JP2021089470A - Periphery monitoring system - Google Patents

Abstract

To provide a periphery monitoring system for presenting other-vehicle information in which a driver is actually interested.SOLUTION: An other-vehicle recognition device 3 analyzes images of a periphery captured by cameras 1 and a position of an object in the periphery detected by radars 2, so as to recognize another vehicle in the periphery of an automobile. A DMS 8 detects a position of a view point and gazing direction of a driver. A control device 4 sets an interest level of a driver with respect to the other vehicle based on a frequency of gazing at the other vehicle by a driver and a total gazing time, does not present other-vehicle information by a sound output concerning the other vehicle of other-vehicle data where an interest level is set to be lower, performs a notification of occurrence of a behavior related to an own vehicle as presentation of other-vehicle information by a sound output concerning the other vehicle where an interest level is set to be middle, and performs a notification of whole behaviors that have occurred by a behavior change by a sound output concerning the other vehicle of other-vehicle data where an interest level is set to be higher.SELECTED DRAWING: Figure 6

Description

The present invention relates to a technique for presenting information on other vehicles around an automobile.

As a technology for presenting information on other vehicles around the vehicle, in a system for monitoring other vehicles around the vehicle, another vehicle specified by the user or another vehicle running dangerously is set as a dangerous vehicle, and the vehicle is dangerous. There is known a technique of storing the identification information of the vehicle and then notifying the driver of the information of the dangerous vehicle (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-76030

According to the above-mentioned technology, when setting another vehicle designated by the user as a dangerous vehicle, it is complicated and dangerous driving because it is necessary for the driver to perform an operation for designating the other vehicle to be set as a dangerous vehicle one by one. When the other vehicle is automatically set as a dangerous vehicle, even if the driver is interested in another vehicle other than the other vehicle automatically set as a dangerous vehicle, the information of the other vehicle will not be presented. Become.

In addition, the strength of interest that the driver has in other vehicles differs for each other vehicle, and the content of information on other vehicles that the driver wants to know also differs depending on the strength of interest. However, with the above-mentioned technology, it is not possible to present appropriate information according to the strength of interest of the driver as information on other vehicles.

Therefore, it is an object of the present invention to present to the driver information on another vehicle in which the driver is really interested, without imposing complicated work on the driver.
At the same time, it is an object of the present invention to present to the driver information of contents suitable for the strength of the interest as information of another vehicle in which the driver is interested.

In order to achieve the above object, the present invention provides a peripheral monitoring system that presents information on other vehicles around the vehicle, a vehicle recognition means for recognizing other vehicles around the vehicle, and a driver of the vehicle around the vehicle. It is provided with a gaze status detecting means for detecting the gaze status of another vehicle and another vehicle information presenting means for presenting information on the other vehicle recognized by the other vehicle recognizing means to the driver. However, the other vehicle information presenting means has a predetermined degree of gaze, which is the degree to which the driver representing the gaze status detected by the gaze status detection means is gazing among the other vehicles recognized by the other vehicle recognition means. The other vehicle larger than the above level is set as the monitored other vehicle, and the information of the monitored other vehicle is continuously presented.

Here, such a peripheral monitoring system presents the information of the other vehicle to be monitored by the voice output representing the information in the other vehicle information presenting means, and among the other vehicles recognized by the other vehicle recognition means. It may be configured not to present the information of another vehicle other than the other vehicle to be monitored by voice output.

In addition, such a peripheral monitoring system detects the behavior of another vehicle around the vehicle in the other vehicle recognition means, and the monitoring target detected by the other vehicle recognition means in the other vehicle information presenting means. When a predetermined behavior of another vehicle occurs, the occurrence of the behavior may be presented as information of the other vehicle to be monitored.

According to such a peripheral monitoring system, another vehicle that the driver is paying close attention to is automatically set as the other vehicle to be monitored, and the information is presented. Here, the other vehicle that the driver is paying close attention to is the other vehicle that the driver is interested in. Therefore, according to this peripheral monitoring system, the driver does not need to perform complicated operations. Can present information to the driver about other vehicles that he is really interested in.

