WO2013115241A1 - Dispositif d'alerte du conducteur d'un véhicule et son procédé - Google Patents

Dispositif d'alerte du conducteur d'un véhicule et son procédé Download PDF

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Publication number
WO2013115241A1
WO2013115241A1 PCT/JP2013/052027 JP2013052027W WO2013115241A1 WO 2013115241 A1 WO2013115241 A1 WO 2013115241A1 JP 2013052027 W JP2013052027 W JP 2013052027W WO 2013115241 A1 WO2013115241 A1 WO 2013115241A1
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WIPO (PCT)
Prior art keywords
driver
vehicle
display device
line
notification target
Prior art date
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PCT/JP2013/052027
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English (en)
Japanese (ja)
Inventor
竜弘 橋本
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株式会社デンソー
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Publication of WO2013115241A1 publication Critical patent/WO2013115241A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/18—Eye characteristics, e.g. of the iris
    • G06V40/19—Sensors therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/149—Instrument input by detecting viewing direction not otherwise provided for

Definitions

  • the present invention relates to an alerting device that alerts a driver of a vehicle and is used by being mounted on the vehicle.
  • the vehicle driver needs to pay attention not only to the front of the vehicle but also to the side of the vehicle. That is, it is preferable to urge attention and warning to the side as necessary.
  • optical visual stimulation elements such as LED lamps are arranged on both the left and right sides of the driver inside the vehicle, and the visual stimulation elements are made active to the driver.
  • a device for alerting has been proposed.
  • an LED lamp is arranged at a position that becomes a peripheral visual field area of the driver when the driver is facing forward. For this reason, when the driver is facing forward, the LED lamp is not positioned in the central visual field of the driver. Therefore, the position of the LED lamp itself does not hardly disturb the driver from paying attention to the front.
  • the LED lamp may be positioned in the driver's central visual field. In this case, if the LED lamp located in the central visual field is turned on in order to call attention to the side, the driver may watch the LED lamp. In other words, the driver's attention may be directed only to the LED lamp, and attention to the front and sides may be neglected.
  • the present invention has been made in view of the above-described conventional inconveniences, and the purpose of the present invention is to enable the driver even when the driver moves his / her line of sight to the left or right, or the driver moves the head position. It is an object of the present invention to provide an apparatus and method that can accurately alert a driver without obstructing attention to the outside of the vehicle.
  • An apparatus for alerting a driver (hereinafter referred to as an attention alerting apparatus) according to one aspect made to solve the above-described problem is an image analysis of an image including a driver's face of a vehicle, and the driver's line of sight Detect direction. Then, from one or more display devices arranged at positions visible to the driver inside the vehicle, the display device located in the driver's peripheral visual field determined based on the detected line-of-sight direction is identified, and The specified display device is controlled to perform predetermined lighting. Moreover, the method of alerting a driver
  • an image including a driver's face of a vehicle is collected, the driver's gaze direction is detected by analyzing the image, and the driver's peripheral vision is determined based on the gaze direction.
  • the display device located in the peripheral visual field is identified from one or more display devices arranged at a position visible to the driver inside the vehicle, and a predetermined mode is set in the identified display device. The driver's attention is given, which is characterized by causing the to light up.
  • the warning device and method configured in this way can light a display device located in the peripheral visual field determined based on the driver's line-of-sight direction. Therefore, even if the driver's line-of-sight direction changes, it is possible to prevent the display device from being lit in the driver's central visual field. Can be eliminated or reduced.
  • the visually recognizable position where the display device is disposed means a position where the driver can visually recognize at least if the driver moves his face or line of sight in the driver's seat. Therefore, it may be arranged behind the inside of the vehicle that cannot be visually recognized when facing forward.
  • the alerting device may identify the display device when the notification target is detected by a notification target detection unit that detects a notification target existing around the vehicle.
  • the alerting device configured as described above can notify the driver of the presence of a notification target such as another vehicle or a person around the host vehicle.
  • the alerting device is configured such that when a distance between a point set outside the vehicle as a notification target and a current position detected by a position detection unit that detects a current position of the vehicle is equal to or less than a predetermined threshold value.
  • the display device may be specified.
  • the warning device configured in this way can notify the driver of the presence when a point set as a notification target approaches.
  • the point set as the notification target is, for example, a guidance destination set in the navigation system, a position such as an accident / construction notified by a communication system (for example, VICS (registered trademark)) outside the vehicle, etc. Can be considered.
  • the above-described alerting device may specify a display device that is located in the peripheral visual field on the same side as the side where the notification target exists, or may The display device located in the peripheral visual field on the same side as the side where the notification target exists may be specified based on the above.
  • the alerting device configured as described above can notify the driver of the direction in which the notification target exists.
  • a program for causing a computer to function as a gaze direction detecting unit, a specifying unit, and a control unit constituting the alerting device is also provided.
  • the above-described program is composed of an ordered sequence of instructions suitable for processing by a computer, and is provided to a warning device and a user using the same via various recording media and communication lines. Is.
