WO2018101274A1

WO2018101274A1 - Safety confirmation device

Info

Publication number: WO2018101274A1
Application number: PCT/JP2017/042661
Authority: WO
Inventors: 幸真永畑; 浩一郎本多; 亘野木森; 秀二上田
Original assignee: アイシン精機株式会社; アイシン・エィ・ダブリュ株式会社
Priority date: 2016-12-01
Filing date: 2017-11-28
Publication date: 2018-06-07
Also published as: JP2018092318A

Abstract

This safety confirmation device is provided with an indicator output unit that outputs an indicator to be visually recognized by a driver of a moving body, and a determination unit that detects a direction of the face or line of sight of the driver and determines whether to issue a warning or not on the basis of a position of the indicator and the direction of the face or line of sight.

Description

Safety confirmation device

The present invention relates to a safety confirmation device.

An apparatus for confirming the state of a driver in a moving body such as an automobile is known. In such an apparatus, the state of the driver is confirmed by the behavior of the driver (for example, a pointing confirmation operation).

Japanese Patent Laying-Open No. 2015-184975

However, the above-described technique has a problem that the driver needs to remove his / her hand from the steering part for pointing, and the action for confirmation cannot be said to be appropriate.

This invention is made in view of the above, and is providing the safety confirmation apparatus which can confirm a driver | operator's state appropriately.

In order to solve the above-described problems and achieve the object, the safety confirmation device of the present invention detects an orientation of the driver's face or line of sight, and an indicator output unit that outputs an indicator to be visually recognized by the driver of the moving body. And a determination unit that determines whether to issue a warning based on the position of the index and the direction of the face or the line of sight.

As a result, the safety confirmation device can determine the state of the driver more appropriately without releasing the driver's hand from the steering unit, compared with the case where the state of the driver is determined by pointing, etc. It can be determined whether or not.

Further, in the safety confirmation device of the present invention, the index output unit may change the positions of a plurality of the indices at random.

This allows the safety confirmation device to check the driver's state with higher accuracy than when the driver is used to displaying the index in the same pattern.

Moreover, in the safety confirmation device of the present invention, the index output unit may output the index during automatic operation of the moving body.

Thereby, the safety confirmation device can confirm the state of the driver while maintaining the safety of the driver.

In the safety confirmation device of the present invention, the determination unit determines whether to switch from the automatic driving to the driver's manual driving based on the position of the index and the direction of the driver's face or line of sight. You may judge.

Thus, since the safety confirmation device switches from automatic operation to manual operation based on the position of the index and the driver's line of sight, it can be more appropriately switched to manual operation.

Further, in the safety confirmation device of the present invention, the indicator output unit may cause the indicator to be output to a meter display device that displays a mirror or a meter provided in the moving body.

Thus, the safety confirmation device can output the indicator and confirm the driver's state without providing a new space.

Further, in the safety confirmation device of the present invention, the indicator output unit may repeat displaying the indicator in a single safety check a predetermined number of times in advance at different times.

Thus, since the safety confirmation device can confirm the driver's state a predetermined number of times, the driver's state can be confirmed with higher accuracy.

FIG. 1 is a view of the vicinity of a dashboard in a passenger compartment of a vehicle according to an embodiment. FIG. 2 is a block diagram showing a vehicle control system. FIG. 3 is a block diagram illustrating functions of the ECU that functions as a safety confirmation device. FIG. 4 is a diagram illustrating an example of an index displayed by the index output unit. FIG. 5 is a flowchart of the safety confirmation process executed by the control unit.

The same constituent elements as in the following exemplary embodiments will be denoted by common reference numerals, and redundant description will be appropriately omitted.

<Embodiment>
FIG. 1 is a view in the vicinity of a dashboard in a passenger compartment of a vehicle 10 according to the embodiment. The vehicle 10 is an example of a moving body. The vehicle 10 may be, for example, an automobile (an internal combustion engine automobile) using an internal combustion engine (engine, not shown) as a drive source, or an automobile (electric vehicle) using an electric motor (motor, not shown) as a drive source. Or a fuel cell vehicle or the like, or a vehicle (hybrid vehicle) using both of them as drive sources. Further, the vehicle 10 can be mounted with various transmissions, and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor can be mounted. In addition, the method, the number, the layout, and the like of devices related to driving of the wheels in the vehicle 10 can be variously set.

