JP2015057686A - Attention alert device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an attention alert device which enables a driver of an own vehicle to reliably grasp a place that should be noticed as the own vehicle approaches a mobile body.SOLUTION: An attention alert device includes: own vehicle identification means; mobile body identification means; and visual field recognition means for recognizing a viewable range and a non-viewable range. In addition, the attention alert device includes: attention alert position specification means; and sound image localization means. The attention alert position specification means specifies, out of a straight line constituting a borderline of a viewable range S and a non-viewable range T, an attention alert position Z which is an endpoint of a current position side of a crossing straight line intersecting with the borderline when a mobile body advances in a moving direction. The sound image localization means localizes a sound image of attention alert sound of a sound volume that increases in volume as a distance between a current position and an attention alert position gets closer, in a sound image localization direction in which the attention alert position is positioned when viewed from a driver of an own vehicle.

Description

  The present invention relates to an alerting device for alerting for preventing a collision between a moving body around the subject vehicle and the subject vehicle.

  When there is a moving body that may collide with the host vehicle around the host vehicle, output a sound image that moves along the passing mode (crossing the front, turning left, turning right, etc.) of the moving body. A driving support device for warning is known (Patent Document 1).

  In this driving support device, for example, when there is a moving body that crosses the front of the host vehicle from the left side to the right side, it communicates with the moving body and obtains information related to the passing form of the moving body (for example, guidance route information). Based on the information, an alarm is issued to localize the sound image to the right side after the sound image is localized to the left side.

  Such driving assistance devices are used because there are many things that narrow the driver's field of view around the road, such as buildings, and the moving body is on the road that intersects the road on which the vehicle is traveling. This is because even if the vehicle exists, the driver of the own vehicle cannot perceive the danger caused by the approach of the moving body.

JP 2009-245340 A

However, there are few cases where the road has a simple crossing, and for example, there are various forms such as a case where two intersections exist adjacent to each other and a roadway exists near the intersection.
Therefore, for example, in a place where two intersections exist adjacent to the road on which the host vehicle is traveling, even if a warning is issued using the driving assistance device, which mobile object is the target of the warning? I didn't know which intersection would be dangerous for my vehicle.

  Therefore, an object of the present invention is to provide a warning device that can make a driver surely grasp a place to be careful by approaching a moving body.

  In order to achieve the above object, the alerting device according to the first aspect of the present invention provides a vehicle recognition means (S1) that recognizes the current position of the vehicle (A) and the traveling direction of the vehicle at the current position. 32), and a moving body recognition means (S2) for recognizing the moving position and moving direction of the moving body (B) located around the own vehicle, and a view for distinguishing whether each position around the own vehicle can be seen. Visibility recognizing means (S30) for recognizing a viewable range (S) that can be seen by a driver who drives the vehicle at the current position and an unviewable range (T) that cannot be seen based on the communication information. ) And.

  And in this alerting device, the alerting position specifying means (S34) intersects when the moving body advances in the moving direction among the straight lines constituting the boundary line between the visible range and the unviewable range. (X1, X2), an end point on the current position side of the crossing straight line, or an alerting position (Z, Z1, X1) that is a crossing position that crosses the crossing straight line when the moving body travels in the moving direction. Z2, Z3) are specified.

  For example, if there is a building or the like in the driver's field of view, the invisible range is the rear side of the building or the like in the driver's front field of view. Specifically, it is a portion between straight lines connecting the left and right end points of the driver and the building, and the viewable range is the other portion.

  Here, when looking at the foreseeable range and the unforeseen range in plan, the unrecognizable range and the unrecognizable range on the back side of the building such as a building (side that cannot be seen by the driver) It can be seen that the boundary line is linear.

  Moreover, it turns out that the mobile body located in the back surface side of the building etc. comes to be located in the range which can be seen from the range which cannot be seen across the linear boundary line (crossing straight line). That is, it can be seen that the moving body enters the field of view of the driver of the host vehicle.

  In other words, the end point of the intersecting straight line and the end point on the current position side, that is, the left and right end points of the building such as the building in the above example, are a mark when the moving body enters the field of view for the driver. Become.

Therefore, this alerting position specifying means (S34) specifies this mark as the alerting position.
In addition, the intersection position that intersects the intersection line when the moving body travels in the moving direction is also a position that the driver wants to know in order to know the position where the moving body enters the field of view. The position is also specified as the above-mentioned alerting position. When the end point on the current position side of the intersecting straight line is far from the intersecting position, it is useful to specify such an alerting position.

In this attention drawing device, the sound image localization means (S40 to S42) localizes the sound image of the warning sound in the sound image localization direction where the attention drawing position is located when viewed from the driver of the host vehicle.
In this way, the driver can easily and reliably recognize the sound image localization direction indicating the direction in which the alerting position is located.

Therefore, when the alerting device of the present invention is used, the driver can be surely grasped a place to be careful due to the approach of the moving body.
As a result, for example, as shown in FIG. 11, when the alert device of the present invention is used in a place where two intersections are installed adjacent to each other, when another vehicle is approaching both intersections. When a speaker is placed at each of the intersections at both intersections Z1 and Z2 and another vehicle is approaching only one of the intersections, the alerting position Z1 at any intersection at which the other vehicle is approaching The driver feels that a speaker is placed at Z2.

Therefore, the driver of the own vehicle can surely grasp whether one of the intersections should be noted or both of the intersections should be noted.
The moving position of the moving body is, for example, the current position of the moving body.

In addition, the intersecting straight line may be said to be a section intersecting with an extension line in the moving direction of the moving body, for example, among the boundary lines between the viewable range and the unviewable range, but is not limited thereto.
Next, as described in claim 2, the sound image localization means has a louder volume as the distance between the current position and the alerting position becomes shorter in the sound image localization direction where the alerting position is located when viewed from the driver of the host vehicle. The sound image of the alert sound that becomes may be localized.

  In this way, the sound image of the alert sound is localized at the alert position (the speaker is placed) according to the sound image localization direction and the sense of distance obtained by the change in volume. felt.

For this reason, the driver can easily and surely recognize the alerting position, and the driver can surely grasp the place to be careful by the approach of the moving body.
Next, as described in claim 3, the sound image localization means may localize the sound image of the alert sound when the own vehicle and the moving body intersect (S32). The sound image localization means may localize the sound image of the alert sound when the traveling direction of the host vehicle and the traveling direction of the moving body intersect, for example.

  Incidentally, the reference numerals in parentheses for each of the above means are examples showing the correspondence with the specific means described in the embodiments described later, and the present invention is indicated by the reference numerals in the parentheses of the above respective means. It is not limited to specific means.