  • an apparatus for alerting a driver (hereinafter referred to as an alerting apparatus) and a method thereof according to the present invention will be described with reference to the accompanying drawings.
  • an alerting apparatus an apparatus for alerting a driver
  • a method thereof according to the present invention will be described with reference to the accompanying drawings.
  • the alert system according to the present embodiment monitors the driver's face position and line-of-sight direction for the purpose of realizing safer driving of the vehicle (automobile), obstructions, etc. It is a system that calls attention to. With this system, the alerting device and alerting method are functionally realized.
  • the alerting system 1 is used by being mounted on a vehicle. As shown in FIG. 1, a camera 11, a vehicle periphery sensor 13, a navigation system 15, a warning display control device 17, and a plurality of warning display devices 19 ( 19a to 19f), a display control / arithmetic circuit 21, and the like.
  • the camera 11 is a well-known imaging device (a camera composed of an imaging element such as a CCD or CMOS and a peripheral electronic circuit such as an optical lens, an optical filter, and a power source) that captures an image including a driver's face with the imaging element.
  • the driver's face is positioned within the shooting range of the camera 11.
  • An infrared camera can also be used as the camera 11, and in that case, a light emitting device that irradiates near infrared light toward the driver's face may be provided.
  • the camera 11 captures images at predetermined time intervals (for example, 1/30 seconds) and outputs the images to the display control / arithmetic circuit 21.
  • the vehicle periphery sensor 13 is a sensor for detecting the position of obstacles such as pedestrians and other vehicles around the host vehicle, and includes a camera for photographing the outside of the vehicle, an IR sensor, a millimeter wave radar, an ultrasonic sonar, and the like. It is the composition.
  • the vehicle periphery sensor 13 outputs a captured image, a sensor signal, and the like to the display control / arithmetic circuit 21.
  • the obstacle is an example of a notification target in a lighting control process described later.
  • the vehicle periphery sensor 13 is an example of a notification target detection unit.
  • the navigation system 15 receives GPS information from an artificial satellite for GPS via a GPS antenna, detects a current position coordinate of the own vehicle, The gyroscope which outputs the detection signal according to the angular velocity of the rotational motion added is provided, and the vehicle speed sensor which outputs the detection signal according to the vehicle speed. Since these have errors of different properties, they are configured to be used while complementing each other.
  • the navigation system 15 also displays a map near the current position on the display based on the map data stored in the hard disk drive or the like, and displays the map from the current position to the target position designated by the user's operation. An optimum route is calculated and displayed on a map display screen, and route guidance processing for performing travel guidance to the destination is performed.
  • the navigation system 15 outputs information indicating the position of a point set outside the vehicle as a notification target to the display control / arithmetic circuit 21.
  • the point to be notified here is a point where attention should be paid, for example, the target position set in the navigation system 15 described above, the position such as an intersection or railroad crossing stored as map data, or Road traffic information communication system (Vehicle Information & Communication System) VICS (registered trademark), etc.
  • the warning display devices 19a to 19f are illuminating devices made up of LED lights.
  • the warning display devices 19 to 19f are an example of a display device.
  • the warning display control device 17 is connected to a plurality of warning display devices 19a to 19f, and controls lighting and extinguishing of each of the warning display devices 19a to 19f according to a control signal output from the display control / arithmetic circuit 21. .
  • the display control / arithmetic circuit 21 is a well-known microcomputer including a CPU 31, a ROM 33, a RAM 35, and the like, and executes a lighting control process to be described later based on a program stored in the ROM 33.
  • This display control / arithmetic circuit 21 is an example of an alerting device.
  • the display control / arithmetic circuit 21 functions as a line-of-sight direction calculation unit 41, a warning target determination unit 43, and a warning display location determination unit 45, as shown in FIG.
  • the gaze direction calculation unit 41 is an example of a gaze direction detection unit
  • the warning target determination unit 43 and the warning display location determination unit 45 are examples of a specification unit
  • the warning display location determination unit 45 is an example of a control unit. .
  • the display control / arithmetic circuit 21 may be configured by combining a plurality of circuits including a CPU, a ROM, a RAM, and the like. In this case, each circuit may correspond to the line-of-sight direction calculation unit 41, the warning target determination unit 43, and the warning display location determination unit 45.
  • the line-of-sight calculation unit 41 analyzes the image acquired from the camera 11 and detects the driver's face position and line-of-sight direction.
  • the line-of-sight direction calculation unit 41 detects these pieces of information at predetermined time intervals and outputs them to the warning display location determination unit 45.
  • a well-known technique can be used as a method for detecting the driver's face position and line-of-sight direction by image analysis. You may obtain
  • JP 2008-13023 A JP 2005-66023 A, JP 2002-352228 A, and JP 2007-249280 A.
  • the method described in Japanese Patent Laid-Open No. 2005-182452 can be used.
  • the warning target determination unit 43 calculates the position (distance and direction) of the obstacle existing outside the vehicle with reference to the own vehicle based on the information acquired from the vehicle periphery sensor 13. Further, based on the position information of the point to be notified acquired from the navigation system 15, the position of the point with respect to the host vehicle is calculated.
  • the warning display place determination unit 45 is based on the face position and the line-of-sight direction detected by the line-of-sight direction calculation unit 41 and the position of an obstacle or a spot (hereinafter also simply referred to as a notification target) calculated by the warning target determination unit 43. Thus, the warning display device 19 to be lit is specified.