As shown in FIG. 1, the vehicle 10 includes a steering unit 12, a plurality of (for example, three)

mirrors

14R, 14L, and 14C, a plurality of

indicator display units

15a, 15b, and 15c, a monitor device 16, and an instrument. A display device 18 and an in-vehicle imaging unit 20 are provided.

Steering unit 12 is a member that is operated by the driver to steer the wheels and change the traveling direction of the vehicle 10. An example of the steering unit 12 is a steering wheel or a handle provided in front of the driver's seat.

Mirrors

14R and 14L are door mirrors provided outside the vehicle. The mirror 14 C is a room mirror provided inside the vehicle 10. The mirror 14 R is provided on the right side of the vehicle 10 on the side of the dashboard 32. The mirror 14 L is provided on the left side surface of the vehicle 10 on the side of the dashboard 32. The mirror 14C is provided above the dashboard 32 and at the center in the left-right direction. The mirrors 14 R, 14 L, and 14 C are disposed on the vehicle 10 so as to be directed rearward. As a result, the

mirrors

14R, 14L, and 14C reflect the situation around the rear of the vehicle 10. The

mirrors

14R, 14L, and 14C are, for example, half mirrors or electronic mirrors, and transmit certain light. Thereby, the image of the index of the index display unit 15 described later is transmitted.

The

indicator display units

15a, 15b, and 15c are image display devices such as a liquid crystal display device that displays images. An example of an image displayed by the

index display units

15a, 15b, and 15c is an index. The index display unit 15a is provided inside the mirror 14R. The index display unit 15b is provided inside the mirror 14C. The index display unit 15c is provided inside the mirror 14L. When it is not necessary to distinguish each of the

index display parts

15a, 15b, and 15c, it will be referred to as an index display part 15.

The monitor device 16 outputs an image and sound, and receives input from a passenger including a driver. The monitor device 16 includes a central display device 26, an audio output device 28, and an operation input unit 30. The central display device 26 is, for example, a liquid crystal display device that can display an image. The central display device 26 displays an image such as route guidance of the navigation system. The central display device 26 also has a function as an index display unit 15d that displays an index. The audio output device 28 is, for example, a speaker. The sound output device 28 outputs sound such as road guidance and warnings. The operation input unit 30 is, for example, a touch panel that can transmit an image of the central display device 26. The operation input unit 30 is provided on the surface of the central display device 26. The operation input unit 30 receives input from an occupant including a driver.

The instrument display device 18 is provided inside the dashboard 32 and in front of the steering unit 12. The instrument display device 18 is a liquid crystal display device capable of displaying an image, for example. The instrument display device 18 displays an image of the instrument indicating the measurement value of the vehicle 10. For example, the instrument display device 18 displays an image of a speedometer that indicates the speed of the vehicle 10 that is an example of a measurement value, an image of a tachometer that indicates the number of revolutions of an engine that is another example of the measurement value, and the like. The instrument display device 18 also has a function as an index display unit 15e that displays an index.

The in-vehicle imaging unit 20 is a digital camera having, for example, a CCD (charge-coupled device) or a CMOS (complementary metal-oxide semiconductor) sensor. The in-vehicle imaging unit 20 is installed, for example, on the upper surface of the dashboard 32 in front of the steering unit 12. The in-vehicle imaging unit 20 is directed rearward. As a result, the in-vehicle image capturing unit 20 captures a face including at least the eye part of the driver sitting behind the steering unit 12 and uses the captured image data of the driver's captured image (hereinafter referred to as a face image). Generate. The in-vehicle image capturing unit 20 can capture any position (for example, the steering unit 12, the front of the console, the top of the windshield, etc.) as long as it can capture the driver's face image (preferably, the front image of the driver's face). May be arranged.

FIG. 2 is a block diagram showing a control system of the vehicle 10. As shown in FIG. 2, the vehicle 10 further includes an ECU (Electronic Control Unit) 40 and an in-vehicle network 42. The ECU 40 is an example of the safety confirmation device 50. For example, the in-vehicle imaging unit 20, the indicator display unit 15, the monitor device 16, the instrument display device 18, and the ECU 40 function as the safety confirmation system 52.

