JP7310667B2 - warning device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a warning device that warns people around a vehicle of the presence of surrounding vehicles.

Due to the vehicle blocking the pedestrian's view, the pedestrian may miss the approach of another vehicle driving around the vehicle. Patent Literature 1 proposes warning a pedestrian of the presence of another vehicle when the pedestrian is present in the blind spot area of another approaching vehicle.

JP 2008-009941 A

The technique disclosed in Patent Literature 1 can warn a person existing in the blind spot area of another vehicle of the presence of this vehicle. However, in the technique disclosed in Patent Document 1, the person is not warned of the presence of another vehicle until the person is positioned in the blind spot area of the other vehicle. In some cases, the timing of the warning to the person was delayed.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a warning device capable of warning people around the vehicle at an earlier timing of the presence of another vehicle approaching.

A warning device according to a first aspect of the present invention is a warning device mounted on a vehicle, comprising: a detection unit that detects a surrounding vehicle different from the vehicle and a person around the vehicle; A direction specifying unit that specifies a traveling direction, an estimating unit that estimates a blind spot area in which the person's field of view detected by the detecting unit is blocked by the vehicle, and the direction specifying unit specifies the direction of travel. a determination unit that determines whether or not the surrounding vehicle is approaching the vehicle based on the traveling direction and determines whether or not the surrounding vehicle enters the blind spot area; and the surrounding vehicle. is approaching the vehicle and the determination unit determines that the surrounding vehicle enters the blind spot area, the warning unit warns the person of the existence of the surrounding vehicle.

The apparatus may further include an acquisition unit that acquires the remaining battery charge of the vehicle, and the warning unit may warn the person of the presence of the surrounding vehicle on condition that the remaining battery charge is equal to or greater than a threshold. The warning unit may end the warning to the person when a predetermined period of time has elapsed after starting to warn the person of the existence of the surrounding vehicle.

The warning device further includes a stop identification unit that identifies that the vehicle is stopped along the direction in which the road extends, and the detection unit detects whether the person is positioned in front of or behind the vehicle, or the person is The warning unit detects whether the person is positioned to the left or right of the vehicle, and the warning unit directs the surrounding vehicle approaching the vehicle to the blind spot area where the person's view is blocked by the vehicle. When the determination unit determines that the vehicle enters the vehicle, the person is warned of the existence of the surrounding vehicle, and the person located on the left and right of the vehicle is blocked by the vehicle from the blind spot area. When the determining unit determines that the surrounding vehicle is approaching the vehicle, the person may not be warned of the existence of the surrounding vehicle.

The detection unit detects a pedestrian crossing in front of the vehicle and the person located in a possible crossing area where the person can cross the pedestrian crossing. It further comprises a deceleration specifying unit that specifies that the traveling speed has been reduced, and the determining unit, when the deceleration specifying unit specifies that the vehicle has reduced the traveling speed before the pedestrian crossing, the determining whether or not the surrounding vehicle traveling behind the vehicle will overtake the vehicle, and determining whether the surrounding vehicle is in the blind spot area where the vehicle blocks the view of the person located in the crossable area. The warning unit determines whether or not the surrounding vehicle is to enter, and the warning unit detects the presence of the surrounding vehicle when the determination unit determines that the surrounding vehicle running behind the vehicle overtakes the vehicle and enters the blind spot area. may be warned to the person. The warning unit detects the presence of the vehicle on condition that the detection unit detects a person in a predetermined range in front and to the side of the vehicle when the vehicle is traveling at a speed equal to or lower than a predetermined speed. may be warned to the person.

