and a vehicle speed flag, and the warning determination device 100 obtains each flag information from the moving object detection unit 120 and Updating is performed based on the vehicle state information acquired from the vehicle sensor 130.

  The detection flag is a flag indicating whether or not a moving object is detected. When the detection flag is “on”, the moving object is detected, and when the moving object detection flag is “off”. Indicates that no moving object is detected. The accelerator flag is a flag indicating whether or not the accelerator of the vehicle is stepped on. When the accelerator flag is “on”, the accelerator is stepped on, and when the accelerator flag is “off”, the accelerator is pressed. Indicates that has not been stepped on.

  The brake flag is a flag indicating whether or not the brake of the vehicle is being depressed. When the brake flag is “on”, the brake is depressed, and when the brake flag is “off”, the brake is Indicates that has not been stepped on.

  The vehicle speed flag is a flag indicating whether or not the vehicle speed is equal to or higher than a threshold value. The warning determination unit 140 compares the vehicle speed with the threshold when the vehicle speed information of the vehicle state information is acquired, and sets the vehicle speed flag to “ON” when the vehicle speed is equal to or higher than the threshold. On the other hand, when the vehicle speed is less than the threshold, the vehicle speed flag is set to “off”.

  Here, the warning determination unit 140 will be specifically described based on the above vehicle management table for the warning sound determination. It is assumed that the warning device 100 according to the first embodiment can output two types of warning sounds, a first warning sound and a second warning sound. For example, it is assumed that the volume of the first warning sound is larger than the volume of the second warning sound. FIG. 3 is a diagram illustrating a correspondence relationship between each flag and the determination result.

(When the detection flag is off)
The warning determination unit 140 refers to the vehicle management table and determines that no warning sound is output regardless of whether the access flag, the brake flag, or the vehicle speed flag is on / off when the detection flag is “off”. To do.

(When the detection flag is on)
The warning determination unit 140 refers to the vehicle management table, and determines the type of warning sound to be output based on the access flag, the brake flag, and the vehicle speed flag when the detection flag is “ON”. Details are shown below.

  The warning determination unit 140 refers to the vehicle management table, and determines that the first warning sound is output regardless of whether the brake flag or the vehicle speed flag is on or off when the accelerator flag is “ON”. .

  The warning determination unit 140 refers to the vehicle management table, and when the accelerator flag is “off” and the brake flag is “off”, the warning determination unit 140 determines whether the vehicle speed flag is on or off. 2 is determined to output a warning sound.

  The warning determination unit 140 refers to the vehicle management table, determines that the accelerator flag is “off”, the brake flag is “on”, and the vehicle speed flag is “on” (the vehicle speed is equal to or greater than the threshold). If it is, it is determined that the second warning sound is output.

  The warning determination unit 140 refers to the vehicle management table, indicates that the accelerator flag is “off”, the brake flag is “on”, and the vehicle speed flag is “off” (the vehicle speed is less than the threshold). If it is, it is determined that no warning sound is output.

  The output unit 150 is an output unit that outputs various types of information, and includes a monitor (or display, touch panel), a speaker, and the like. In particular, as closely related to the warning device 100 of the first embodiment, the detection result of the moving object output from the moving object detection unit 120 is displayed on the monitor and based on the determination result of the warning determination unit 140. , Output a warning sound.

  For example, the output unit 150 displays an image captured by the camera on a monitor, and displays the moving body surrounded by a rectangle based on the coordinate information of the moving body from the moving body detection unit 120. Further, the output unit 150 outputs the first warning sound or the second warning sound from the speaker based on the determination result of the warning determination unit 140.

  FIG. 4 is a diagram showing the state of each flag and warning sound. Here, vehicle speed is shown instead of the vehicle speed flag (the vehicle speed being equal to or higher than the threshold and the vehicle speed flag being on are equivalent). The state shown in FIG. 4 assumes a case where the vehicle has entered an intersection.

  In the approaching operation at the intersection, the state where the driver is stepping on the accelerator in a series of operations of stopping and decelerating the vehicle and then moving forward is compared to the timing of releasing the brake in time series. Therefore, if the movement value approaching the host vehicle is overlooked, the risk becomes higher (for example, warning level 2). Therefore, when the accelerator flag is “ON”, the driver can be alerted accurately by outputting the first warning sound.

  Next, a processing procedure of the warning device 100 according to the first embodiment will be described. FIG. 5 is a flowchart of the process procedure of the warning device 100 according to the first embodiment. As shown in the figure, the warning device 100 determines whether or not the power of the BCM (camera) is turned on (step S101), and when it is turned off (No in step S102), The process ends.