It is a block diagram which shows the internal structure of the own vehicle in 1st Embodiment. It is a schematic diagram for demonstrating the installation position in the own vehicle of a speaker. It is a flowchart of the own vehicle recognition process. It is a flowchart of a mobile body recognition process. It is a flowchart of an alerting process. It is explanatory drawing for demonstrating the position which can localize the range which can be seen, the range which cannot be seen, and a sound image. It is explanatory drawing for demonstrating the position which can localize the range which can be seen, the range which cannot be seen, and a sound image. It is a block diagram which shows the internal structure of the vehicle of 2nd Embodiment. It is a flowchart of a moving sound localization process. (A) Explanatory drawing about spectrum envelope superimposed on moving sound from room sound, (c) (d) is explanatory drawing explaining the moving sound and the modified moving sound which cuts the high frequency component of the moving sound. . It is a graph which shows the relationship between the volume gain of an alerting sound, and the distance from a present position to an alerting position. (A) is a graph showing the contents of the basic gain table, (b) is a graph showing the contents of the adjustment amount gain table, and (c) is a graph showing the contents of the combined gain table. It is explanatory drawing for demonstrating the position which can localize the range which can be seen, the range which cannot be seen, and a sound image. It is explanatory drawing for demonstrating the position which can localize the range which can be seen, the range which cannot be seen, and a sound image. It is explanatory drawing for demonstrating the position which can localize the range which can be seen, the range which cannot be seen, and a sound image.

(First embodiment)
A first embodiment of the present invention will be described below with reference to the drawings.
In the description of the first embodiment, the first embodiment will be referred to as this embodiment.

  In the following, a vehicle equipped with the alerting device 1 to be described below is called a host vehicle, and a vehicle around the host vehicle is called another vehicle (corresponding to the moving body of the present invention). The arousing device 1 may be mounted, in which case the other vehicle described below may be the own vehicle, and the own vehicle described below may be the other vehicle.

In addition, when the vehicle and other vehicles are collectively described without being distinguished, they are simply referred to as vehicles.
1. Internal structure of own vehicle The own vehicle includes at least an alerting device 1, a navigation device 3, an inter-vehicle communication device 5, and an acoustic device 7.

Of these, the alerting device 1 includes a central control device 10, an interface circuit 11, and a storage device 1.
2 and the like, and the devices 10 to 12 are connected via an internal bus so that various kinds of information can be input and output.

  The central control device 10 is a computer device that includes a ROM 14 that stores programs related to various processes, which will be described later, a RAM 10a, and a CPU 13 that executes the programs stored in the ROM 14.

Various storage areas (10b to 10d) are set in the RAM 10a.
Among these, in the own vehicle information storage area 10b, current position information indicating the current position of the own vehicle acquired from the navigation device 3 and various types of information related to the own vehicle are stored.

  In the other vehicle information storage area 10c, movement position information indicating the movement position that is the current position of the other vehicle acquired from the other vehicle by communicating with the other vehicle through the inter-vehicle communication device 5 and other vehicles related thereto. Are stored.

  This other vehicle information storage area 10c is subdivided into small areas (ID1 to ID3) for each ID information given to each vehicle, and when the movement position information is input from the inter-vehicle communication device 5, The ID information associated with the movement position information is stored in a small area (ID1 to ID3) in which the ID information matches.

If there is no small area with the matching ID information, a new small area is created, and the movement position information is stored in the new small area.
Further, the visibility information storage area 10d stores information indicating a viewable range and an unviewable range, which will be described later.

  The interface circuit 11 is connected to the in-vehicle LAN cable, and the alerting device 1 is connected to the navigation device 3, the inter-vehicle communication device 5, the acoustic device 7, and the like in the host vehicle via the interface circuit 11. Information can be input and output.

The storage device 12 is a storage device including an HDD, an IC memory, or the like.
The storage device 12 stores a warning sound, a basic gain table, and the like, which are stored in a warning sound storage area 12a and a gain table storage area 12b, respectively.

  The horn sound corresponding to the vehicle type is used as the alert sound. Here, the vehicle type refers to the type of vehicle such as a light vehicle, a small vehicle, an ordinary vehicle, a truck, a bus, a large motorcycle, a small motorcycle, and the like (corresponding to a type of moving body).

The basic gain table (see FIG. 11A) will be described later.
Next, the navigation device 3 will be described.
The navigation device 3 includes a central control device 30, an interface circuit 31, a current position specifying device 32, a map information storage device 33, and the like, and the devices 30 to 33 are communicably connected via an internal bus.

  The central control device 30 is a computer device that includes a CPU, ROM, RAM, and the like (not shown), such as route guidance processing, processing for transmitting current position information of the host vehicle to the alerting device 1 and the inter-vehicle communication device 5, etc. Perform various processes.

  The interface circuit 31 is connected to the in-vehicle LAN cable, and the navigation device 3 passes through the interface circuit 31 so that the alerting device 1, the inter-vehicle communication device 5, the acoustic device 7 and the information in the own vehicle are transmitted. Can be input and output.

  The current position specifying device 32 is a device including a group of devices that detect various information necessary for specifying the current position of the host vehicle, such as a GPS receiver and a gyroscope. The central control device 30 inputs various information detected from the current position specifying device 32 and based on the various information at regular intervals (for example, if the GPS receiver receives from GPS satellites at regular intervals). The current position of the host vehicle is specified every time), and current position information indicating the specified current position is output to the alerting device 1 and the inter-vehicle communication device 5.

The map information storage device 33 is a storage device that stores map information including an HDD, an IC memory, and the like.
The map information includes information on the laying position of the road for use in the route guidance processing described above, but in addition, information on the position, shape and size of ground structures such as buildings and soundproof walls, cliffs, etc. And information to identify whether the driver can see each position around the vehicle (hereinafter referred to as “forecast information”), such as information on the terrain such as the position, shape, and size of roads and undulations .

In addition to the above example, the prospect information may be any information as long as it is information for distinguishing whether the driver can see each position around the host vehicle.
In addition, the information regarding the laying position of the road used as the prospect information in the present embodiment is detailed information capable of distinguishing the road from other than the road.

When the map information is required, the alert device 1 can use the map information by inputting the map information from the map information storage device 33.
In this embodiment, the navigation device 3 does not turn on a power switch (not shown) for operating the navigation device 3 when the vehicle is in operation (even in a so-called sleep mode). It is assumed that map information can be output to the outside via an in-vehicle LAN cable. This is because the alerting device 1 is operated even when the navigation device 3 is not operating.

Next, the inter-vehicle communication device 5 will be described.
This inter-vehicle communication device 5 is a device for wirelessly communicating various information between vehicles, and its communication range is determined in advance (about 5 km in this embodiment).

  The inter-vehicle communication device 5 includes a storage unit 50 that stores ID information, vehicle type information, and the like of each vehicle. When communication is established with the inter-vehicle communication device 5 of another vehicle, input from the navigation device 3 is performed. A process of adding the ID information and the vehicle type information to the current position information and transmitting the information wirelessly is executed.