  • the warning display device 19 that is located in the peripheral visual field of the driver 51 and that corresponds to the direction (the left-right direction) in which the notification target is located with reference to the line-of-sight direction of the driver 51 is specified. A specific method will be described next.
  • FIGS. 3 to 6 are schematic views of vehicle 53 as viewed from above.
  • the driver 51 is located in the driver seat of the vehicle 53.
  • warning display devices 19a to 19f are arranged inside the vehicle 53. These warning display devices 19a to 19f are arranged on the side of the room of the vehicle 53 where the driver 51 can see by turning his / her line of sight.
  • the vehicle 53 is also equipped with components of the system such as the camera 11 and equipment provided in the vehicle such as a seat and a steering wheel, but is not shown in FIGS.
  • the warning display device 19a is arranged near a meter (instrument panel).
  • the warning display device 19b is arranged near the dashboard.
  • the warning display devices 19c and 19d are arranged near the door window on the driver's seat side and the passenger seat side, respectively.
  • the warning display devices 19e and 19f are arranged near the right C pillar and the left C pillar, respectively.
  • a predetermined range centered on the line of sight of the driver 51 (for example, a range of 20 ° to the left and right centered on the line of sight) is set as the central visual field, and the periphery of the central visual field (for example, 20 ° to 90 ° from the center of the line of sight) Is defined as the peripheral vision.
  • the area of the central visual field and the peripheral visual field can be arbitrarily determined. Further, it may be changed according to the traveling speed of the vehicle 53 or the like.
  • the field of view shown in the figure only defines the direction centered on the driver 51, and the field of view that the driver 51 can actually see is far beyond what is shown in the figure. It is.
  • the driver 51 is facing the front of the vehicle 53. Therefore, the central visual field is on the vehicle front side of the driver 51, and the peripheral visual field is the periphery thereof. Then, the warning display device 19 positioned in the peripheral visual field is selected as the warning display device 19 to be lit. In FIG. 3, the warning display devices 19b, 19c, and 19d are selected.
  • the warning display device 19 to be selected changes depending on the face direction of the driver 51 as shown in FIG. 4 (A) and FIG.
  • FIG. 4A as a result of the line of sight of the driver 51 being leftward, the warning display devices 19a and 19f are positioned in the peripheral visual field. Further, in FIG. 5, as a result of the line of sight of the driver 51 being rightward, the warning display devices 19a and 19e are positioned in the peripheral visual field.
  • the warning display device 19 located in the peripheral visual field is calculated in consideration of not only the driver's gaze direction but also the face position. For example, as is apparent from a comparison between FIG. 4A and FIG. 4B, when the peripheral visual field changes depending on the face position even if the line-of-sight direction is the same, the warning display device 19 positioned in the peripheral visual field Can be selected more appropriately.
  • a region between the central visual field and the peripheral visual field in the plane from the two-dimensional coordinates of the face position of the driver 51 and a straight line indicating the boundary of the visual field with reference to a plane along the horizontal direction is conceivable to determine in which region the coordinates indicating the position of each warning display device 19 are included.
  • the central visual field and the peripheral visual field are determined in a three-dimensional manner based on the face position and line-of-sight direction of the driver 51, and the three-dimensional position of each warning display device 19 is in any space of the central visual field and the peripheral visual field.
  • the structure which judges whether it is contained may be sufficient.
  • the warning display location determination unit 45 has a predetermined distance from the host vehicle among the notification targets whose positions are calculated by the warning target determination unit 43. It is determined whether the notification target located at a place below the threshold is located on the left or right side with respect to the line-of-sight direction of the driver 51. As a result of the determination, the warning display device 19 on the side where the notification target is located is selected. If there are notification targets on both the left and right sides, the warning display devices 19 on both sides are selected. In addition, you may change the threshold value mentioned above according to a driving
  • the warning display device 19 selected in both (2.1) and (2.2) is specified as the warning display device 19 to be turned on.
  • the warning display device 19c is specified.
  • the warning display devices 19b and 19d are specified.
  • the position of the notification target (left-right direction) is determined based on the line-of-sight direction of the driver 51, but the position of the notification target may be determined based on other criteria. For example, it may be determined on which side the notification target exists with reference to the front of the vehicle 53 (the center in the traveling direction). Furthermore, as shown in FIG. 6, a notification area may be defined on the left and right of the vehicle 53, and it may be determined which side is located on the left or right side for a notification target located in the notification area.
  • This lighting control process is started when power is supplied to the entire alerting system 1 including the display control / arithmetic circuit 21 (in this embodiment, when the ignition switch is turned on).
  • an image captured by the camera 11 is acquired (FIG. 7, step S1).
  • the face position and the line-of-sight direction are detected based on the image acquired in S1 (step S2).
  • an event is a notification target whose distance from the host vehicle is equal to or less than a predetermined threshold. That is, an event exists when an obstacle exists within a predetermined distance around the vehicle 53, or when the distance from the vehicle 53 to a point set outside the vehicle as a notification target falls below a predetermined threshold. Then, it is determined.
  • step S3 If there is no event (step S3: NO), the process returns to S1. If there is an event (step S3: YES), the process proceeds to S4. Next, the LED lights to be turned on (warning display devices 19a to 19f) are specified (step S4).