Further, in order to achieve the above-mentioned problems, the present invention provides a peripheral monitoring system that presents information on other vehicles around the vehicle, another vehicle recognition means for recognizing other vehicles around the vehicle, and the vehicle of the driver of the vehicle. It is provided with a gaze status detecting means for detecting the gaze status of other vehicles in the vicinity and another vehicle information presenting means for presenting information on the other vehicle recognized by the other vehicle recognizing means to the driver. However, the other vehicle information presenting means has a predetermined degree of gaze, which is the degree to which the driver representing the gaze status detected by the gaze status detection means is gazing among the other vehicles recognized by the other vehicle recognition means. Information on other vehicles that is larger than the first level, which is the level of the above, is presented in more detail than information on other vehicles whose gaze level is not greater than the first level.

Here, such a peripheral monitoring system is larger than the second level in which the gaze level is smaller than the first level among the other vehicles recognized by the other vehicle recognition means in the other vehicle information presenting means. In addition to presenting information on other vehicles, information on other vehicles whose gaze level is greater than the first level is more than information on other vehicles whose gaze level is greater than the second level and not greater than the first level. It may be configured to be presented in detail.

Further, in this case, the other vehicle information presenting means presents the information of the other vehicle by the voice output representing the information, and also outputs the information of the other vehicle whose gaze level is not larger than the second level. It may not be presented by.

Further, the other vehicle recognition means detects the behavior of another vehicle around the vehicle, and the other vehicle information presenting means recognizes the other vehicle by the other vehicle recognition means. When the behavior of another vehicle that is larger than the 2nd level and not larger than the 1st level occurs in advance in the first group, the occurrence of the behavior is presented as information of the other vehicle by voice output, and the degree of gaze is described as described above. When either the behavior classified into the first group of another vehicle larger than the first level or the behavior classified into the second group in advance occurs, the occurrence of the behavior is presented as information of the other vehicle by voice output. You may do so. However, the behavior classified into the first group and the behavior classified into the second group are different.

Here, in the above peripheral monitoring system, the other vehicle information presenting means may calculate the degree of gaze so that it increases as the number of gazes increases and increases as the time length of the gaze period increases. ..

According to such a peripheral monitoring system, other vehicles that the driver is paying close attention to are automatically extracted and the information is presented. Here, the other vehicle that the driver is paying close attention to is the other vehicle that the driver is interested in. Therefore, according to this peripheral monitoring system, the driver does not need to perform complicated operations. Can present information to the driver about other vehicles that he is really interested in. In addition, other vehicles that are more closely watched, that is, other vehicles that the driver is more interested in, present the information in more detail, so the information is suitable for the strength of the driver's interest. Can be presented to the driver.

Further, in order to achieve the above-mentioned problems, the present invention provides a peripheral monitoring system that presents information on other vehicles around the vehicle, a vehicle recognition means for recognizing other vehicles around the vehicle, and the vehicle of the driver of the vehicle. An action detecting means for detecting the occurrence of an action of paying attention to another vehicle in the vicinity and another vehicle information presenting means for presenting information on the other vehicle recognized by the other vehicle recognizing means to the driver are provided. However, the other vehicle information presenting means sets the other vehicle recognized by the other vehicle recognition means as the other vehicle to be monitored when the behavior detection means detects the occurrence of an action that pays attention to the other vehicle. Then, the information of the other vehicle to be monitored is continuously presented.

Here, in such a peripheral monitoring system, it is preferable that the action of paying attention to the other vehicle detected by the action detecting means includes at least the action of pointing to the other vehicle.
Even with such a peripheral monitoring system, it is possible to present information on other vehicles that the driver is really interested in to the driver without requiring complicated operations by the driver.

As described above, according to the present invention, it is possible to present the driver with information on another vehicle in which the driver is really interested, without imposing complicated work on the driver.
Further, according to the present invention, as information on other vehicles that the driver is interested in, it is possible to present the driver with information that is suitable for the strength of the interest.

It is a block diagram which shows the structure of the peripheral monitoring system which concerns on embodiment of this invention. It is a figure which shows the arrangement of the peripheral monitoring system which concerns on embodiment of this invention. It is a figure which shows the other vehicle management table which concerns on embodiment of this invention. It is a flowchart which shows the interest degree setting process which concerns on embodiment of this invention. It is a figure which shows the display example of the other vehicle presentation image which concerns on embodiment of this invention. It is a figure which shows the rule of the other vehicle information presentation which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows the configuration of the peripheral monitoring system according to the present embodiment.
The peripheral monitoring system is a system mounted on an automobile, and is a voice that outputs voice using a plurality of cameras 1, a plurality of radars 2, another vehicle recognition device 3, a control device 4, a display 5, and a speaker. It includes an output device 6, a voice input device 7 that performs voice recognition and accepts voice input, a DMS 8 (driver monitoring system 8), and another vehicle management table 9.

