WO2019244576A1

WO2019244576A1 - Notification control apparatus

Info

Publication number: WO2019244576A1
Application number: PCT/JP2019/021121
Authority: WO
Inventors: 世支明山崎; 広幸小林; 拓也二神; 雄介高橋; 直人瀬戸; 勝大堀江; 陽平服部; 博章伊藤
Original assignee: 株式会社東芝; 東芝インフラシステムズ株式会社
Priority date: 2018-06-20
Filing date: 2019-05-28
Publication date: 2019-12-26
Also published as: JP2019217902A

Abstract

A notification control apparatus according to an embodiment comprises a detection unit and a control unit. The detection unit detects information relating to obstacles in the travel direction of a railroad vehicle. The control unit controls a notification unit to provide notification including an alarm to at least the outside of the railroad vehicle according to the detection result of the detection unit.

Description

Notification control device

The embodiment of the present invention relates to a notification control device.

Conventionally, there is known a technique for detecting an obstacle that may be present on (or near) a track in the traveling direction of a railway vehicle.

Japanese Patent Publication No. 2009-504501 JP-T-2016-525487

技術 In the above-described technique, it is assumed that an obstacle related to an organism is detected, such as an organism including a person and an animal, and a vehicle on which the organism is mounted. In this case, if it is possible to encourage the obstacle related to the creature to take measures such as moving away from the track, it is advantageous since the contact between the railcar and the obstacle can be easily avoided.

The notification control device according to the embodiment includes a detection unit and a control unit. The detection unit detects information about an obstacle in the traveling direction of the railway vehicle. The control unit controls the notifying unit to perform a notification including a warning to at least the outside of the railway vehicle according to a detection result of the detecting unit.

FIG. 1 is an exemplary and schematic block diagram illustrating a schematic configuration of a railway vehicle including a notification control device according to an embodiment. FIG. 2 is an exemplary and schematic diagram illustrating an example of a configuration of a vibration device included in the notification unit according to the embodiment. FIG. 3 is an exemplary and schematic diagram illustrating, in a table form, an example of a notification control method executed in the embodiment. FIG. 4 is an exemplary and schematic diagram showing, in a table form, an example different from FIG. 3 of the notification control method executed in the embodiment. FIG. 5 is an exemplary and schematic diagram showing, in a table form, an example of a notification control method executed in the embodiment, which is different from FIGS. 3 and 4. FIG. 6 is an exemplary schematic diagram showing, in a table form, an example of a notification control method executed in the embodiment, which is different from FIGS. 3 to 5. FIG. 7 is an exemplary schematic diagram showing, in a table form, an example of a notification control method executed in the embodiment, which is different from FIGS. 3 to 6. FIG. 8 is an exemplary and schematic flowchart illustrating a series of processes performed by the notification control device according to the embodiment.

Hereinafter, embodiments will be described with reference to the drawings. The configuration of the embodiment described below, and the operation and result (effect) provided by the configuration are merely examples, and are not limited to the following description.

FIG. 1 is an exemplary and schematic block diagram showing a schematic configuration of a railway vehicle RV including the notification control device 100 according to the embodiment. As shown in FIG. 1, the railway vehicle RV runs on the track RL. Further, the railway vehicle RV includes a notification control device 100, a sensor 200, and a notification unit 300.

The notification control device 100 is a device for controlling the notification unit 300 based on information acquired from the sensor 200. The notification control device 100 is configured by, for example, a computer having hardware such as a processor and a memory.

The sensor 200 is a sensing device for acquiring information indicating a situation around the railway vehicle RV. In the example illustrated in FIG. 1, the sensor 200 includes an imaging unit 210 that captures an image of an area in the traveling direction of the railway vehicle RV (an area on the track RL). The captured image obtained by the imaging unit 210 includes various information such as the presence or absence of an obstacle on the track RL (or near the track RL) and the distance to the obstacle. Used to detect information about objects.

Although FIG. 1 illustrates only the imaging unit 210 as a sensing device included in the sensor 200, in the embodiment, the sensor 200 is replaced with the imaging unit 210 (or in addition to the imaging unit 210). It may have another sensing device. As an example of another sensing device, for example, a sonar for detecting information on an obstacle by ultrasonic waves can be considered.