ECU40 is a computer, for example. In the present embodiment, the ECU 40 governs overall control of the vehicle 10 by cooperation of hardware and software (that is, a program).

The ECU 40 includes a CPU (Central Processing Unit) 40a, a ROM (Read Only Memory) 40b, a RAM (Random Access Memory) 40c, a display control unit 40d, a voice control unit 40e, and an SSD (Solid State Drive) 40f. Is provided. The CPU 40a, ROM 40b, and RAM 40c may be integrated in the same package.

The CPU 40a is an example of a hardware processor, reads a program stored in a nonvolatile storage device such as the ROM 40b, and executes various arithmetic processes and controls according to the program. The ROM 40b stores each program and parameters necessary for executing the program. The RAM 40c temporarily stores various types of data used in computations by the CPU 40a. The display control unit 40d mainly performs the image processing of the image obtained by the in-vehicle imaging unit 20 and the data conversion of the display image to be displayed on the index display unit 15 and the

display devices

18 and 26 in the arithmetic processing in the ECU 40. Etc. The voice control unit 40e mainly executes voice processing to be output to the voice output device 28 among the arithmetic processing in the ECU 40. The SSD 40f is a rewritable nonvolatile storage unit, and maintains data even when the power of the ECU 40 is turned off.

The in-vehicle network 42 is, for example, a CAN (Controller Area Network). The in-vehicle network 42 electrically connects the ECU 40 and the operation input unit 30 so that signals and information such as control signals and operation contents can be transmitted and received.

FIG. 3 is a block diagram for explaining the function of the ECU 40 that functions as the safety confirmation device 50. As shown in FIG. 3, the ECU 40 includes a control unit 54 and a storage unit 56. The control unit 54 is realized as a function of the CPU 40a, the display control unit 40d, and the voice control unit 40e. The storage unit 56 is realized as a function of the ROM 40b, the RAM 40c, and the SSD 40f.

The control unit 54 includes an index output unit 60 and a determination unit 62. The control unit 54 functions as the index output unit 60 and the determination unit 62 by reading a safety confirmation program. Part or all of the index output unit 60 and the determination unit 62 may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit).

The index output unit 60 outputs an index to be visually recognized by the driver of the vehicle 10. For example, the index output unit 60 outputs the index during the automatic driving of the vehicle 10. Specifically, the index output unit 60 outputs index image data to the index display unit 15, thereby causing the index display unit 15 to display and output a visible index. The index output unit 60 may repeat displaying the index on any of the plurality of index display units 15 at different times in one safety check. For example, the index output unit 60 may repeat the display of the index a predetermined number of times (for example, 3 times) in one safety check. In this case, the index output unit 60 may randomly change the positions of the plurality of indices in one safety check. In addition, the index output unit 60 may randomly change the positions of a plurality of indices for each different safety check. The index output unit 60 may randomly change the position of the index based on a random number table or the like stored in the storage unit 56. The index output unit 60 outputs the position of the output index to the determination unit 62.

The determination unit 62 determines whether or not the vehicle 10 has entered the diagnosis section during automatic driving. The diagnosis section is a section for confirming the safety of a driver who performs manual driving, and is a part of the automatic driving section. The diagnosis section is, for example, a point that is a predetermined distance or a predetermined time before the point to switch to manual driving (that is, the automatic driving section side). The predetermined distance or the predetermined time is a distance or time at which the safety of the driver can be confirmed by outputting the index. When the determination unit 62 determines that the diagnosis section has been entered, the determination unit 62 outputs a diagnosis start instruction for starting display of the index to the index output unit 60.

The determination unit 62 acquires the position of the index from the index output unit 60. The determination unit 62 acquires, from the in-vehicle image capturing unit 20, data of a captured image obtained by capturing a face including at least eyes of the driver of the vehicle 10 while traveling in the diagnostic section by automatic driving. The determination unit 62 detects the position of the driver's face or eyes along with the direction of the driver's face or line of sight of the vehicle 10 based on the acquired face or eye image in the captured image. In the following description, the direction of the face or line of sight is described as “line of sight”, and the position of the face or eye is described as “reference point”.