  On the other hand, when the inter-vehicle communication device 5 receives the current position information to which the ID information and the vehicle type information are added from another vehicle, that is, the movement position information of the other vehicle, this information is sent to the alert device 1 via the in-vehicle LAN cable. Output to. Then, the alerting device 1 stores this movement position information in one of the small areas (ID1 to ID3) of the other vehicle information storage area 10c having the same ID information.

Thus, between the vehicles used in this embodiment, when each vehicle is located within a communication range having a radius of about 5 km, the positions of the vehicles are grasped.
Next, the acoustic device 7 will be described.

The acoustic device 7 is a device including a plurality of speakers. As shown in FIG. 2, these speakers are provided at four locations on the front, rear, left and right sides of the vehicle interior space.
The sound device 7 receives an instruction from the alert device 1 and outputs an alert sound, or receives an instruction from the navigation device 3 and outputs route guidance sound.
2. Next, the own vehicle recognition process will be described with reference to the flowchart of FIG.

A program related to the own vehicle recognition process is stored in the ROM 14.
This own vehicle recognition process (S1) is a process executed by the CPU 13 provided in the central controller 10 of the alerting device 1, and is a process repeatedly executed until the vehicle engine starts and stops.

  As described above, when the vehicle engine is started, the current position information of the host vehicle is output from the navigation device 3 to the alerting device 1 and other devices at regular intervals, so that the host vehicle recognition process (S1) is started. First, it is determined whether or not the current position information of the host vehicle is input from the navigation device 3 (S10).

When the current position information is not input, the process waits (S10: NO), and when the current position information of the host vehicle is input (S10: YES), next, S12 is executed.
In this S12, since the current position information of the past own vehicle is stored in the own vehicle information storage area 10b, this past current position information of the own vehicle and the latest own vehicle that has been determined in S10. Based on the current position information, a process of calculating the traveling direction at the current position of the host vehicle is executed.

  When the processing of S12 is completed, the current position information, time stamp information of the latest host vehicle that has been determined in S10, and the traveling direction information indicating the traveling direction of the host vehicle calculated in S12. Are associated with each other, and the process of storing in the own vehicle information storage area 10b is executed (S14).

  And the process which erase | eliminates the past present position information which fixed time passed, the advancing direction information linked | related with this, and time stamp information is performed (S16), and the own vehicle recognition process is complete | finished.

Thus, in the alert device 1, when the engine of the host vehicle is started, the current position of the host vehicle and the traveling direction at the current position are always recognized.
Next, the moving body recognition process will be described with reference to the flowchart of FIG.

A program relating to the moving body recognition processing is stored in the ROM 14.
This moving body recognition process (S2) is also a process executed by the CPU 13 included in the central control device 10 of the alerting device 1, and is a process repeatedly executed until the engine of the host vehicle is started and stopped.

  When the other vehicle enters within a radius of about 5 km from the host vehicle and communication is established between the inter-vehicle communication devices 5 of each vehicle and communication is established, the inter-vehicle communication device 5 The reception is started, and the process of outputting the received movement position information of the other vehicle to the alert device 1 of the own vehicle is started.

Therefore, when this moving body recognition process is started, it is first determined whether or not the movement position information of another vehicle has been input from the inter-vehicle communication device 5 (S20).
In S20, when the movement position information of the other vehicle is not received, a standby process is executed (S20: NO). When the movement position information of the other vehicle is received (S20: YES), next, S21. The process is executed.

  In S21, a process of determining whether there is a small area (ID1 to ID3) of the other vehicle information storage area 10c that matches the ID information associated with the movement position information received in S20 (S21).

  In this determination (S21), when there is a small area (ID1 to ID3) that matches the ID information (S21: YES), time stamp information is added to the movement position information received in S20, and the ID information is included together with the vehicle type information. The process of storing in the matching small areas (ID1 to ID3) is executed (S22).

  On the other hand, if there is no small area (ID1 to ID3) with the same ID information (S21: NO), a new storage area is provided, and the movement position information received in S20 is added to the new storage area with the time stamp information. The storing process is executed (S23).

When the processes at S22 and S23 are completed, the process at S24 is executed.
In S24, a process of calculating the moving direction of the other vehicle is executed from the past moving position information stored in the same small area (ID1 to ID3) as the latest moving position information received in S20.

  Further, in S25, a process of calculating the moving speed is executed from each moving position information used for the process of calculating the moving direction of the other vehicle and the type stamp information associated therewith.

  In S26, the latest movement position information is further associated with the movement position information indicating the movement direction calculated in S24 and the movement speed information indicating the movement speed calculated in S25. 10c is stored in one of the small areas (ID1 to ID3).

Then, a process of deleting the movement position information after a certain period of time and the information related thereto is executed (S28), and the moving body recognition process ends.
As described above, in the alert device 1, when the engine of the host vehicle is started and another vehicle is present within a range in which the inter-vehicle communication device 5 can communicate, the movement position and movement of the other vehicle are detected in the host vehicle. Direction and speed are always recognized along with the vehicle type.

In addition, you may make it acquire movement speed information from another vehicle by vehicle-to-vehicle communication. Acquisition timing is arbitrary.
3. Attention Calling Process Next, the attention calling process will be described with reference to the flowchart of FIG.

A program relating to the alerting process is stored in the ROM 14.
This alerting process (S3) is performed by the CPU 13 provided in the central controller 10 of the alerting device 1 when another vehicle is present around the host vehicle, that is, when the movement position information of the other vehicle is started. Is a process to be executed. The end timing may be determined as appropriate.

When this alerting device is started, the visual field recognition process (S30) is started.
This visibility recognition process (S30) is executed every time the current position information of the host vehicle is input from the navigation device 1 while the alerting process (S3) is being executed.

  This visibility recognition process (S30) is executed using the map information stored in the map information storage device 33 of the navigation device 3, and the current position information and traveling direction information of the host vehicle stored in the host vehicle information storage region 10b. Is done.

  In this visibility recognition process (S30), for example, based on the map information including the forecast information, the viewable range (view) that can be seen by the driver driving the host vehicle at the current position and the forecast can be seen. A process for identifying an unforeseeable range that cannot be performed is executed.

  Specifically, for example, as shown in FIG. 6A, information regarding the laying position of the road may be used as the prospect information. In this case, the current position of the host vehicle A is set as a reference point a, and a range in which a straight line can be drawn so as not to exit the road in the traveling direction W side ahead of the reference point a (a shaded portion that rises to the right) S S And Further, a range in which the straight line cannot be drawn is defined as an unpredictable range T (shaded portion with a downward shoulder) where the driver of the host vehicle A cannot see.