Here, the display 5 is arranged on the dashboard of the automobile so as to be visible to the driver, for example, as shown in FIG. 2a.
Further, as shown in FIG. 2b, the DMS 8 is the position of the driver's viewpoint from an image taken by an infrared camera 81, which is arranged in the vehicle interior and captures the head of the driver seated in the driver's seat from the front of the driver. And the gaze direction (viewing direction) and other driver behaviors are detected.

Further, as shown in FIG. 2c, the plurality of cameras 1 and the radar 2 can photograph the periphery of the automobile in all directions by each camera 1, and each radar 2 detects the position of an object around the automobile in all directions. It is arranged so that it can be done.

Then, the other vehicle recognition device 3 analyzes the position of the surrounding object captured by the camera 1 and the position of the surrounding object detected by the radar 2, and obtains the position, vehicle type, color, registration number, etc. of the other vehicle around the vehicle. It is identified and output to the control device 4 as other vehicle information.

Next, as shown in FIG. 3, other vehicle data provided for each other vehicle recognized by the other vehicle recognition device 3 is registered in the other vehicle management table 9.
In each other vehicle data, the other vehicle ID indicating the identification of the other vehicle, the color of the other vehicle, the model of the other vehicle, the registration number of the other vehicle (the license plate number of the other vehicle), and the degree of interest of the driver in the other vehicle The degree of interest that represents, the position history that represents the history of the position of the other vehicle, the gaze history that represents the history of the driver gazing at the other vehicle, and other attributes of the other vehicle are registered.

When the control device 4 receives the other vehicle information from the other vehicle recognition device 3, the control device 4 performs the other vehicle management table update process.
In the other vehicle management table update process, the other vehicle data consistent with the received other vehicle information is used as the target other vehicle data, and the position represented by the received other vehicle information is additionally registered in the position history of the target other vehicle data together with the current time. Other vehicle data that is consistent with other vehicle information means that the color, vehicle type, registration number, and position of the other vehicle information and the registered color, vehicle type, registration number, and position history are consistent as the same vehicle information. It is the data of other vehicles that match.

In the other vehicle management table update process, if there is no other vehicle data that matches the other vehicle information received from the other vehicle recognition device 3, new other vehicle data is created and the created other vehicle data is added to the created other vehicle data. Register the unique other vehicle ID, the color of the received other vehicle information, the vehicle type, and the registration number. Then, the created other vehicle data is used as the target other vehicle data, and the position represented by the received other vehicle information is registered in the position history of the target other vehicle data together with the current time. In addition, a small value is set as the initial value for the degree of interest of the created other vehicle data.

Further, the control device 4 performs the interest level setting process shown in FIG. 4 to set the interest level in each other vehicle data of the other vehicle management table 9.
As shown in the figure, in the interest level setting process, the position history of each other vehicle data is referred to to determine whether or not the driver is gazing at any of the other vehicles from the driver's viewpoint and gaze direction detected by the DMS8. And monitor (step 402).

Here, in step 402, when the time of the latest position in the position history of the other vehicle data is within the past predetermined time length (for example, 0.5 seconds) from the present time, the latest position or the time is , The current position of the other vehicle estimated from the position history is set as the current position of the other vehicle in the other vehicle data. On the other hand, when the time of the latest position indicated by the position history of the other vehicle data is not within the predetermined period from the present time, the current position of the other vehicle data is unknown.

Then, when there is another vehicle having the current position in the direction that the driver is looking at, which is obtained from the driver's viewpoint and the gaze direction detected by the DMS 8, it is determined that the driver is gaze at the other vehicle. In addition, another vehicle whose current position is in the direction in which the driver is looking is regarded as another vehicle in which the driver is watching.