The determination unit 62 determines whether or not to issue a warning based on the position of the index and the line-of-sight direction. For example, when the determination unit 62 has an index at least in the line-of-sight direction starting from the reference point, that is, when the driver is looking at the direction of the index, the driver is awake and safe, so that the warning is unnecessary. judge. Note that the determination unit 62 may determine that the warning is unnecessary when there is an index on the line of sight and in the vicinity of the line of sight. In this case, the determination unit 62 outputs a position change instruction, which is an instruction to change the position where the index is displayed, to the index output unit 60. On the other hand, when there is no index in the line-of-sight direction starting from the reference point, that is, when the driver does not look at the direction of the index, the determination unit 62 warns that the driver is not awake and safe. Judge that it should be. Note that the determination unit 62 may determine that a warning should be given when there is no index on the line of sight and in the vicinity of the line of sight. If it is determined that a warning is to be notified, the determination unit 62 causes the audio output device 28 to output an audio warning. An example of the warning is a notification regarding safety, and may be a buzzer sound or a human voice for awakening the driver. Note that the determination unit 62 may cause the

display devices

18 and 26 to output an image warning when notifying the warning.

The determination unit 62 may determine whether to switch from automatic driving to manual driving by the driver based on the position of the index and the line-of-sight direction. Specifically, when the number of times that the determination unit 62 determines that there is an index at least in the line-of-sight direction starting from the reference point is equal to or more than a predetermined number of times set in advance, and the vehicle 10 enters the manual driving section It is determined that the automatic operation is switched to the driver's manual operation. In other words, the determination unit 62 determines to switch to manual operation when the number of times determined that the warning is unnecessary is equal to or greater than the specified number and the vehicle 10 enters the manual operation section.

The determination unit 62 may determine whether to stop automatically. For example, the determination unit 62 may determine whether or not to automatically stop by comparing the time during which the display of the index is continued with a predetermined determination time. When the determination unit 62 determines that the vehicle should be automatically stopped, the vehicle 10 is automatically stopped.

The storage unit 56 stores a safety confirmation program executed by the control unit 54, data necessary for executing the program, data generated by executing the program, and the like. The storage unit 56 includes, as data necessary for the execution of the program, position information of a diagnosis section that is a section for executing safety confirmation processing, a specified number of times for determining the end of display of an index, a determination time for determining an automatic stop, The index image data and the like are stored. The storage unit 56 stores captured image data of the driver's face as data generated by executing the program. The storage unit 56 may be realized by a storage device (so-called cloud) on a network.

FIG. 4 is a diagram illustrating an example of an index displayed by the index output unit 60. The positional relationship between the

index display units

15a, 15b, 15c, 15d, and 15e shown in FIG. 4 is schematic. As shown in FIG. 4, the indicator output unit 60 displays the indicators MK1, MK2, MK3, MK4, and MK5 on the

indicator display units

15a, 15b, 15c, 15d, and 15e during the automatic operation. Specifically, the index output unit 60 displays the indexes MK1, MK2, and MK3 on the

index display units

15a, 15b, and 15c provided on the

mirrors

14R, 14C, and 14L. The index output unit 60 displays the index MK4 on the central display device 26 that functions as the index display unit 15d. The index output unit 60 displays the index MK5 on the instrument display device 18 that functions as the index display unit 15e. As a result, the index output unit 60 outputs the indices MK1, MK2, MK3, MK4, and MK5 to the left, right, up, and down ahead of the driver. When it is not necessary to distinguish the indices MK1, MK2, MK3, MK4, and MK5, they are described as an index MK. In the example shown in FIG. 4, the indicators MK1 to MK5 are images including numbers in a circle, but the image of the indicator MK is not limited to these examples. In the example shown in FIG. 4, all the indicators MK1 to MK5 are displayed, but in the safety confirmation process, the indicator output unit 60 displays the indicators MK1 to MK5 one by one. The index output unit 60 causes any one of the index MKs to be output to any one of the index display units 15, and then causes another index MK to be displayed on another index display unit 15. The index output unit 60 randomly selects the index display unit 15 to be displayed. The index output unit 60 repeats the display of the index MK at least a specified number of times in one safety check.

FIG. 5 is a flowchart of the safety confirmation process executed by the control unit 54. The control unit 54 executes a safety confirmation process by reading a safety confirmation program during automatic operation.