  On the other hand, when the power of the BCM is on (step S102, Yes), the warning device 100 refers to the vehicle management table and determines whether or not the detection flag is on (step S103). ) If the detection flag is off (step S104, No), the process proceeds to step S101.

  On the other hand, if the detection flag is on (step S104, Yes), the warning device 100 determines the type of alarm (step S105), and outputs an alarm based on the determination result (step S106). The process proceeds to step S101.

  As described above, in the warning device 100 according to the first embodiment, when the moving body detection unit 120 detects a moving body based on an image photographed by a camera mounted on a vehicle, the output unit 150 is set to one. The warning determination unit 140 determines the type of the warning sound according to the driving status information of the host vehicle, and the output unit 150 outputs the warning sound according to the determination result. The driver can be alerted at an appropriate timing without causing discomfort to the hand.

  Although the embodiments of the present invention have been described so far, the present invention may be implemented in various different forms other than the first embodiment described above. Therefore, an embodiment included in the present invention will be described below as a second embodiment.

(1) Information used as criteria for warning sound For example, in the first embodiment, the warning determination unit 140 is based on vehicle state information output from the vehicle sensor 130, that is, accelerator information, brake information, and vehicle speed information. Thus, the type of the warning sound is determined. However, the present invention is not limited to this. For example, the type of the warning sound may be determined by further using the operation state of the gear.

  For example, the warning determination unit 140 generates a first warning sound when the accelerator is stepped on and the gear is in a traveling state in a state where the moving body detection unit 120 detects a moving body. It determines with outputting, and outputs a determination result to the output part 150. FIG. Note that the information on the gear operation state is acquired from a device that monitors the gear operation state.

  By the way, the warning determination unit 140 may determine the type of warning sound based on the azimuth (shooting direction) of the camera installed in the vehicle and the operation state of the gear. For example, the warning determination unit 140 captures an image in front of the vehicle, the accelerator is stepped on, and the gear is in a traveling state when the moving body detecting unit 120 detects the moving body. In the case of (forward movement), in other words, when the vehicle moves toward the moving body, it is determined to output the first warning sound, and the determination result is output to the output unit 150.

  Alternatively, the warning determination unit 140 captures the rear image of the vehicle, the accelerator is stepped on, and the gear moves backward in a state where the moving body detection unit 120 detects the moving body. In other words, in other words, when the vehicle is moving toward the moving body, it is determined that the first warning sound is output, and the determination result is output to the output unit 150.

  As described above, the warning determination unit 140 appropriately determines the presence or absence of warning sound output based on the shooting direction and the traveling state of the vehicle (the traveling state of the gear), thereby prompting the driver appropriately. it can. For example, when the vehicle moves in a direction away from the moving body, there is no need to output a warning sound because the vehicle does not touch the moving body.

(2) Warning method For example, in the first embodiment, different types of warning sounds are prepared, and the type of warning sound is selected and output based on the running state of the vehicle and the presence or absence of detection of a moving body. However, the present invention is not limited to this. For example, the moving object may be highlighted (notified by light) on the monitor, or the driver may be alerted by vibrating the seat or the handle. Good.

  For example, the output unit 150 acquires the determination result from the warning determination unit 140, and when it is determined to output the first warning sound, the output unit 150 outputs the first warning sound from the speaker and displays it on the monitor. Surround the moving body with a red rectangle. On the other hand, when it is determined that the second warning sound is output, the output unit 150 outputs the second warning sound from the speaker and surrounds the moving body to be displayed on the monitor with a yellow rectangle.

(3) System Configuration Of the processes described in this embodiment, all or part of the processes described as being performed automatically can be performed manually, or can be performed manually. All or part of the processing described as being performed can be automatically performed by a known method. In addition, the processing procedure, control procedure, specific name, and information including various data and parameters shown in the above-described document and drawings can be arbitrarily changed unless otherwise specified.

  Each component of the warning device 100 shown in FIG. 1 is functionally conceptual and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each device is not limited to that shown in the figure, and all or a part thereof may be functionally or physically distributed or arbitrarily distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. Furthermore, each processing function performed by each device may be realized by a CPU and a program that is analyzed and executed by the CPU, or may be realized as hardware by wired logic.

  FIG. 6 is a diagram illustrating a hardware configuration of a computer constituting the warning device 100 according to the first embodiment. As shown in FIG. 6, this computer (warning device) 200 includes an input device 201, a monitor 202, a camera (BCM) 203, a RAM (Random Access Memory) 204, a ROM (Read Only Memory) 205, and data from a storage medium. A medium reading device 206 for reading, a communication device 207 for transmitting / receiving data to / from other devices, a vehicle sensor 208, a CPU (Central Processing Unit) 209, and an HDD (Hard Disk Drive) 210 are connected by a bus 211. The Here, the vehicle sensor 208 corresponds to the vehicle sensor 130 shown in FIG.