Here, the gaze of other vehicles includes the gaze of other vehicles through the rearview mirrors and side mirrors. Further, in this case, the direction in which the driver is looking through the rearview mirror or the side mirror is the positional relationship between the driver's viewpoint detected by the DMS8 and the rearview mirror or the side mirror, and the characteristics of the rearview mirror or the side mirror. It is obtained from the gaze direction of the driver detected by the DMS8.

Then, if gaze of another vehicle occurs (step 402), wait for the gaze of the other vehicle to be completed (step 404), and calculate the gaze time, which is the time during which the gaze of the other vehicle was continued (step 404). Step 406), the calculated gaze time is additionally registered in the gaze history of the other vehicle data that was being gazed together with the current time (step 408).

Then, the attention level DA is calculated from the gaze history of the other vehicle data that has been gazed (step 410).
In step 410, during the past predetermined period indicated by the gaze history of the other vehicle data being watched, the number of times the other vehicle was gazed was N, and during the past predetermined period indicated by the gaze history of the other vehicle data being watched. Taking the total time of gazing at the other vehicle as T, the attention level DA is calculated so that the larger the N, the larger the time, and the larger the T, the larger the attention level DA. That is, for example, DA is calculated by DA = k1 × N + k2 × T with DA = N × T and k1 and k2 as predetermined coefficients.

Then, it is examined whether or not the attention level DA is larger than the predetermined threshold value ThH (step 412), and if it is larger, the degree of interest of the other vehicle data of the other vehicle that was being watched is set to a large value (step 414). Return to the process from step 402.

However, in step 414, when the degree of interest of the other vehicle data of the other vehicle that was being watched is registered as small, the driver is inquired about the necessity of monitoring the other vehicle that was being watched, and the monitoring is instructed. If this is the case, set the degree of interest in the other vehicle data to a large value (step 414), return to the process from step 402, and if instructed that monitoring is unnecessary, return to the process from step 402 and pay close attention. If the inside is registered as the degree of interest of the other vehicle data of the other vehicle, set the degree of interest of the other vehicle data to a large value (step 414), return to the process from step 402, and pay attention. If a large degree of interest in other vehicle data of another vehicle is registered, the step may be a step of returning to the process from step 402 as it is.

Here, inquiries about the necessity of monitoring the other vehicle that was being watched are made using, for example, "red, AA (AA is the vehicle model name)" using the color and vehicle model information of the other vehicle data that was being watched. Is made by outputting a voice inquiry such as "Do you want to monitor?" From the voice output device 6.

Next, if the attention level DA is not greater than the predetermined threshold value ThH (step 412), it is examined whether the attention level DA is larger than the predetermined threshold value ThL (step 416). However, ThL <ThH.

Then, if the attention level DA is larger than the threshold value ThL (step 416), the degree of interest of the other vehicle data to be watched is set to the middle (step 418), and the process returns to the process from step 402.

However, in step 418, when the degree of interest of the other vehicle data of the other vehicle that was being watched is registered as small, the driver is inquired about the necessity of monitoring the other vehicle that was being watched, and the monitoring is instructed. If this is the case, the degree of interest in the other vehicle data is set to medium (step 418), the process returns from step 402, and if the monitor is instructed, the process returns to step 402 as it is (step). 414) If the inside is registered as the degree of interest of the other vehicle data of the other vehicle that was being watched, the process returns to the process from step 402 as it is, and as the degree of interest of the other vehicle data of the other vehicle that was being watched. If a large number is registered, the degree of interest in other vehicle data may be set to medium and the process may be returned to the process from step 402.

If the attention level DA is not larger than the threshold value ThL (step 416), the degree of interest of the other vehicle data to be watched is set to a small value (step 420), and the process returns to the process from step 402.

The interest level setting process performed by the control device 4 has been described above.
According to such a degree of interest setting process, the degree of interest of the data of other vehicles visually confirmed with high frequency is set to be high because the other vehicle is of great interest to the driver, and the driver is of moderate interest. The interest level of the other vehicle data of other vehicles that was visually confirmed at a medium frequency was set to medium because it is another vehicle that has, and it was low frequency because the driver was not interested. The degree of interest in other vehicle data is set to small.