As shown in FIG. 5, the determination unit 62 determines whether or not the vehicle 10 during automatic driving is in a manual driving diagnostic section (S102). For example, the determination unit 62 compares the position information of the vehicle 10 acquired from a GPS (Global Positioning System) terminal and the like with the position information of the diagnosis section stored in the storage unit 56 so that the vehicle 10 It is determined whether or not. When the determination unit 62 determines that the vehicle 10 is not in the diagnostic section (S102: No), the determination unit 62 enters a standby state.

If the determination unit 62 determines that the vehicle 10 is in the diagnostic section (S102: Yes), the voice output device 28 outputs a diagnosis start voice guidance and outputs a diagnosis start instruction to the index output unit 60 (S104). . For example, the determination unit 62 causes the voice output device 28 to output a voice guidance such as “Please look at the index to be displayed now”.

The index output unit 60, when acquiring a diagnosis start instruction during automatic driving, displays the index MK on the index display unit 15 and outputs the position of the index MK to the determination unit 62 (S106). For example, the index output unit 60 displays the index MK1 on the index display unit 15a. The position of the index MK may be the position of the index display unit 15 displaying the index MK.

The determining unit 62 determines whether the line-of-sight direction is appropriate (S108). Specifically, the determination unit 62 acquires captured image data obtained by capturing the driver's face from the in-vehicle image capturing unit 20. The determination unit 62 detects the line-of-sight direction and the reference point based on the captured image. The determination unit 62 determines whether or not the visual line direction is appropriate based on the visual line direction starting from the reference point and the position of the index MK. The determination unit 62 determines that the line-of-sight direction is appropriate when the index MK exists on the line-of-sight direction starting from the reference point (or in the vicinity of the line-of-sight direction). On the other hand, the determination unit 62 determines that the line-of-sight direction is inappropriate when the index MK does not exist on the line-of-sight direction starting from the reference point (or in the vicinity of the line-of-sight direction).

If the driver does not look at the direction of the index MK and determines that the line-of-sight direction is not appropriate (S108: No), the determination unit 62 determines whether or not to automatically stop because the driver's state is not normal. (S110). For example, the determination unit 62 may determine whether to stop automatically by comparing the time during which the display of the index MK is continued with a predetermined determination time. Specifically, the determination unit 62 determines not to stop automatically if the time during which the display of the indicator MK is continued is less than the determination time. On the other hand, if the time for which the display of the indicator MK is continued is longer than the determination time, that is, if the driver has not watched the indicator MK for a long time and is not likely to be awake, judge.

If the determination unit 62 determines that the vehicle does not stop automatically (S110: No), it causes the audio output device 28 to output a warning sound (S112). In other words, the determination unit 62 outputs a warning based on the position of the index MK and the driver's line-of-sight direction in step S108. The determination unit 62 may cause the audio output device 28 to output a warning based on a buzzer sound or the like.

Thereafter, the determination unit 62 continues to display the index MK and repeats steps S108 to S110. If the determination part 62 determines that it should stop automatically (S110: Yes), it will control the vehicle 10 and will stop automatically at a safe place (S114). Thereby, the control part 54 complete | finishes a safety confirmation process.

When the driver is looking at the direction of the index MK and determines that the line-of-sight direction is appropriate (S108: Yes), the determination unit 62 determines whether or not to end the display of the index MK because the driver's state is normal. Is determined (S116). For example, the determination unit 62 determines whether or not to end the display of the index MK depending on whether or not the display count of the index MK is equal to or greater than a specified number. Specifically, the determination unit 62 determines to continue displaying the index MK if the number of times the index MK is displayed is less than the specified number. On the other hand, if the number of times the index MK is displayed is equal to or greater than the specified number, the determination unit 62 determines that the display of the index MK is terminated because the driver is sufficiently awake.

When the determination unit 62 determines to continue displaying the index MK (S116: No), it outputs a position change instruction to the index output unit 60.