  The HDD 210 stores a moving body detection program 210b and a warning determination program 210c that exhibit functions similar to the functions of the warning device 100 described above. When the CPU 209 reads and executes the moving object detection program 210b and the warning determination program 210c, the moving object detection process 209a and the warning determination process 209b are activated.

  Here, the moving object detection process 209a corresponds to the moving object detection unit 120 in FIG. 1, and the warning determination process 209b corresponds to the warning determination unit 140 and the output unit 150 in FIG.

  The HDD 210 stores various data 210a corresponding to information (image information or the like) used in the warning device 100. The CPU 209 reads out various data 210 a stored in the HDD 210, stores it in the RAM 204, and detects a moving body from the image using the various data 204 a stored in the RAM 204.

  Incidentally, the moving object detection program 210b and the warning determination program 210c shown in FIG. 6 are not necessarily stored in the HDD 210 from the beginning. For example, a “portable physical medium” such as a flexible disk (FD), a CD-ROM, a DVD disk, a magneto-optical disk, or an IC card inserted into a computer, or a hard disk drive (HDD) provided inside or outside the computer. The "fixed physical medium", and the "other computer (or server)" connected to the computer via the public line, the Internet, LAN, WAN, etc. May be stored, and the computer may read and execute the moving object detection program 210b and the warning determination program 210c from these.

(The following supplementary notes are disclosed with respect to the embodiments including Examples 1 and 2 above)

(Additional remark 1) Based on the image image | photographed with the camera mounted in the vehicle, the mobile body detection means which detects a mobile body,
Determining means for determining whether or not the vehicle is stopped;
An output means for outputting sound or light when the moving body detection means detects a moving body and the determination means determines that it is not in a stopped state;
A warning device comprising:

(Additional remark 2) The said determination means determines the operation state of the accelerator and brake of the said vehicle, and when the said accelerator is stepped on or when the said brake is not stepped on, the said vehicle is not a stop state The output means outputs the first type of sound or light when the accelerator is not stepped on by the determination means and the brake is not stepped on, and the accelerator is stepped on. If there is, the warning device according to appendix 1, wherein a second type of sound or light is output.

(Additional remark 3) The said determination means further determines the operation state of a gear, and the said output means detects the moving body by the said moving body detection means, and the said accelerator is stepped on, and a gear is in a driving | running | working state. The warning device according to appendix 2, wherein the second type of sound or light is output when it is determined that the second type of sound or light is detected.

(Additional remark 4) The said determination means determines whether the said vehicle is moving to the imaging | photography direction of an image based on the azimuth | direction of the said camera, and the operation state of the said gear, The said output means is the said mobile body When the detection means detects a moving body, the accelerator is stepped on, and it is determined that the vehicle is moving in the image capturing direction, the second type of sound or light is output. The warning device according to appendix 3, characterized by:

(Supplementary note 5) A warning method of a warning device for outputting a warning to a driver of a vehicle,
The warning device is
A storage step of storing an image taken by a camera mounted on the vehicle in a storage device;
A moving body detecting step for detecting a moving body based on the image stored in the storage device;
A determination step of determining whether or not the vehicle is in a stopped state;
An output step of outputting sound or light from an output device when the moving body detection step detects a moving body and the determination step determines that the determination is not in a stopped state;
A warning method characterized by containing.

(Additional remark 6) The said determination step determines the operation state of the accelerator and brake of the said vehicle, and when the said accelerator is stepped on or when the said brake is not stepped on, the said vehicle is not a stop state The output step outputs a first type of sound or light when the accelerator is not stepped on by the determination step and the brake is not stepped on, and the accelerator is stepped on. If so, the warning method according to appendix 5, wherein the second type of sound or light is output.

(Additional remark 7) The said determination step further determines the operation state of a gear, and the said output step detects a moving body by the said moving body detection step, the said accelerator is stepped on, and a gear is in a driving | running | working state. 7. The warning method according to appendix 6, wherein the second type of sound or light is output when it is determined that

(Supplementary Note 8) The determination step determines whether or not the vehicle is moving in the image capturing direction based on the azimuth of the camera and the operation state of the gear, and the output step includes the moving body Outputting the second type of sound or light when it is determined that a moving body is detected by the detection step, the accelerator is stepped on, and the vehicle is moving in the image capturing direction; The warning method according to appendix 7, characterized by:

(Appendix 9)
A storage procedure for storing an image taken by a camera mounted on the vehicle in a storage device;
A moving object detection procedure for detecting a moving object based on an image stored in the storage device;
A determination procedure for determining whether or not the vehicle is stopped;
An output procedure for outputting sound or light from an output device when the moving object detection procedure detects a moving object and the determination procedure determines that the determination procedure is not stopped;
A warning program characterized by causing

(Additional remark 10) The said determination procedure determines the operation state of the accelerator and brake of the said vehicle, and when the said accelerator is stepped on or when the said brake is not stepped on, the said vehicle is not a stop state The output procedure outputs a first type of sound or light when the accelerator is not stepped on by the determination procedure and the brake is not stepped on, and the accelerator is stepped on. If so, the warning program according to appendix 9, wherein the second type of sound or light is output.

(Additional remark 11) The said determination procedure further determines the operation state of a gear, and the said output procedure is that the moving body is detected by the said moving body detection procedure, the said accelerator is stepped on, and a gear is in a driving | running | working state. The warning program according to appendix 10, wherein the second type of sound or light is output when it is determined that the second type of sound or light is detected.

(Additional remark 12) The said determination procedure determines whether the said vehicle is moving to the imaging direction of an image based on the azimuth | direction of the said camera and the operation state of the said gear, The said output procedure is the said mobile body. Outputting the second type of sound or light when it is determined that a moving object is detected by the detection procedure, the accelerator is stepped on, and the vehicle is moving in the image capturing direction; The warning program according to appendix 11, characterized by:

  As described above, the warning device, the warning method, and the warning program according to the present invention are useful for a warning system that gives a warning to a driver of a vehicle, and in particular, for a driving state of a moving body and a host vehicle detected from an image. Accordingly, it is suitable when it is necessary to alert the driver at an appropriate timing.

1 is a functional block diagram illustrating a configuration of a warning device according to a first embodiment. It is a figure which shows an example of a vehicle management table. It is a figure which shows the correspondence of each flag and a determination result. It is a figure which shows the state of each flag and warning sound. 3 is a flowchart illustrating a processing procedure of the warning device according to the first embodiment. 1 is a diagram illustrating a hardware configuration of a computer that constitutes a warning device according to Embodiment 1. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Warning device 110 Image input part 120 Moving body detection part 130 Vehicle sensor 140 Warning determination part 150 Output part 200 Computer 201 Input device 202 Monitor 203 Camera 204 RAM
204a Various data 205 ROM
206 Media reader 207 Communication device 208 Vehicle sensor 209 CPU
209a Moving object detection process 209b Warning determination process 210 HDD
210a Various data 210b Moving object detection program 210c Warning determination program 211 Bus

Claims (6)

A moving body detecting means for detecting a moving body based on an image taken by a camera mounted on the vehicle;
Determining means for determining whether or not the vehicle is stopped;
An output means for outputting sound or light when the moving body detection means detects a moving body and the determination means determines that it is not in a stopped state;
A warning device comprising:   The determination means determines an operation state of an accelerator and a brake of the vehicle, and determines that the vehicle is not in a stopped state when the accelerator is depressed or when the brake is not depressed, The output means outputs a first type of sound or light when the accelerator is not stepped on by the determination means and the brake is not stepped on, and when the accelerator is stepped on. The warning device according to claim 1, which outputs a second type of sound or light.   The determination means further determines the operation state of the gear, and the output means detects that the moving body is detected by the moving body detection means, the accelerator is stepped on, and the gear is in a traveling state. The warning device according to claim 2, wherein when the determination is made, the second type of sound or light is output.   The determination means determines whether or not the vehicle is moving in the image capturing direction based on the azimuth of the camera and the operation state of the gear, and the output means is moved by the moving body detection means. When the body is detected, the accelerator is stepped on, and it is determined that the vehicle is moving in the image capturing direction, the second type of sound or light is output. The warning device according to claim 3. A warning method for a warning device that outputs a warning to a vehicle driver,
The warning device is
A storage step of storing an image taken by a camera mounted on the vehicle in a storage device;
A moving body detecting step for detecting a moving body based on the image stored in the storage device;
A determination step of determining whether or not the vehicle is in a stopped state;
An output step of outputting sound or light from an output device when the moving body detection step detects a moving body and the determination step determines that the determination is not in a stopped state;
A warning method characterized by containing. On the computer,
A storage procedure for storing an image taken by a camera mounted on the vehicle in a storage device;
A moving object detection procedure for detecting a moving object based on an image stored in the storage device;
A determination procedure for determining whether or not the vehicle is stopped;
An output procedure for outputting sound or light from an output device when the moving object detection procedure detects a moving object and the determination procedure determines that the determination procedure is not stopped;
A warning program characterized by causing

Images