ADVANTAGE OF THE INVENTION According to this invention, it is effective in warning a pedestrian of presence of another vehicle approaching at an earlier timing.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the outline|summary of the vehicle by which the warning device of 1st Embodiment was mounted. It is a figure which shows the structure of a vehicle. It is a figure which shows a mode when the vehicle is stopping along a road. 4 is a flow chart showing a processing procedure for warning the presence of surrounding vehicles by the warning device; It is a figure which shows the structure of the vehicle of 2nd Embodiment. FIG. 10 is a diagram showing a state in which a vehicle slows down before a pedestrian crossing;

<First embodiment>
[Overview of warning device]
FIG. 1 is a diagram showing an overview of a vehicle 100 equipped with a warning device according to the first embodiment. Vehicle 100 is, for example, a large vehicle such as a truck or a bus. In the example of FIG. 1, the vehicle 100 is assumed to be stopped with the engine stopped for loading and unloading of luggage. Vehicle 100 includes a plurality of imaging units that generate captured images of the surroundings of vehicle 100 . In the example of this specification, it is assumed that a plurality of imaging units generate front, rear, left, and right captured images of the vehicle 100, respectively. The imaging unit generates a captured image of the surroundings of the vehicle 100 at predetermined time intervals.

The warning device is implemented by, for example, an ECU (Electronic Control Unit). The warning device detects surrounding vehicles 200 different from the vehicle 100 based on the captured image generated by the imaging unit. A surrounding vehicle 200 is a vehicle that is traveling on a road around the vehicle 100 . For example, when the vehicle 100 is stopped on the side of a road, the peripheral vehicle 200 is a vehicle traveling on this road. Further, when the vehicle 100 is stopped near an intersection, the peripheral vehicle 200 may be a vehicle passing through this intersection. Also, the warning device detects a person 300 around the vehicle 100 based on the generated captured image. The person 300 is, for example, a pedestrian or a worker who loads and unloads cargo from the loading platform of the vehicle 100 .

Based on the detected position of person 300 , the warning device estimates a blind spot area where vehicle 100 blocks the view of person 300 . In FIG. 1, the blind spot area of the person 300 is indicated by a dashed line. The warning device identifies the traveling direction of the surrounding vehicle 200 by analyzing a plurality of captured images generated at different timings.

The warning device determines whether or not the peripheral vehicle 200 is approaching the vehicle 100 based on the identified traveling direction of the peripheral vehicle 200 . When the warning device determines that the surrounding vehicle 200 is approaching the vehicle 100 , the warning device determines whether or not the surrounding vehicle 200 will enter the blind spot area of the person 300 . The warning device warns the person 300 of the existence of the surrounding vehicle 200 when it is determined that the surrounding vehicle 200 enters the blind spot area of the person 300 .

In this way, the warning device can warn the person 300 of the presence of the surrounding vehicle 200 at an earlier timing than when the person 300 is warned after the surrounding vehicle 200 enters the blind spot area. Therefore, the warning device can secure a longer time for the person 300 to recognize the presence of the surrounding vehicle 200 .

[Vehicle configuration]
FIG. 2 is a diagram showing the configuration of vehicle 100. As shown in FIG. A vehicle 100 includes an imaging unit 1 , a remaining amount sensor 2 , a speaker 3 and a warning device 4 . The warning device 4 includes a storage section 41 and a control section 42 .

The remaining battery level sensor 2 measures the remaining battery capacity of the vehicle 100 . The speaker 3 converts electrical signals into sound. The storage unit 41 is composed of, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 41 stores various programs and various data for causing the control unit 42 to function.

The control unit 42 functions as a detection unit 421, an estimation unit 422, a direction identification unit 423, an acquisition unit 424, a stop identification unit 425, a determination unit 426, and a warning unit 427 by executing programs stored in the storage unit 41. do.

[Detection of people and surrounding vehicles]
The detection unit 421 detects the person 300 and the surrounding vehicle 200 different from the vehicle 100 based on the captured image generated by the imaging unit 1 . For example, the detection unit 421 extracts a variation region in which temporal variation is observed in captured images generated at a plurality of timings. The storage unit 41 stores in advance a plurality of pieces of person feature information indicating the color gradation features of a person extracted from past captured images of a large number of people. The detection unit 421 performs pattern matching between the features extracted from the variation region of the captured image and the features indicated by the plurality of pieces of personal feature information read from the storage unit 41 . The detection unit 421 detects, as a feature of the person 300 , a feature whose degree of similarity to any of the features indicated by the plurality of person feature information read from the storage unit 41 is equal to or greater than a predetermined value.