The index output unit 60, upon acquiring the position change instruction, changes the display position of the index MK and newly sets it (S118). The index output unit 60 displays the index MK (for example, the index MK2 on the index display unit 15b) on the index display unit 15 different from the previously displayed index display unit 15a. Here, the index output unit 60 may randomly change the display position of the index MK. Furthermore, the index output unit 60 may randomly change the position and display order of the index MK for each safety check. The single safety check here is from the start to the end shown in FIG. Accordingly, in the current safety confirmation process, the index output unit 60 first displays the index MK1 on the index display unit 15a. However, in the next safety confirmation process, the index output unit 60 first displays the index display unit 15b on the index display unit 15b. The indicator MK2 may be displayed. The index output unit 60 deletes the displayed index MK and causes the index display unit 15 selected based on the changed display position to display the index MK (S106). Thereafter, the determination unit 62 repeats S108 and subsequent steps.

When the determination unit 62 determines to end the display of the index MK (S116: Yes), it determines whether or not the vehicle 10 is in the manual operation section (S120). For example, the determination unit 62 determines whether or not the vehicle 10 is in the manual driving section based on the position of the vehicle 10 acquired from the GPS terminal.

When the determination unit 62 determines that the vehicle 10 is not in the manual operation section (S120: No), the determination unit 62 enters a standby state. On the other hand, when the determination unit 62 determines that the vehicle 10 is in the manual operation section (S120: Yes), the vehicle 10 during automatic operation is switched to manual operation (S122), and control of the vehicle 10 is transferred to the driver. . Thereby, the control part 54 complete | finishes a safety confirmation process.

As described above, in the safety confirmation device 50 that is the ECU 40, the determination unit 62 actively determines the driver's state based on the position of the index MK displayed by the index output unit 60 and the driver's line-of-sight direction. Determine whether to warn or not. Accordingly, the safety confirmation device 50 can more appropriately determine the state of the driver without separating the driver's hand from the steering unit 12 as compared with the case where the state is determined by the driver's pointing or the like. It can be determined whether or not to warn.

In the safety confirmation device 50, since the index output unit 60 randomly changes the positions of the plurality of indices MK, the driver's state is more accurately compared with the case where the driver is used to displaying the indices in the same pattern. It can be confirmed well. Further, in the safety confirmation device 50, by randomly changing the position of the index MK, it is possible to reduce the direction in which the index MK is not displayed depending on the traveling state (for example, the traveling direction) of the vehicle 10. As a result, the safety confirmation device 50 can cause the driver's line of sight to be directed in all directions around the vehicle 10 to cause safety confirmation by outputting a plurality of indices MK.

In the safety confirmation device 50, since the index output unit 60 outputs the index during the automatic driving, it is possible to confirm the driver's state while maintaining the driver's safety.

In the safety confirmation device 50, since the automatic operation is switched to the manual operation based on the position of the index MK and the driver's line of sight, it is possible to more appropriately switch to the manual operation.

In the safety confirmation device 50, the index output unit 60 outputs the index MK to the

mirrors

14R, 14C, 14L, the instrument display device 18 and the like, so that the driver's state can be confirmed without providing a new space.

The function, arrangement, number, connection relationship, and the like of each component of the above-described embodiment may be changed as appropriate. In addition, the order of the processes in the flowcharts described above may be changed as appropriate.

In the above-described embodiment, the index display unit 15 is an image display device such as a liquid crystal display device, but the present invention is not limited to this. For example, the index display unit 15 may be an image projection device (so-called projector) that projects an image onto a

mirror

14R, 14C, 14L, or the like.

In the above-described embodiment, the safety check during automatic driving is taken as an example, but the present invention is not limited to this. For example, the above-described embodiment may be applied to the state confirmation and awakening of the driver during manual driving.

Although embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

Claims

An index output unit for outputting an index to be visually recognized by the driver of the moving body;
A determination unit that detects a direction of the driver's face or line of sight and determines whether to issue a warning based on the position of the index and the direction of the face or the line of sight;
A safety confirmation device comprising:
The safety check device according to claim 1, wherein the index output unit randomly changes positions of the plurality of indexes.
The safety check device according to claim 1, wherein the index output unit outputs the index during automatic operation of the moving body.
The safety check according to claim 3, wherein the determination unit determines whether to switch from the automatic driving to the driver's manual driving based on the position of the index and the direction of the driver's face or line of sight. apparatus.
The safety confirmation device according to any one of claims 1 to 4, wherein the index output unit causes the instrument display device that displays a mirror or instrument provided in the moving body to output the index.
The safety check device according to any one of claims 1 to 5, wherein the index output unit repeats displaying the index in a single safety check by shifting a predetermined number of times in advance.