  Also, for example, as shown in FIG. 6B or FIG. 7, as foresight information, information on the position, shape and size of ground structures such as buildings and soundproof walls, positions such as cliffs and road undulations, Information on topography such as shape and size may be used. In this case, a range in which a straight line can be drawn on the traveling direction W side of the vehicle A ahead of the reference point a without being obstructed by a visual obstacle (T1 to T7) such as a ground structure or a cliff The hatched portion of FIG. In addition, a range in which a straight line cannot be drawn due to a visual field obstacle (a hatched portion with a downward shoulder) is defined as an invisible range T. It should be noted that the visual field obstacle may be included in the invisible range or may not be included as shown in FIG.

By this visibility recognition process (S30), the perceivable range S and the unpredictable range T are grasped in the alerting device 1 during the execution of the alerting process (S3).
These pieces of information are stored in the visual field storage area 10d of the RAM 10a and updated as needed.

Next, as shown in FIG. 5, when the reception of the movement position information is started, a process for determining whether or not the other vehicle that has transmitted the movement position information and the host vehicle intersect is executed (S32).
This determination (S32) indicates the traveling direction information indicating the traveling direction W of the own vehicle stored in the own vehicle information storage area 10b and the moving direction K of the other vehicle stored in the other vehicle information storage area 10c. This is executed using the movement direction information (see FIGS. 6 and 7).

In the determination of S32, when it is determined that the host vehicle A and the other vehicle B do not intersect (S32: NO), the alerting process (S3) ends.
On the other hand, when it is determined in S32 that the own vehicle A and the other vehicle B intersect (S32: YES), the process of S34 is executed next.

In S34, the attention calling position specifying process for specifying the attention calling position Z is executed.
This alerting position Z is a position that serves as a mark for the driver of the host vehicle A to know the position at which the other vehicle B first enters the field of view (viewable range).

As shown in FIGS. 6 to 7, the boundary line between the viewable range S and the unviewable range T is a straight line.
Here, when viewing the foreseeable range S and the unforeseen range T in a plan view, it is possible to see the unpredictable range T on the back side of the building such as a building (the side that cannot be seen by the driver). It can be seen that the boundary line with the range S is linear.

  In addition, the other vehicle B located on the back side of the building or the like may be located in the viewable range S from the unviewable range T across the straight boundary line (crossing straight line X1). Recognize. That is, it can be seen that the other vehicle B enters the field of view of the driver of the host vehicle A.

  That is, the end point of the intersecting straight line X1 and the end point on the current position side, that is, the corner portion of the building such as the building in the above example, is a mark when the moving body enters the field of view for the driver. Become.

Therefore, this alerting position specifying means (S34) specifies this mark as the alerting position Z described above.
In the present embodiment, for example, when the foreseeable range S is specified as shown in FIG. 6A, the corner portion of the intersection of the road on which the own vehicle A is traveling and the road on which the other vehicle B is traveling is It is specified as the arousal position Z.

Further, in the present embodiment, for example, when the foreseeable range S is specified as shown in FIG. 6B, the corner portion of the building T1 that hides the other vehicle B is specified as the alerting position Z.
Further, in the present embodiment, for example, as shown in FIG. 7, when the foreseeable range S is specified, the position where the straight line drawn from the base point a is in contact with the cliff T7 that hides the motorcycle B is specified as the alerting position Z Is done.

  In any case, the crossing straight line X1 is a straight line along the direction from the current position of the host vehicle A to the alerting position Z, and the current position of the host vehicle A starts from the alerting position Z. It is a straight line drawn on the opposite side.

  When the alerting position Z is specified in this way, next, as shown in FIG. 5, it is determined whether or not the other vehicle B is equal to or shorter than Tc seconds to reach the intersection point between the own vehicle A and the other vehicle B. Is executed (S36).

  In S36, specifically, the traveling direction of the own vehicle A and the traveling direction of the other vehicle B are determined from the current position information and traveling direction information of the own vehicle A and the moving position information and movement direction information of the other vehicle B. Estimated intersection point where In S36, from the latest movement speed information of the other vehicle B and the distance from the latest movement position of the other vehicle B to the intersection point, until the other vehicle B reaches the intersection point from the latest movement position. It is determined whether the estimated arrival time is equal to or less than a predetermined Tc second.

  If it is determined in S36 that the estimated arrival time is greater than Tc seconds (S36: NO), this alert processing (S3) is terminated, and if it is determined in S36 that the estimated arrival time is Tc seconds or less. (S36: YES) Next, the process of S38 is executed.

In S38, processing for determining whether or not the sound image of the alert sound has already been localized within Ti (corresponding to the limit period of the present invention) seconds at the alert position Z identified in S34 is executed.
If it is determined in S38 that the sound image of the alert sound has been localized in Ti seconds or less (S38: YES), the alert processing (S3) ends, and in S38, attention must be paid for Ti seconds or less. If it is determined that the sound image of the alert sound is not localized at the arousing position Z (S38: NO), the process of S39 is then executed.

In S39, the process which determines whether the road on which the own vehicle A is traveling and the road on which the other vehicle B is traveling is executed.
This determination is made based on the map information, the current position information of the host vehicle A, and the movement position information of the other vehicle B.

  If it is determined in S39 that the road on which the vehicle A is traveling and the road on which the other vehicle B is traveling do not intersect (S39: NO), this alerting process (S3) is terminated. If it is determined that the vehicle intersects (S39: YES), then the process of S40 is executed.

In S40, the sound image localization direction in which the alerting position Z identified in S34 is located as seen from the driver of the own vehicle is specified, and the distance from the current position of the own vehicle to the alerting position Z (hereinafter referred to as “sound image localization distance”). Is calculated).

The sound image localization direction and the sound image localization distance are specified and calculated from the current position information (base point a) of the host vehicle and the position information of the alerting position Z.
In subsequent S41, the basic sound indicating the relationship shown in FIG. 11A, which is read from the storage device 12 from the attention sound storage area 12a and is read from the gain table storage area 12b, according to the vehicle type of the other vehicle B. Using the gain table, the volume corresponding to the distance from the current position of the host vehicle to the alerting position Z is determined. This basic gain table shows the relationship between the distance from the current position to the alert position Z and the volume gain of the alert sound, and shows that the gain increases at a constant rate with respect to the decrease in distance. It is a table to show.

  In S42, the sound image of the alert sound read in S41 is output for each speaker included in the audio device 7 so that the sound image localization direction specified in S40 is localized at the sound volume determined in S41. Processing for processing the alert sound and outputting audio information of the processed alert sound to the acoustic device 7 is executed.

Thereafter, the processing of S40 to S42 is repeatedly executed, and if it is determined in S43 that the own vehicle A has moved to a position where the alerting position Z is not located in the field of view of the driver of the own vehicle A, this alerting is performed. The process (S3) ends.
4). Characteristic operational effects of the alerting device of the present embodiment In the alerting device 1 of the present embodiment, when the processes of S40 to S42 of the alerting process (S3) are repeatedly executed, the driver (base point) of the host vehicle A In the sound image localization direction where the alerting position Z (see FIG. 6 and FIG. 7) is located as viewed from a), the alerting sound becomes louder as the distance between the current position (base point a) and the alerting position Z becomes shorter. The sound image will be localized.