The detection unit 421 detects whether the person 300 is positioned in the front and rear of the vehicle 100 or the person 300 is positioned in the left and right of the vehicle 100 . For example, the detection unit 421 detects that the person 300 is positioned in front of and behind the vehicle 100 when the person 300 is detected in the captured image generated by the image capturing unit 1 installed toward the front and rear of the vehicle 100 . . The detection unit 421 detects that the person 300 is positioned on the left and right sides of the vehicle 100 when the person 300 is detected in the captured image generated by the imaging unit 1 installed facing the left and right sides of the vehicle 100 .

The detection unit 421 reads out from the storage unit 41 a plurality of pieces of vehicle characteristic information indicating the characteristics of the outline of the vehicle extracted from the past captured images of a large number of vehicles. The detection unit 421 detects the characteristics of the surrounding vehicle 200 included in the captured image by referring to the read vehicle characteristic information in the same manner as the detection of the person 300 .

Further, the detecting unit 421 is not limited to detecting the surrounding vehicle 200 or the like based on the captured image generated by the imaging unit 1 . For example, the detection unit 421 may detect the surrounding vehicle 200 or the like based on the detection result of a ranging sensor such as LIDAR (Light Detection and Ranging).

[Estimation of blind spot area]
The estimation unit 422 estimates a blind spot area in the vicinity of the vehicle 100 where the vehicle 100 blocks the view of the person 300 detected by the detection unit 421 . In the example of this specification, the estimation unit 422 estimates the position range of the pixels corresponding to the blind spot area of the person 300 among the plurality of pixels included in the imaging planes of the plurality of imaging units 1 .

The storage unit 41 stores an area table that associates the pixel positions of the person 300 with area information indicating the range of the pixel positions of the blind spot areas on the imaging planes of the plurality of imaging units 1 . The estimation unit 422 reads this area table from the storage unit 41 . The estimation unit 422 refers to the read area table to estimate the range of the blind spot area indicated by the area information associated with the pixel position of the person 300 detected by the detection unit 421 .

The direction specifying unit 423 specifies the traveling direction in which the surrounding vehicle 200 travels. The direction identifying unit 423 identifies the traveling direction of the surrounding vehicle 200 by identifying the difference in the position of the surrounding vehicle 200 in a plurality of captured images generated by the imaging unit 1 at different timings. Acquisition unit 424 acquires the remaining battery capacity of vehicle 100 based on the measurement result of remaining capacity sensor 2 .

The vehicle stop identification unit 425 identifies whether or not the vehicle 100 is stopped along the direction in which the road extends, based on the captured image generated by the imaging unit 1 . The vehicle stop identification unit 425 identifies that the vehicle 100 is stopped based on the measurement result of a speedometer (not shown) that measures the running speed of the vehicle 100, for example. Stop identifying unit 425 identifies whether or not vehicle 100 is stopped along the direction in which the road extends by identifying the direction in which the white line on the road extends in the captured image.

The determining unit 426 determines whether or not the surrounding vehicle 200 is approaching the vehicle 100 based on the traveling direction specified by the direction specifying unit 423 . When the determination unit 426 determines that the surrounding vehicle 200 is approaching the vehicle 100 , the determination unit 426 determines whether the surrounding vehicle 200 will enter the blind spot area estimated by the estimation unit 422 . For example, the determination unit 426 determines whether or not the peripheral vehicle 200 that has traveled straight will enter the blind spot area, assuming that the peripheral vehicle 200 will proceed straight in the traveling direction specified by the direction specifying unit 423 .

[Warning of presence of surrounding vehicles]
The warning unit 427 warns the person 300 of the presence of the surrounding vehicle 200 when the determination unit 426 determines that the surrounding vehicle 200 is approaching the vehicle 100 and the surrounding vehicle 200 enters the blind spot area. For example, the warning unit 427 uses the speaker 3 to output a message such as "a car is coming" to the person 300 . On the other hand, when the determination unit 426 determines that the surrounding vehicle 200 does not approach the vehicle 100 or the determination unit 426 determines that the surrounding vehicle 200 does not enter the blind spot area, the warning unit 427 warns the surrounding vehicle 200. Do not alert person 300 to its presence. The warning unit 427 terminates the warning when a predetermined period of time has elapsed since the warning to the person 300 of the presence of the surrounding vehicle 200 was started. The predetermined period is, for example, about 10 seconds.