In the above-mentioned interest level setting process, in step 410, the number of times N of gazing at the other vehicle during the past predetermined period indicated by the gazing history of the other vehicle data being watched is calculated as the attention level DA. You may. Alternatively, in step 410, the total T of the time during which the other vehicle was gazed during the past predetermined period indicated by the gaze history of the other vehicle data that was being gazed may be calculated as the attention level DA.

Hereinafter, the operation of presenting other vehicle information performed by the control device 4 will be described.
The control device 4 displays the position of the other vehicle on the display 5 and outputs the other vehicle information by voice from the voice output device 6 as the presentation of the other vehicle information.
First, the operation of displaying the position of another vehicle on the display 5 will be described.
The control device 4 displays, for example, another vehicle presentation image showing the positional relationship between the own vehicle and the other vehicle on the display 5, and updates the other vehicle presentation image at regular time intervals.
The other vehicle presentation image includes the own vehicle mark 501 representing the own vehicle and the other vehicle mark 511, 512, 513 indicating the other vehicle corresponding to the other vehicle data whose position history has been updated since the previous update of the other vehicle presentation image. 514 is displayed. Each other vehicle mark 511/512/513/514 indicates the positional relationship between the other vehicle and the own vehicle corresponding to the other vehicle data, which is represented by the latest position in the position history of the other vehicle data. It is displayed so as to be represented by the positional relationship between / 513/514 and the own vehicle mark 501.

Further, each other vehicle mark 511/512/513/514 is displayed in a form according to the degree of interest of the corresponding other vehicle data.
That is, according to the rule shown in FIG. 6, in the position display of the other vehicle by the image presented by the other vehicle, the other vehicle marks 511 and 512 corresponding to the data of the other vehicle having a small degree of interest are displayed in the normal form, and the degree of interest is medium. The other vehicle mark 513 corresponding to the other vehicle data is displayed in a form slightly emphasized than the normal form, and the other vehicle mark 514 corresponding to the other vehicle data with a high degree of interest is the other vehicle mark with a medium degree of interest. It is displayed in a form that is more strongly emphasized than 513.

Next, the operation of voice output of other vehicle information from the voice output device 6 performed by the control device 4 will be described.
The control device 4 continuously monitors the behavior of the other vehicle corresponding to the other vehicle data in which the degree of interest is registered as medium or large in the other vehicle management table 9 based on the position history of the other vehicle data. Perform processing.

Then, the behavior of the other vehicle corresponding to the data of the other vehicle for which medium or large is registered as the degree of interest changed, and the other vehicle performed behavior related to the own vehicle such as changing lanes or approaching the own vehicle. Then, "Red, AA (AA is the model name) has moved to the right lane", "Black BB (BB is the model name) is approaching from the left lane", "Silver CC (CC is the model name) The voice output device 6 outputs a voice message indicating the characteristics of the other vehicle and the behavior of the other vehicle, such as "is about to enter the front."

The color and model of the other vehicle used in the voice message can be obtained from the data of the other vehicle.
In addition, for other vehicles that correspond to the data of other vehicles for which a large degree of interest is registered, the behavior of the other vehicle will change, and the vehicle will proceed to another road outside the vehicle's own road at the fork. Even if the other vehicle behaves not directly related to the own vehicle, the other vehicle's characteristics such as "red, AA (AA is the model name) has branched off" and the other vehicle performed. A voice message indicating the behavior is output from the voice output device 6.

Here, the control device 4 considers that the position of the other vehicle cannot be detected as one of the behaviors not related to the own vehicle, and the position history of the other vehicle data in which the degree of interest is registered is updated for a certain period of time. If it disappears, a voice message such as "Red, AA (AA is the vehicle model name) can no longer be monitored" is output from the voice output device 6. In addition, the control device 4 can detect the position of another vehicle whose position cannot be detected again, which is one of the behaviors not related to the own vehicle, and the degree of interest is registered as high. If the position history of the vehicle data is not updated for a certain period of time and then is updated again, a voice message such as "Red, AA (AA is the vehicle model name) is driving behind" is sent from the voice output device 6. Output.

Further, according to the rule shown in FIG. 6, the control device 4 periodically "black BB (black BB)" for the other vehicle corresponding to the data of the other vehicle whose degree of interest is registered to be large, even if there is no change in the behavior. The voice output device 6 outputs a voice message indicating the current behavior of another vehicle, such as "BB is the vehicle model name), which is still running behind."