  Therefore, the driver feels that the sound image of the alert sound is localized at the alert position Z (a speaker is placed) by the sound image localization direction and the sense of distance obtained by the change in volume. The driver can easily and reliably recognize the place (attention calling position) that serves as a mark when the moving body enters the field of view.

Therefore, when the alerting device 1 of this embodiment is used, the driver can be surely grasped a place to be alerted by the approach of the other vehicle B.
In the present embodiment, the sound image of the alert sound is localized only when the host vehicle A and the other vehicle B intersect (S32: YES) (S40 to S42).

In this way, since it is not possible to warn of a collision with another vehicle B that is unlikely to collide with the host vehicle A, it is possible to concentrate the driver's attention on a place that really needs attention.
In the present embodiment, the moving speed of the other vehicle B is also specified, and when the other vehicle B moves to the intersection where the own vehicle A intersects at the moving speed, the other vehicle B reaches the intersection. If the estimated arrival time is less than or equal to a predetermined time (Tc) (S36: YES), the sound image is localized at the alerting position Z (S40). For this reason, attention can be paid in order from the other vehicle B, which is more dangerous.

In addition, about the moving speed of the other vehicle B, although the moving speed was specified from the moving position of the other vehicle B in this embodiment, you may make it acquire the information regarding a moving speed from the other vehicle B. FIG.
In the present embodiment, the foreseeable range S and the foreseeable range T are specified using map information. However, as shown in FIG. As shown in FIG. 6 (b) or FIG. 7, information on the position, shape, and size of ground structures such as buildings and soundproof walls, and the position, shape, and size of undulations on cliffs and roads. You may specify using the information regarding the topography.

  In the present embodiment, the type of the other vehicle B (ordinary vehicle, small vehicle, large vehicle, etc.) is recognized, and the sound image of the alert sound corresponding to the type is localized (S42), which may occur in the future. It becomes easy to assume dangerous situations specifically.

  In the present embodiment, if the sound image is not localized within the predetermined limit period (Ti) at the same alerting position Z (S38: YES), the sound image is localized at the alerting position Z. However, this is because even if the sound image is localized on the same alerting position Z, a warning is wasted.

  As a method of localizing the sound image of the alert sound at the alert position Z, the wavefront when a virtual sound source is placed at the alert position Z may be synthesized using a wavefront synthesis method or the like. Any method may be used.

(Second Embodiment)
Next, a second embodiment will be described. In addition, the same code | symbol is attached | subjected about the structure similar to 1st Embodiment, and the description is abbreviate | omitted.
1. Internal structure of vehicle This embodiment is different from the first embodiment in that each vehicle includes a sound collecting device 8 as shown in FIG.

In the vehicle compartment, there are various sounds such as a passenger's voice, a sound generated from an audio device, a running noise of the vehicle, and an intruding sound entering from the outside of the vehicle.
The sound collecting device 8 is a device for collecting the room sound in order to monitor the generation state of the room sound in the vehicle room.

Further, the present embodiment is different from the first embodiment in that a filter storage area 10e, a sound collection storage area 10f, and a modified moving sound storage area 10g are provided in the RAM 10a.
The filter storage area 10e is a storage area for recording filter information described later.

The sound collection storage area 10f is a storage area in which the room sound collected by the sound collection device 8 can be recorded for a predetermined time longer than T2 seconds, which is a predetermined sampling time.
The modified moving sound storage area 10g is a storage area for storing the moving sound obtained by filtering the moving sound stored in the storage device 12 using the filter information described later in the moving sound localization process described later.

Another difference is that the storage device 12 is provided with a movement sound storage area 12c in which movement sounds such as traveling noise that differ for each vehicle type are stored.
2. Moving Sound Localization Process Next, the present embodiment is different from the first embodiment in that a moving sound localization process is performed to localize a sound image in a direction from the current position of the host vehicle toward the movement position of the other vehicle.

Hereinafter, the moving sound localization process will be described with reference to FIGS. 9 and 10.
A program relating to the moving sound localization process is stored in the ROM 14.
This moving sound localization process (S5) is a process executed by the CPU 13 of the central controller 10 of the alerting device 1, and when there is another vehicle around the own vehicle, that is, the inter-vehicle communication device 5 of the own vehicle. Is a process started when reception of movement position information from another vehicle is started. The end timing may be determined as appropriate.

In the present embodiment, while the moving sound localization process (S5) is being executed, the sound collecting device 8 continuously collects the room sound in the vehicle compartment and collects the collected room sound. It is assumed that a process of storing in the storage area 10f for a certain time (at least longer than T2 seconds described later) is executed.

  When the moving sound localization process is started, as shown in FIG. 9, a process for determining whether or not the filter information stored in the filter storage area 10e has been updated within the past T2 seconds is executed (S50).

  If the filter information is updated in this determination (S50: YES), the process of S56 is executed next. On the other hand, if the filter information is not updated (S50: NO), the process of S52 is executed next. Is done.

In S52, processing for updating the filter information stored in the filter storage area 10e is executed.
Specifically, since the latest room sound collected by the sound collecting device 8 is recorded for T2 seconds or more in the sound collection memory area 10f, T2 seconds before the latest of the recorded room sounds. The room sound up to is analyzed by the LPC analysis method or the like, and a process of detecting the spectrum envelope (see FIG. 10A) of the room sound from the result of this analysis is executed.

  Then, a filter having a frequency characteristic simulating the detected spectral envelope according to a certain rule is created, and processing for storing the filter information of this filter in the filter storage area 10e is executed (for example, a linear prediction coefficient or a PARCOR coefficient). Calculated from the above).

  Next, in S54, using the filter information created in S52, a process of generating a deformed moving sound from the moving sound corresponding to the vehicle type of the other vehicle among the moving sounds stored in the moving sound storage area 12c is executed. The deformed moving sound is stored in the deformed moving sound storage area 10g of the RAM 10a.

At this time, the moving sound is converted into a modified moving sound having frequency characteristics similar to the spectrum envelope of the room sound (see FIG. 10B).
The vehicle type of the other vehicle is determined based on the vehicle type information associated with the movement position information of the other vehicle.

In S56, processing for determining whether or not the sound image of the alert sound is localized with respect to the alert position is executed.
In the process of S56, when the sound image of the alert sound is not localized (S56: NO), the deformation movement sound stored in the deformation movement sound storage area 10g is transferred from the current position of the own vehicle to the movement position ( Specifically, for example, in FIG. 6 and FIG. 7, a process of localizing in a direction from the base point a to the position where the other vehicle B is described is executed (S58).