When the surrounding vehicle 200 enters the blind spot area of the person 300 , the person 300 cannot see the surrounding vehicle 200 , but the driver of the surrounding vehicle 200 cannot also see the person 300 . Therefore, the warning unit 427 may warn the driver of the surrounding vehicle 200 of the existence of the person 300 . For example, the warning unit 427 may warn the driver of the surrounding vehicle 200 of the presence of the person 300 by blinking the headlights. The warning unit 427 may display a message such as “There is a person on the left” on a display device such as a display mounted on the vehicle 100 . If the vehicle 100 is a bus, the warning unit 427 may display a message such as "There is a person on the left" on an electronic bulletin board or an electronic advertisement mounted on the vehicle 100. FIG.

When the determination unit 426 determines that a surrounding vehicle 200 approaching the vehicle 100 enters a blind spot area where the vehicle 100 blocks the view of the person 300 positioned in front of and behind the vehicle 100, the warning unit 427 The person 300 is warned of the presence of the vehicle 200 . On the other hand, the warning unit 427 is activated when the determination unit 426 determines that the surrounding vehicle 200 approaching the vehicle 100 enters the blind spot area where the vehicle 100 blocks the view of the person 300 positioned on the left and right sides of the vehicle 100. , does not warn the person 300 of the presence of the surrounding vehicle 200 .

FIGS. 3(a) and 3(b) are diagrams showing how the vehicle 100 is stopped along the road. 3A shows an example in which the person 300 is positioned in front of and behind the vehicle 100, and FIG. 3B shows an example in which the person 300 is positioned on the left and right of the vehicle 100. FIG.

In the example of FIG. 3( a ), the vehicle 100 is stopped on the roadside strip A, and the stop identification unit 425 identifies that the vehicle 100 is stopped along the road. The surrounding vehicle 200 is traveling on the road on which the vehicle 100 is stopped and is approaching the vehicle 100 from behind. Person 300 is positioned in front of vehicle 100 . A blind spot area where the vehicle 100 blocks the view of the person 300 is indicated by a dashed line. In the example of FIG. 3A , the determination unit 426 determines that the surrounding vehicle 200 is approaching the vehicle 100 and that the surrounding vehicle 200 enters the blind spot area of the person 300 . At this time, the warning unit 427, as shown in FIG. When the detection unit 421 detects that the vehicle 100 is located in front of or behind the vehicle 100 , the person 300 is warned of the presence of the surrounding vehicle 200 .

In the example of FIG. 3(b), similar to FIG. 3(a), the vehicle 100 is stopped on the roadside strip A, and the stop identification unit 425 determines that the vehicle 100 is stopped along the road. Identify things. Person 300 is positioned to the left of vehicle 100 . The person 300 needs to detour around the vehicle 100 in order to cross the road on which the surrounding vehicle 200 is traveling, and is not in a position where the person 300 can immediately cross the road. The determination unit 426 determines that the surrounding vehicle 200 is approaching the vehicle 100 and that the surrounding vehicle 200 enters the blind spot area of the person 300, as in FIG. 3A. At this time, the warning unit 427, as shown in FIG. When the detection unit 421 detects that the vehicle 100 is located on the left and right sides, the person 300 is not warned of the existence of the surrounding vehicle 200 . In this way, the warning unit 427 can suppress warning of the existence of the surrounding vehicle 200 to a person who is not at a position facing the road on which the surrounding vehicle 200 travels.