According to the operation of the control device 4 described above, the other vehicle information is not presented by voice output for the other vehicle data of the other vehicle whose interest level is set to be low, and the other vehicle data whose interest level is set to medium. For other vehicles, notification of the occurrence of behavior related to the own vehicle is performed as presentation of other vehicle information by voice output. Then, for other vehicles in the data of other vehicles for which the degree of interest is set to a high level, notification of all behaviors generated by the behavior change is performed as presentation of other vehicle information by voice output, and the other vehicles are periodically notified. Notification of the current behavior is performed as presentation of other vehicle information by voice output.

The embodiment of the present invention has been described above.
As described above, the peripheral monitoring system according to the present embodiment automatically extracts other vehicles that the driver is paying close attention to and presents the information. Here, the other vehicle that the driver is paying close attention to is the other vehicle that the driver is interested in. Therefore, according to this peripheral monitoring system, the driver does not need to perform complicated operations. Can present information to the driver about other vehicles that he is really interested in. In addition, other vehicles that are more closely watched, that is, other vehicles that the driver is more interested in, present the information in more detail, so the information is suitable for the strength of the driver's interest. Can be presented to the driver.

By the way, in the above embodiment, the degree of interest of the other vehicle is set only according to the degree to which the driver gazes at the other vehicle. However, the DMS8 also detects the viewpoint and the gaze direction of the passenger in the passenger seat, and the driver. In addition to the degree to which the passenger looks at the other vehicle, the degree of interest in the data of the other vehicle may be set in consideration of the degree to which the passenger in the passenger seat gazes at the other vehicle.

Further, the degree of interest may be set in consideration of the behavior of the other vehicle and the relationship between the other vehicle and the own vehicle during the period when the driver is watching the other vehicle. That is, for example, the time point before the predetermined time length (for example, 5 seconds) before the lane change of the other vehicle behind is continued from the time point after the predetermined time (for example, 5 seconds) length after the lane change. If the other vehicle continues to be closely watched, the degree of interest in the other vehicle data of the other vehicle may be set to large or medium.

In addition, the DMS8 detects the movements of the driver and passengers in the passenger seat, points to another vehicle, shakes the head in the direction of the other vehicle, and looks back in the direction of the other vehicle. When it occurs, the degree of interest in other vehicle data of the other vehicle may be increased.

Further, when the voice recognized by the voice input device 7 is a voice instructing another vehicle such as "the car behind", the degree of interest in the data of the other vehicle of the other vehicle instructed by the voice is increased. It may be.
Further, in the above embodiment, whether or not the other vehicle corresponding to the other vehicle data is a vehicle accompanying the own vehicle is registered in the attribute of the other vehicle data, and according to the attribute of the other vehicle data, Other vehicle information may be presented in the form of presentation.

That is, for example, the above-mentioned interest level is high or medium for other vehicles in the other vehicle data indicating that the registered vehicle has a high or medium degree of interest and the attribute of the other vehicle data is accompanied. In addition to the output of the voice message about the other vehicle in the data of the other vehicle, if the other vehicle is separated from the own vehicle by a predetermined distance or more, a voice message notifying the fact may be output.

Further, in this case, the setting of the attribute of whether or not the other vehicle is a vehicle accompanying the own vehicle is determined by selecting the driver's other vehicle on the other vehicle presentation image shown in FIG. 5 and selecting the other vehicle. It may be performed according to the attribute setting operation for the vehicle, or the DMS8 detects the driver's facial expression when the driver is gazing at another vehicle and automatically performs the detected facial expression when the driver is smiling. You may do so.
In the above embodiment, the image presented by another vehicle may not be displayed.

1 ... Camera, 2 ... Radar, 3 ... Other vehicle recognition device, 4 ... Control device, 5 ... Display, 6 ... Voice output device, 7 ... Voice input device, 8 ... DMS, 9 ... Other vehicle management table.