  • the warning display device 19 to be lit is specified by the method described in (2) above.
  • step S5 lighting control is performed (step S5).
  • a control signal for lighting the warning display device 19 specified in S4 for a predetermined period is output to the warning display control device 17.
  • the process returns to S1.
  • the lighting control during the predetermined period corresponds to the lighting control in the predetermined mode.
  • the alerting system 1 can turn on the warning display device 19 located in the peripheral visual field determined based on the line-of-sight direction of the driver 51. For this reason, it is possible to prevent the driver 51 from paying attention to the warning display device 19 and losing caution to the outside.
  • the alerting system 1 of the present embodiment matches the side where the notification target exists with the side where the warning display device 19 to be lit is located based on the line-of-sight direction. For this reason, it is possible to inform the driver of the direction in which the notification target exists.
  • the alerting system 1 in the second embodiment has basically the same configuration as the alerting system 1 of the first embodiment, but the processing content to be executed is partially changed. Therefore, the description of the same part as that of the first embodiment is omitted, and the description will focus on the changed processing.
  • the alerting system 1 of the present embodiment does not determine the face position of the driver 51, determines the direction of the line-of-sight direction (face direction) as one of a plurality of patterns (front, right, left), The warning display device 19 associated with the determined pattern is identified and turned on.
  • This lighting control process is started when power is supplied to the entire alerting system 1 including the display control / arithmetic circuit 21 (in this embodiment, when the ignition switch is turned on).
  • step S1 an image captured by the camera 11 is acquired (FIG. 8, step S1).
  • step S12 the face position and the line-of-sight direction are determined based on the image acquired in S11 (step S12).
  • the line-of-sight direction is classified into one of the three patterns of front, left, and right, based on the face direction of the driver 51.
  • step S13 it is determined whether or not an event exists (step S13). If there is no event (S13: NO), the process returns to S11. If there is an event (step S13: YES), the process proceeds to S14.
  • the driver's line-of-sight direction is classified by the subsequent processes of S14, S19, and S24. If the line-of-sight direction is forward (step S14: YES), the process proceeds to S15, and if the line-of-sight direction is left (S19: YES), the process proceeds to S20, and if the line-of-sight direction is right (step) (S24: YES) The process proceeds to S25.
  • step S15 YES
  • step S17 a warning is displayed near the driver's seat window
  • step S18 a warning is displayed near the passenger seat window
  • step S18 a control signal is output to the warning display control device 17 so that the warning display device 19d is lit for a predetermined period.
  • step S15 NO and step S17: NO
  • step S19 If the driver's line-of-sight direction is to the left (step S19: YES), it is determined in steps S20 and S22 whether alerting is required on the left or right.
  • step S21 If it is necessary to alert the right side (step S20: YES), a warning is displayed near the dashboard (S21). That is, a control signal is output to the warning display control device 17 so that the warning display device 19b is lit for a predetermined period.
  • step S22 when alerting is required on the left side (step S22: YES), a warning is displayed near the left C pillar (step S23). That is, a control signal is output to the warning display control device 17 so that the warning display device 19f is lit for a predetermined period.
  • step S21 or S23 After the control signal is output in step S21 or S23, or when it is not necessary to call attention to either the left or right (step S20: NO and step S22: NO), the process returns to S1. If the line-of-sight direction is to the right (step S24: YES), it is determined in steps S25 and S27 whether attention is required on the left or right.
  • step S26 When it is necessary to alert the right side (step S25: YES), a warning is displayed near the right C pillar (step S26). That is, a control signal is output to the warning display control device 17 so that the warning display device 19e is lit for a predetermined period.
  • step S28 On the other hand, when alerting is required on the left side (step S27: YES), a warning is displayed near the meter (step S28). That is, a control signal is output to the warning display control device 17 so that the warning display device 19a is lit for a predetermined period.
  • step S25: NO and step S27: NO the process returns to S1.
  • step S25: NO and step S27: NO the process returns to S1.
  • the warning display devices 19a to 19f have exemplified the configuration using the illumination device made of the LED light, but an illumination device other than the LED light, an image display device, or the like may be used. Further, the arrangement and the number of warning display devices are not limited to the configuration of the above embodiment, and can be arranged at various positions.
  • the configuration in which the display control / arithmetic circuit 21 (warning target determination unit 43) calculates the position of the obstacle based on the information output from the vehicle periphery sensor 13 is exemplified.
  • the vehicle periphery sensor 13 may have the function of the warning target determination unit 43 and the display control / calculation circuit 21 may output the position information of the obstacle.
  • the alerting system detects a decrease in the driver's peripheral vision perception, for example, vehicle-to-vehicle communication, headlight passing, blinker driving, etc. It is possible to warn that "it is not recognized by”. As a result, even if a pedestrian checks the driver's face angle from the outside of the vehicle and determines that he / she should be able to see that angle, the driver is actually glaucoma and the pedestrian If it is not recognized, pedestrians can be alerted, leading to accident avoidance.
  • a decrease in the driver's peripheral vision perception for example, vehicle-to-vehicle communication, headlight passing, blinker driving, etc. It is possible to warn that "it is not recognized by”. As a result, even if a pedestrian checks the driver's face angle from the outside of the vehicle and determines that he / she should be able to see that angle, the driver is actually glaucoma and the pedestrian If it is not recognized, pedestrians can be alerted, leading to accident avoidance.