The warning unit 427 warns the person 300 of the presence of the surrounding vehicle 200 on condition that the remaining battery level acquired by the acquisition unit 424 is equal to or greater than the threshold. The warning unit 427 does not warn the person 300 of the presence of the surrounding vehicle 200 when the remaining battery level acquired by the acquisition unit 424 is less than the threshold. For example, the warning unit 427 presets as a threshold value a value obtained by adding a predetermined margin to the remaining battery level required for starting the engine or the like. The warning unit 427 may further reduce power consumption by stopping generation of captured images by the imaging unit 1 when the remaining battery level acquired by the acquisition unit 424 is less than a set threshold. In this way, warning unit 427 can prevent the remaining battery level from becoming insufficient due to warning person 300 of the existence of vehicle 100 .

[Warning processing procedure by warning device]
FIG. 4 is a flow chart showing a processing procedure for warning the existence of the surrounding vehicle 200 by the warning device 4 . This processing procedure is started, for example, in a state where the vehicle 100 is stopped and the engine is stopped. First, the detection unit 421 determines whether or not the person 300 is detected (S101). When the person 300 is detected (YES in S101), the detection unit 421 determines whether or not the surrounding vehicle 200 is detected (S102). When the detection unit 421 detects the peripheral vehicle 200 (YES in S102), the direction specifying unit 423 specifies the traveling direction in which the peripheral vehicle 200 travels (S103). The estimation unit 422 estimates a blind spot area in the vicinity of the vehicle 100 where the vehicle 100 blocks the view of the person 300 detected by the detection unit 421 (S104).

The determining unit 426 determines whether or not the surrounding vehicle 200 is approaching the vehicle 100 based on the traveling direction specified by the direction specifying unit 423 (S105). If the determining unit 426 determines that the surrounding vehicle 200 is approaching the vehicle 100 (YES in S105), it determines whether the surrounding vehicle 200 will enter the blind spot area estimated by the estimating unit 422 (S106). . When the determining unit 426 determines that the surrounding vehicle 200 enters the blind spot area estimated by the estimating unit 422 (YES in S106), the warning unit 427 warns the person 300 of the presence of the surrounding vehicle 200 (S107), and performs processing. exit.

When the person 300 is not detected in the determination of S101 (NO in S101), the detection unit 421 repeats the processing of S101. When the detection unit 421 does not detect the surrounding vehicle 200 in the determination of S102 (NO in S102), the detection unit 421 returns to the determination of S101. If the determination unit 426 determines that the surrounding vehicle 200 is not approaching the vehicle 100 in the determination of S105 (NO in S105), the determination unit 426 returns to the determination of S101. When the determination unit 426 determines that the surrounding vehicle 200 does not enter the blind spot area estimated by the estimation unit 422 in the determination of S106 (NO in S106), the warning unit 427 returns to the determination of S101.

[Effect of warning device of this embodiment]
According to the present embodiment, the warning unit 427 alerts the person 300 to the presence of the surrounding vehicle 200 when the determination unit 426 determines that the surrounding vehicle 200 is approaching the vehicle 100 and the surrounding vehicle 200 enters the blind spot area. to warn. The warning unit 427 warns the person 300 of the existence of the surrounding vehicle 200 at an earlier timing than when the person 300 is warned after the surrounding vehicle 200 enters the blind spot area. It is possible to secure a longer time for grasping existence.

<Second embodiment>
In the second embodiment, an example will be described in which it is determined whether or not the surrounding vehicle 200 enters the blind spot area of the person 300 when the vehicle 100 slows down before the pedestrian crossing. FIG. 5 is a diagram showing the configuration of the vehicle 100 of the second embodiment. Vehicle 100 of the second embodiment differs from vehicle 100 of FIG. The same reference numerals are assigned to the same functional blocks as in FIG. 2, and the description thereof is omitted.

The detection unit 421 detects a pedestrian crossing in front of the vehicle 100 based on the captured image generated by the imaging unit 1 . The storage unit 41 stores pedestrian crossing feature information indicating edge features of a plurality of crosswalks. The detection unit 421 reads the crosswalk characteristic information from the storage unit 41 . The detection unit 421 performs pattern matching between the edge feature extracted from the captured image and the edge feature indicated by the plurality of pieces of read pedestrian crossing feature information. Among the edge features extracted from the captured image, the detection unit 421 determines the edge features having a degree of similarity equal to or higher than a certain value to any of the edge features indicated by the plurality of read pedestrian crossing feature information as features of the pedestrian crossing. detect.