  On the other hand, when the sound image of the alert sound is localized (S56: YES), a process of localizing the moving sound stored in the moving sound storage area 12c in the direction toward the moving position is executed (S60).

Then, when the processes of S58 and S60 are finished, the moving sound localization process is finished. 3. Characteristic effects of the alerting device of the present embodiment The alerting device 1 of the present embodiment has the following effects in addition to the effects described in the first embodiment.

When the above-described moving sound localization process (S5) is executed, if the sound image of the alert sound is not localized at the alert position, the modified moving sound localized in the direction toward the moving position of the other vehicle is The sound is not annoying for the driver who resembles the sound, so it is not annoying sound.

  On the other hand, when the sound image of the alert sound is localized in the direction toward the alert position, the movement sound localized at the movement position of the other vehicle is a moving sound that has not been filtered regardless of the interior sound in the vehicle compartment. Is output as is. Therefore, the driver is more likely to notice the moving sound that is localized in the direction toward the moving position, compared to the case where the driver hears the deformed moving sound that has passed through the filter.

  That is, in the moving sound localization process described above, when it is not necessary to localize the sound image of the alert sound in the direction toward the alert position, in other words, when the risk of the other vehicle is low, The deformed moving sound is localized in the direction of heading.

On the other hand, when the degree of danger is high, the moving sound that has not been filtered is localized, so that the driver's attention can be increased by the change in the sound image.
In addition, if a moving sound is output when the degree of danger is not high, it may only be annoying, but since the deformed moving sound is output by filtering, it does not feel such annoying The driver can be informed of the approach of other vehicles.

  In the above description, as a method of determining the risk level, it is determined based on whether or not the sound image of the caution sound is localized in the direction toward the caution position (whether it is Tc seconds or less to reach the intersection). Yes.

  However, as a method for determining the degree of risk, for example, the determination may be made based on the distance between the host vehicle and the other vehicle, or from the intersection where the road on which the host vehicle travels and the road on which the moving body travels to the other vehicle. The determination may be made based on the distance, the arrival time of another vehicle at the intersection, or any other criteria.

Further, the moving sound may be a sound other than the traveling noise, and is not limited to this.
In the present embodiment, the room sound in the vehicle compartment of the host vehicle collected by the sound collecting device 8 is used as the sound from which the filter information is created. However, instead of the room sound, the sound is output from the audio. Other sounds may be used as long as they can be heard in the vehicle compartment.

  In S60, the moving sound that has not been filtered is localized, but this is to output a sound that is easier to notice than the sound that has been filtered. The applied moving sound may be localized at the moving position.

  In S58, the deformed moving sound generated using the filter information based on the room sound in S52 and S54 is output. However, as shown in FIG. 10C and FIG. A cut deformed moving sound may be output, or a deformed moving sound obtained by cutting a frequency component in a certain band may be output. In either case, the low frequency component of the moving sound may be cut.

In the above embodiment, the distance between the host vehicle and the other vehicle may be calculated, and in the processes at S58 and S60, a moving sound having a volume corresponding to the distance may be output.
(Third embodiment)
Next, a third embodiment will be described. In addition, the same code | symbol is attached | subjected about the structure similar to 1st Embodiment, and the description is abbreviate | omitted. In the following description of the third embodiment, the third embodiment is referred to as this embodiment.

  In S41 of the alert process (S3) of the first embodiment, the volume of the alert sound is determined based on the basic gain table having the relationship as shown in FIG. Then, the volume of the alert sound is determined based on the composite gain table having the relationship as shown in FIG.

  In the gain table storage area 12b set in the storage device 12 of the alerting device 1 of the present embodiment, an adjustment gain table having a relationship as shown in FIG. 11B is stored in addition to the basic gain table. ing.

  This adjustment gain table shows the relationship between the distance from the current position to the alerting position Z and the adjustment amount gain of the alerting sound, and when the current position is far from the alerting position Z (between codes α to β). ) Indicates that the gain decreases at a constant rate with respect to the distance.

  In addition, when the current position approaches the alerting position Z (between symbols β and γ), the adjustment gain table decreases the gain with respect to the distance at a larger rate, and then the current position is alerted. When approaching the position Z (between symbols γ and δ), it indicates that the gain with respect to the distance becomes 1.

FIG. 11B shows that the gain at the distance between α and β decreases with a slope that makes the slope of the gain in FIG. 11A negative.
When these two gain tables shown in FIGS. 11A and 11B are multiplied, a combined gain table shown in FIG. 11C is created.

  This combined gain table indicates that the gain when the current position is far from the alerting position Z (between symbols α and β) is larger than the gain of the basic gain table, and the volume is constant.

In addition, the gain when the current position approaches the alerting position (between symbols β and γ) indicates that the constant volume is temporarily reduced.
Further, the gain when the current position is closer to the alerting position (between symbols γ and δ) is the same as the gain indicated by the basic gain table, and indicates that the volume is temporarily increased.

4). Characteristic operational effects of the alerting device of the present embodiment In the alerting device 1 of the present embodiment, the volume of the alerting sound is adjusted based on the above-described composite gain table, so the current position is determined from the alerting position. If it is far away, that is, for a certain period (between codes α and β) after starting the process of localizing the sound image of the alert sound, the volume is higher than when the volume is adjusted in the basic gain table, but is constant. A volume alert sound is output.

  Therefore, when the current position is far from the alert position, if the volume of the alert sound is adjusted in the basic gain table, the volume may be too low and the driver may not know whether the alert sound is being output. However, in this embodiment, the caution sound is output at a relatively high constant volume, so that the driver can be surely noticed.

  Further, in the alert device 1 of the present embodiment, when the current position approaches the alert position (between symbols β and γ), that is, after the above-described fixed period of time when the volume is constant, the volume gradually decreases. To do.

If the volume is suddenly lowered, there is a possibility that a loud chopping sound may be generated, but if the volume is gradually reduced in this way, the generation of a chopping sound can be prevented.
Furthermore, in the alert device 1 of the present embodiment, when the current position gets closer to the alert location (between symbols γ and δ), the volume gradually increases.

As described above, when the current position further approaches the alert position, the position of the alert position Z is indicated by the alert sound in an easy-to-understand manner for the driver, as in the first embodiment.
Note that whether the volume of the alert sound is adjusted based on the composite gain table or the basic gain table may be used depending on various conditions.

  For example, when the host vehicle is traveling on a main road, the alert sound is adjusted based on the basic gain table. When the host vehicle is traveling on a road other than the main road, the alert is generated based on the composite gain table. The sound may be adjusted.

  Further, when the speed of the host vehicle is equal to or higher than a predetermined speed, a composite gain table may be used to prevent the vehicle from being buried in the running sound, and when the speed is lower than the speed, a basic gain table may be used.