Claims (10)

It is a peripheral monitoring system that presents information on other vehicles around the vehicle.
Other vehicle recognition means that recognizes other vehicles around the vehicle,
Gaze status detecting means for detecting the gaze status of another vehicle around the vehicle by the driver of the vehicle, and
It has another vehicle information presenting means for presenting the other vehicle information recognized by the other vehicle recognition means to the driver.
Among the other vehicles recognized by the other vehicle recognition means, the other vehicle information presenting means has a predetermined level of gaze, which is the degree to which the driver is gazing at the gaze status detected by the gaze status detecting means. A peripheral monitoring system characterized in that a larger other vehicle is set as a monitored other vehicle and information on the monitored other vehicle is continuously presented. The peripheral monitoring system according to claim 1.
The other vehicle information presenting means presents information on the other vehicle to be monitored by voice output representing the information, and information on other vehicles other than the other vehicle to be monitored among the other vehicles recognized by the other vehicle recognition means. Peripheral monitoring system characterized by not presenting by voice output. The peripheral monitoring system according to claim 1 or 2.
The other vehicle recognition means detects the behavior of another vehicle around the vehicle and detects the behavior of the other vehicle.
When the predetermined behavior of the monitored other vehicle detected by the other vehicle recognition means occurs, the other vehicle information presenting means presents the occurrence of the behavior as information on the monitored other vehicle. A featured peripheral monitoring system. It is a peripheral monitoring system that presents information on other vehicles around the vehicle.
Other vehicle recognition means that recognizes other vehicles around the vehicle,
Gaze status detecting means for detecting the gaze status of another vehicle around the vehicle by the driver of the vehicle, and
It has another vehicle information presenting means for presenting the other vehicle information recognized by the other vehicle recognition means to the driver.
Among the other vehicles recognized by the other vehicle recognition means, the other vehicle information presenting means has a predetermined level of gaze, which is the degree to which the driver is gazing at the gaze status detected by the gaze status detecting means. A peripheral monitoring system characterized in that information on another vehicle larger than the first level is presented in more detail than information on another vehicle whose gaze level is not greater than the first level. The peripheral monitoring system according to claim 4.
The other vehicle information presenting means presents information on another vehicle recognized by the other vehicle recognition means, which is larger than the second level, which is a level smaller than the first level, and the gaze is present. A peripheral monitoring system characterized in that information on another vehicle whose degree is greater than the first level is presented in more detail than information on another vehicle whose gaze degree is greater than the second level and not greater than the first level. .. The peripheral monitoring system according to claim 5.
The other vehicle information presenting means presents the information of the other vehicle by voice output representing the information, and also presents the information of the other vehicle whose gaze level is not greater than the second level by voice output. Peripheral monitoring system characterized by no. The peripheral monitoring system according to claim 6.
The other vehicle recognition means detects the behavior of another vehicle around the vehicle and detects the behavior of the other vehicle.
Among the other vehicles recognized by the other vehicle recognition means, the other vehicle information presenting means has behaviors in which the other vehicles whose gaze level is larger than the second level and not larger than the first level are classified into the first group in advance. When it occurs, the occurrence of the behavior is presented as information of the other vehicle by voice output, and the behavior classified into the first group of the other vehicle whose gaze level is greater than the first level and the behavior classified into the second group in advance. When any of the behaviors that have been performed occurs, the occurrence of the behavior is presented as information on the other vehicle by voice output.
A peripheral monitoring system characterized in that the behavior classified into the first group is different from the behavior classified into the second group. The peripheral monitoring system according to claim 1, 2, 3, 4, 5, 6 or 7.
The other vehicle information presenting means is a peripheral monitoring system characterized in that the degree of gaze is calculated so as to increase as the number of times of gaze increases and as the length of time of the gaze period increases. It is a peripheral monitoring system that presents information on other vehicles around the vehicle.
Other vehicle recognition means that recognizes other vehicles around the vehicle,
Behavior detection means for detecting the occurrence of behavior of the driver of the vehicle to pay attention to other vehicles around the vehicle.
It has another vehicle information presenting means for presenting the other vehicle information recognized by the other vehicle recognition means to the driver.
Among the other vehicles recognized by the other vehicle recognition means, the other vehicle information presenting means sets the other vehicle in which the action detecting means detects the occurrence of an action that pays attention to the other vehicle as the monitored other vehicle. A peripheral monitoring system characterized by continuously presenting information on the other vehicle to be monitored. The peripheral monitoring system according to claim 9.
A peripheral monitoring system characterized in that an action of paying attention to another vehicle detected by the action detecting means includes at least an action of pointing to another vehicle.

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