The detection unit 421 detects a crossable area corresponding to the detected pedestrian crossing. The crossable area is a predetermined range around the pedestrian crossing in the captured image. The detection unit 421 detects the person 300 positioned on the crossable area.

The deceleration specifying unit 501 specifies that the traveling speed of the vehicle 100 has decreased before the crosswalk detected by the detection unit 421 when the detection unit 421 detects the crosswalk. For example, the deceleration identification unit 501 identifies that the traveling speed of the vehicle 100 has decreased to a threshold value or less before a pedestrian crossing. The threshold is, for example, 10 km/h.

[Determination by Determination Unit During Deceleration Before Crosswalk]
Determination unit 426 determines whether or not peripheral vehicle 200 traveling behind vehicle 100 will overtake vehicle 100 when deceleration determination unit 501 determines that vehicle 100 has slowed down before the crosswalk. judge. When determining that the surrounding vehicle 200 will overtake the vehicle 100, the determination unit 426 determines whether or not the surrounding vehicle 200 will enter the blind area where the vehicle 100 blocks the view of a person located in the crossable area. do.

FIG. 6 is a diagram showing a state in which vehicle 100 slows down before crossing a pedestrian crossing. The peripheral vehicle 200 runs behind the vehicle 100 and overtakes the vehicle 100 when the vehicle 100 decelerates. A person 300 is located in a crossable area B in which the crosswalk can be crossed. A traversable area B is indicated by a thick line. A blind spot area of the person 300 estimated by the estimation unit 422 is indicated by a dashed line.

When the deceleration specifying unit 501 specifies that the vehicle 100 has reduced its traveling speed before the crosswalk, the determination unit 426 determines whether or not the surrounding vehicle 200 traveling behind the vehicle 100 will overtake the vehicle 100. . For example, the determination unit 426 determines that the surrounding vehicle 200 overtakes the vehicle 100 when at least part of the surrounding vehicle 200 that is traveling is on the lane boundary line. On the other hand, the determining unit 426 determines that the surrounding vehicle 200 does not overtake the vehicle 100 when the surrounding vehicle 200 that is traveling does not extend over the lane boundary line.

When determining that the surrounding vehicle 200 overtakes the vehicle 100 , the determination unit 426 determines whether or not the surrounding vehicle 200 enters the blind spot area of the person 300 . For example, the determination unit 426 predicts the trajectory along which the surrounding vehicle 200 will overtake the vehicle 100 based on the traveling direction of the surrounding vehicle 200 specified by the direction specifying unit 423 . The determination unit 426 determines whether or not the predicted trajectory enters the blind spot area.

[Output warning when overtaking is judged]
The warning unit 427 warns the person 300 of the presence of the surrounding vehicle 200 when the determination unit 426 determines that the surrounding vehicle 200 traveling behind the vehicle 100 overtakes the vehicle 100 and enters the blind spot area. On the other hand, the warning unit 427 is activated when the determination unit 426 determines that the surrounding vehicle 200 traveling behind the vehicle 100 will not overtake the vehicle 100, or when the determination unit 426 determines that the surrounding vehicle 200 does not enter the blind spot area. , the person 300 is not warned of the presence of the surrounding vehicle 200.

When the vehicle 100 decelerates to stop before the pedestrian crossing, the surrounding vehicle 200 behind the vehicle 100 may overtake the vehicle 100 and approach the person 300 from the blind spot of the person 300 . Since the warning unit 427 warns the person 300 of the existence of the surrounding vehicle 200 entering the blind spot area, it is possible to prevent the person 300 from not noticing the existence of the surrounding vehicle 200 .