Similarly, the composite gain table is used when the audio volume of the host vehicle is greater than or equal to a predetermined volume, or the noise level inside the host vehicle is greater than or equal to the predetermined volume, and the basic gain table is used otherwise. May be.
(Other embodiments)
In the embodiment described above, the alerting device 1 acquires the current position information from the navigation device 3, but the alerting device 1 is directly provided with a device corresponding to the current position specifying device 32, and is directly provided. The current position information may be acquired from the selected device.

The current position specifying device 32 may be configured separately from the navigation device 3. The map information storage device 33 is the same as the current position specifying device 32.
In the embodiment described above, the case where the other vehicle intersects with the own vehicle has been described. However, what intersects with the own vehicle may not be a passenger car, and may be, for example, a motorcycle, a bicycle or a pedestrian.

Further, the other vehicle may be any type such as a normal car, a light car, a large car, a truck, a bus, and a dump truck.
Next, in the above-described embodiment, the map information is used as a means for specifying the viewable range or the unviewable range. The foreseeable range may be specified by analyzing the image information of the obtained image.

  As a method for identifying the foreseeable range with a camera, for example, a method for identifying the foreseeable range by recognizing the presence of a barrier such as a wall or a building on the road ahead and the distance to it can be considered. .

  Further, the range that can be seen by the driver of the host vehicle may be specified using a forward monitoring radar or the like (or in combination with a camera). In addition, the range that can be seen, that is, the occlusion situation may be determined by a range finder or the like.

  In the above-described embodiment, a warning sound is output regardless of whether or not a traffic light is installed at an intersection where the road on which the host vehicle and the road on which the other vehicle travels intersect (S40). If there is, there may be no output of the caution sound that localizes the sound image at the caution position.

This is because traffic control is performed by signals at such intersections, and processing for localizing a sound image may be wasted.
In addition, what is necessary is just to refer map information whether there is a signal in an intersection.

  Next, in the above-described embodiment, an example in which communication is performed between vehicles by vehicle-to-vehicle communication has been described. However, communication may be performed by road-to-vehicle communication, or a public communication network such as a communication network such as a mobile phone. The communication may be performed by using and is not limited to inter-vehicle communication.

Further, the caution sound localized at the caution position may be a horn if the other vehicle is a car, or a bell if the vehicle is a bicycle.
Further, in the above-described embodiment, when there is a succeeding vehicle in another vehicle, the processing for localizing the sound image of the alert sound at the alert position may not be executed for the succeeding vehicle.

Moreover, although the above-mentioned embodiment demonstrated the case where the other vehicle which drive | works on a road was made into object, you may target the other vehicle which comes out on a road from a parking lot or a store.
In the above-described embodiment, the case where the host vehicle and the other vehicle are in a one-to-one relationship has been described. For example, as illustrated in FIG. 12, the host vehicle A is located at a place where two intersections are adjacent to each other. When other vehicles B1 and B2 are approaching each intersection when approaching, even if the sound image of the alert sound is localized in the direction toward the alert positions Z1 and Z2 corresponding to the other vehicles B1 and B2 approaching each intersection Good.

  Next, in the above-described embodiment, with respect to the traveling direction of the own vehicle and the moving direction of the other vehicle, the past current position of the own vehicle and the moving position of the other vehicle, and the current position of the current (latest) own vehicle and the other vehicle. Based on the movement position, the traveling direction and the moving direction at the current position and the moving position are specified (S12, S24). Instead, for example, the traveling direction and the moving direction are specified as follows. May be.

  First, as shown in FIG. 13, from the current position and the moving position where the host vehicle A and the other vehicle B are traveling, the host vehicle A and the host vehicle A using the map information stored in the map information storage device 33 of the navigation device 3 The road on which the other vehicle B is traveling is specified.

  Then, the extension direction of the road from the current position of the own vehicle A and the moving position of the other vehicle B to the intersection (intersection) where the road on which the own vehicle A and the other vehicle B travels is specified. About the moving direction K of B, it is good also as a thing along the extension direction of the road specified as the road where the other vehicle B is moving.

Also, the traveling direction W of the host vehicle A may be along the extending direction of the road specified as the road on which the host vehicle A is moving in the same manner as the moving direction K of the other vehicle B.
In S34, when the traveling direction W of the host vehicle identified as described above and the moving direction K of the other vehicle intersect, the corner of the intersection where the road on which the own vehicle A and the other vehicle B travel intersect each other. Etc. may be specified as the alerting position Z.

  In this way, at present, the own vehicle A and the other vehicle B are moving in parallel, but even if the road on which the own vehicle A and the other vehicle B are traveling intersects, the road where these intersect. It is possible to specify the corner of the intersection as the attention calling position Z and localize a sound image such as a warning sound in the direction toward the attention calling position Z.

Note that the extension direction of the road on which the host vehicle or other vehicle is traveling may be specified using route information for guiding them.
In the above embodiment, the foreseeable range is specified in S30, and the unforeseeable range is specified based on the result. However, the unforeseeable range is specified, and the foreseeable range is determined based on the result. You may specify. Recognition of the foreseeable range and the unforeseeable range may be performed by any method.

  Moreover, in the said embodiment, it is the intersection straight line X1 which cross | intersects when the other vehicle B advances to the moving direction K, Comprising: The end point by the side of the present position of the own vehicle A of this intersection straight line was set as the alert position Z. You may do it.

Specifically, as shown in FIG. 14, when the other vehicle B travels in the movement direction K, the intersection position that intersects the intersection line X1 may be set as the alerting position Z3.
In the above embodiment, the gain table shown in FIG. 11 is shown, but the amplitude may be set so as to be inversely proportional to the distance. The gain table may be set so that the gain increases as the distance decreases.

  If it is determined in S43 of the alerting process that the own vehicle A has moved to a position where the alerting position Z is not located in the field of view of the driver of the own vehicle A, the alerting process (S3) is terminated. However, it may be ended when a certain period of time has elapsed after the start of alerting.

Further, although the distance-gain gain table is shown in FIG. 11, it may be a time-gain gain table.
In this case, in S41, the own vehicle A reaches the intersection point from the speed of the own vehicle A and the distance to the intersection point where the own vehicle A intersects the other vehicle B (or the point closest to the alerting position). It is also possible to calculate the time to perform and output a caution sound with a volume reflecting the gain corresponding to that time.

In the above embodiment, the volume of the alert sound is adjusted using various gain tables. However, the volume may be adjusted as follows.
For example, after the output of the alert sound (start timing may be arbitrarily determined, such as the distance to the intersection or the point closest to the alert position and the arrival time reaches a predetermined distance or time) The alert sound may be output at a constant volume for a predetermined time.

  Thereafter, a crossfade process for gradually decreasing the volume of the alert sound to a volume that can be adjusted according to the basic gain table may be executed, and thereafter, the volume of the alert sound may be adjusted according to the basic gain table.