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Abstract

Un circuit de commande d'affichage/de calcul (21) : acquiert une image capturée par une caméra (11) (étape S1) ; puis détecte la position du visage et la direction de la ligne de vision sur la base de l'image acquise (étape S2) ; puis établit si un événement est présent ou non (étape S3) ; détermine, si l'événement est présent (étape S3 : OUI), un voyant (19a-19f) à allumer (étape S4) ; identifie le champ visuel environnant d'après la position du visage et la direction de ligne de vision détectées, et identifie un instrument d'affichage d'alarme (19) positionné dans le champ visuel environnant ; et ensuite effectue la commande d'allumage (étape S5), par exemple, délivre à un instrument de commande d'affichage d'alarme (17) un signal de commande qui provoque l'allumage du voyant identifié (19) pendant une période prédéterminée.
PCT/JP2013/052027 2012-01-31 2013-01-30 Dispositif d'alerte du conducteur d'un véhicule et son procédé WO2013115241A1 (fr)

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JP2012018683A JP2013156927A (ja) 2012-01-31 2012-01-31 注意喚起装置およびプログラム
JP2012-018683 2012-01-31

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CN114078317A (zh) * 2020-08-11 2022-02-22 丰田自动车株式会社 警告通知系统、警告通知方法及警告通知程序
CN115151964A (zh) * 2020-03-12 2022-10-04 松下知识产权经营株式会社 推断装置及推断方法
WO2023004736A1 (fr) * 2021-07-30 2023-02-02 华为技术有限公司 Procédé de commande de véhicule et appareil associé

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JP6476644B2 (ja) * 2014-08-11 2019-03-06 トヨタ自動車株式会社 認知補助装置
JP6394281B2 (ja) * 2014-10-29 2018-09-26 株式会社デンソー 車載注意喚起システム、報知制御装置
JP2017097687A (ja) 2015-11-26 2017-06-01 矢崎総業株式会社 車両用情報提示装置
JP6597391B2 (ja) * 2016-02-26 2019-10-30 トヨタ自動車株式会社 車両用覚醒システム
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