<Modified example for warning existence of own vehicle>
In the first and second embodiments, an example in which the warning unit 427 warns the person 300 of the presence of the surrounding vehicle 200 has been described. However, the invention is not so limited. For example, when the vehicle 100 is running at a speed equal to or lower than a predetermined speed, the warning unit 427 detects the person 300 on the condition that the detection unit 421 detects the person 300 in a predetermined range in front and on the side of the vehicle 100. The presence of the vehicle 100 may be warned to the person 300 who has done so. The predetermined speed is, for example, 10 km/h. The predetermined range is within several meters from the vehicle 100, for example. The warning unit 427 may warn the person 300 of the presence of the vehicle 100 by, for example, displaying a message "A car is passing by" on a display device such as a display. If the vehicle 100 is a bus, the warning unit 427 may display a message "a car is passing by" on an electronic bulletin board or an electronic advertisement mounted on the vehicle 100 . Moreover, the warning unit 427 may output a message “a car is passing by” through the speaker 3 .

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist thereof. be. For example, all or part of the device can be functionally or physically distributed and integrated in arbitrary units. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

1 imaging unit 2 remaining amount sensor 3 speaker 4 warning device 41 storage unit 42 control unit 100 vehicle 200 surrounding vehicle 300 person 421 detection unit 422 estimation unit 423 direction identification unit 424 acquisition unit 425 stop identification unit 426 determination unit 427 warning unit 501 deceleration specific part

Claims (6)

A warning device mounted on a vehicle,
a detection unit that detects surrounding vehicles different from the vehicle and people around the vehicle;
a direction identifying unit that identifies a traveling direction in which the peripheral vehicle travels;
an estimating unit for estimating a blind spot area in the vicinity of the vehicle where the field of view of the person detected by the detecting unit is blocked by the vehicle;
Based on the traveling direction specified by the direction specifying unit, it is determined whether or not the peripheral vehicle is approaching the vehicle, and whether or not the peripheral vehicle enters the blind spot area. a determination unit;
a warning unit that warns the person of the presence of the surrounding vehicle when the determination unit determines that the surrounding vehicle is approaching the vehicle and the surrounding vehicle enters the blind spot area;
warning device. Further comprising an acquisition unit that acquires the remaining battery level of the vehicle,
The warning unit warns the person of the presence of the surrounding vehicle on condition that the remaining battery level is equal to or greater than a threshold.
A warning device according to claim 1. The warning unit terminates the warning when a predetermined period of time has elapsed since the person started warning of the presence of the surrounding vehicle.
3. A warning device according to claim 1 or 2. further comprising a stop identification unit that identifies that the vehicle is stopped along the direction in which the road extends;
The detection unit detects whether the person is positioned in front of or behind the vehicle or whether the person is positioned on the left or right of the vehicle,
When the determination unit determines that the surrounding vehicle approaching the vehicle enters the blind spot area where the vehicle blocks the view of the person positioned in front of and behind the vehicle, the warning unit determines that: The person is warned of the presence of the surrounding vehicle, and the determination is made when the surrounding vehicle approaching the vehicle enters the blind spot area where the person's field of view located on the left and right sides of the vehicle is blocked by the vehicle. not warn the person of the presence of the surrounding vehicle if the Department determines that
4. A warning device according to any one of claims 1-3. The detection unit detects a pedestrian crossing in front of the vehicle and the person located in a crossable area capable of crossing the pedestrian crossing,
Further comprising a deceleration specifying unit that specifies that the vehicle has reduced traveling speed before the pedestrian crossing detected by the detection unit,
The determining unit determines whether or not the peripheral vehicle traveling behind the vehicle will overtake the vehicle when the deceleration specifying unit specifies that the vehicle has reduced its traveling speed before the crosswalk. and determining whether or not the surrounding vehicle enters the blind spot area where the person's field of view located in the crossable area is blocked by the vehicle,
The warning unit warns the person of the existence of the surrounding vehicle when the determination unit determines that the surrounding vehicle traveling behind the vehicle overtakes the vehicle and enters the blind spot area.
5. A warning device according to any one of claims 1-4. The warning unit detects the presence of the vehicle on condition that the detection unit detects a person in a predetermined range in front and to the side of the vehicle when the vehicle is traveling at a speed equal to or lower than a predetermined speed. alert the person to
6. A warning device according to any one of claims 1-5.

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