  In addition, the function regarding each process (the own vehicle recognition process (S1), the mobile body recognition process (S2), the alert process (S3), and the moving sound localization process (S5)) executed by the above-described alert device 1 is as follows. An apparatus having a computer function such as the navigation apparatus 3 can be realized by a program.

  In the above embodiment, the program related to these processes is recorded in the ROM 14, but it can be provided to the user by being recorded on a recording medium such as an optical disk such as a CD-ROM or DVD, a magnetic disk, or a semiconductor memory.

  In the above embodiment, the example in which the alerting device 1 is provided separately from the navigation device 3 has been described. However, these programs are installed in the navigation device 3 and executed without the alerting device 1 being provided. May be.

The present invention only needs to be consistent with the gist of the invention described in the claims,
The present invention is not limited to the above-described embodiment.
Each component of the present invention is conceptual and is not limited to the above embodiment. For example, the functions of one component may be distributed to a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment.

DESCRIPTION OF SYMBOLS 1 ... Alerting device 3 ... Navigation apparatus 5 ... Inter-vehicle communication apparatus 7 ... Sound apparatus 8 ... Sound collecting device 10 ... Central control apparatus 10b ... Own vehicle information storage area 10c ... Other vehicle information storage area 10d ... Visibility storage area 10e ... Filter storage area 10f ... Sound collection storage area 10g ... Deformed moving sound storage area 11 ... Interface circuit 12 ... Storage device 30 ... Central control device 31 ... Interface circuit 32 ... Current position specifying device 33 ... Map information storage device 50 ... Storage Part

Claims (18)

Own vehicle recognition means (S1, 32) for recognizing the current position of the own vehicle (A) and the traveling direction of the own vehicle at the current position;
Moving body recognition means (S2) for recognizing the moving position and moving direction of the moving body (B) located around the host vehicle;
Based on foresight information for distinguishing whether or not each position around the host vehicle can be seen or not, a viewable range (S) that can be seen by the driver driving the host vehicle located at the current position and the view Visual field recognition means (S30) for recognizing an invisible range (T) that cannot be performed;
Of the straight lines that constitute the boundary line between the viewable range and the unviewable range, the crossing straight lines (X1, X2) that intersect when the moving body travels in the moving direction, Attention position specifying means (S34) for specifying an end position on the position side or an attention position (Z, Z1, Z2, Z3) that is an intersection position that intersects the intersection line when the moving body travels in the movement direction. )When,
Sound image localization means (S40 to S42) for localizing the sound image of the alert sound at the alert position as viewed from the driver of the host vehicle;
An alerting device characterized by comprising: In the alerting device according to claim 1,
The sound image localization means includes:
A sound image of a caution sound having a louder volume is localized in a sound image localization direction where the caution position is located when viewed from the driver of the host vehicle, and the sound volume becomes louder as the distance between the current position and the caution position becomes shorter. An alerting device. In the alerting device according to any one of claims 1 and 2,
The sound image localization means includes:
When the own vehicle and the moving body intersect each other (S32), the attention calling device is configured to localize a sound image of the warning sound. In the alerting device according to any one of claims 1 to 3,
The moving body recognition means includes
Obtain information on the moving speed of the moving body, or calculate the moving speed using information on the moving position (S24),
The sound image localization means includes:
When the expected arrival time is less than or equal to a predetermined time (Tc) when the moving object moves from the current position of the moving object to the intersection where the moving object and the host vehicle intersect at the moving speed. (S36) The sounding device characterized by localizing the sound image of the sounding sound. In the alerting device according to any one of claims 1 to 4,
The forecast information is map information having at least information on a laying position of a road. In the alerting device according to any one of claims 1 to 5,
The alert information device is characterized in that the foreseeing information is map information having at least information on a position, size, shape, or topography of a ground structure. In the alerting device according to any one of claims 1 to 6,
Comprising an imaging means for imaging the front of the host vehicle;
The visual field recognition means includes
The image information captured by the imaging means is used as the prospect information, the forecast information is analyzed to identify the forecastable range, and the forecastable range and the unviewable range are recognized. An alerting device. In the alerting device of any one of Claims 1-7,
The moving body recognition means includes
Also obtain information on the type of the mobile object,
The sound image localization means includes:
An attention-calling device, wherein a sound image of the attention-calling sound corresponding to a type of the moving body is localized. In the alerting device according to any one of claims 1 to 8,
When the intersection where the road on which the mobile body travels and the road on which the vehicle travels does not have a traffic light,
The sound image localization means includes:
A caution device that performs localization of a sound image of the caution sound. In the alerting device according to any one of claims 1 to 9,
The sound image localization means includes:
The sound image of the alert sound is localized when the sound image of the alert sound based on the same alert position is not performed within a predetermined time limit (Ti). A reminder device. In the alerting device according to any one of claims 1 to 10,
Moving sound localization means (S5) for locating the sound image of the moving sound from the driver to the moving position of the moving body
An alerting device characterized by comprising: In the alerting device according to claim 11,
The moving sound localization means includes:
A warning device characterized in that a sound image of a deformed moving sound obtained by cutting a predetermined high frequency component of the moving sound is localized. In the alerting device according to claim 11,
An envelope detection means for analyzing the frequency characteristics of the room sound of the host vehicle and detecting a spectral envelope from the result of the analysis (S52);
Filtering means (S54) for converting the moving sound into a modified moving sound having the spectral envelope;
With
The moving sound localization means includes:
An alerting device characterized in that a sound image of the deformed moving sound is localized. In the alerting device of any one of Claims 12-13,
A risk determination means (S56) for determining the risk of the mobile body with respect to the host vehicle;
The moving sound localization means includes:
If the risk does not exceed a predetermined standard, the deformation moving sound is localized in a direction toward the moving position of the moving body (S58), and if the risk exceeds a predetermined standard, The moving sound is localized (S60).
An alerting device characterized by that. In the alerting device of any one of Claims 1-14,
The moving object specifying means includes:
The alerting device, wherein the moving direction of the moving body is specified along an extending direction of a road on which the moving body is moving. In the alerting device according to any one of claims 1 to 15,
The alert location specifying means is:
The alerting device, wherein the alerting position is specified when a road on which the vehicle travels intersects a road on which the mobile body moves. In the alerting device of any one of Claims 1-16,
The sound image localization means includes:
When the volume is increased according to the distance between the current position and the alerting position for a certain period after starting the process of localizing the sound image of the alerting sound, the volume is higher than the volume set for the distance A caution device that localizes the caution sound of volume. The alerting device according to claim 17,
The sound image localization means includes:
After the predetermined period, when the volume of the alert sound is increased according to the distance between the current position and the alert position, the alert is kept until the volume is set for the distance. A warning device characterized by gradually reducing the volume of sound.