Here, in the configuration as described above, the sensor 200 of the railway vehicle RV is used as an obstacle on the track RL (or near the track RL), such as a creature including a person and an animal or a vehicle on which the creature rides. It is assumed that an obstacle related to is detected. In this case, if it is possible to encourage the obstacle related to the living body to take a measure such as leaving the track RL, it is advantageous because the contact between the railcar RV and the obstacle can be easily avoided.

Therefore, the embodiment facilitates the contact between the railway vehicle RV and the obstacle by appropriately notifying the inside and outside of the railway vehicle RV based on the detection result of the information on the obstacle based on the configuration described below. To avoid it.

That is, the notification control device 100 includes a detection unit 110, a notification control unit 120, and a storage unit 130 as a configuration for obtaining the above-described effects (results). The detection unit 110 has a distance detection unit 111, a type detection unit 112, a time detection unit 113, and a position detection unit 114.

In the embodiment, the above-described configuration of the notification control device 100 functions as a result of the processor of the notification control device 100 executing a predetermined computer program stored in a memory or the like, in cooperation with software and hardware. It may be realized by hardware, or may be realized by hardware by a dedicated circuit.

Detecting section 110 detects information about an obstacle in the traveling direction of railway vehicle RV based on information acquired from sensor 200, for example, an image captured by imaging section 210. As described above, the information on the obstacle includes various information such as the presence or absence of an obstacle on (or near) the track RL and the distance to the obstacle.

More specifically, the distance detection unit 111 of the detection unit 110 detects (acquires, calculates, and estimates) the distance to the obstacle (the distance between the railway vehicle RV and the obstacle) as information on the obstacle.

{Circle around (4)} The type detection unit 112 of the detection unit 110 detects the type (type) of the obstacle, such as whether the obstacle is a living thing or a non-living object, as information on the obstacle.

(4) The time detection unit 113 of the detection unit 110 detects the time at which the presence of the obstacle is detected as the information on the obstacle. Accordingly, each configuration of the detection unit 110 according to the embodiment can detect information on an obstacle in association with the time when the presence of the obstacle is detected.

(4) The position detection unit 114 of the detection unit 110 detects information on the position of the obstacle as information on the obstacle. The information on the position of the obstacle indicates, for example, information indicating whether or not the position of the obstacle is within a preset range, or the positional relationship between the railroad RL on which the railway vehicle RV is to travel and the obstacle. Information.

The notification control unit 120 controls the notification unit 300 having various devices as described below.

The notification unit 300 is a device for notifying information inside and outside the railway vehicle RV. The notification unit 300 includes a headlight 310, an indoor lamp 320, a horn 330, an indoor speaker 340, and a vibration device 350.

The headlight 310 and the horn 330 are devices for notifying information outside the railway vehicle RV. The headlight 310 is an illumination configured to illuminate the front of the railway vehicle RV, and the horn 330 is configured to output a sound such as an alarm to the outside of the railway vehicle RV. Speaker.

On the other hand, the interior lamp 320 and the interior speaker 340 are devices for notifying information inside the railway vehicle RV, for example, in the driver's cab. The indoor lamp 320 is a lamp installed in the driver's cab and configured to blink, and the indoor speaker 340 is a speaker installed in the driver's cab and configured to output a sound such as an alarm.

The vibration device 350 is a device for notifying a driver of the railway vehicle RV of information. Therefore, the vibration device 350 can be classified as a device for notifying information inside the railway vehicle RV. The vibration device 350 has, for example, a configuration as described below.

FIG. 2 is an exemplary and schematic diagram illustrating an example of the configuration of the vibration device 350 included in the notification unit 400 according to the embodiment. In the example illustrated in FIG. 2, the vibration device 350 includes a strap 351 for hanging on a neck, and

vibration units

352 a and 352 b provided at both ends of the strap 351.

振動 As shown in FIG. 2, the vibration device 350 is configured to be attachable to a human such as a driver. When the vibration device 350 is worn on a human, the vibration part 352a contacts near the right shoulder of the human, and the vibration part 352b contacts near the left shoulder of the human. Therefore, the vibration device 350 can notify a person wearing the vibration device 350 of tactile information based on the vibration of at least one of the

vibration units

352a and 352b.

Returning to FIG. 1, the notification control unit 120 causes the notification unit 300 to perform a notification including an alarm to at least the outside of the railway vehicle RV in accordance with information about an obstacle obtained as a detection result of the detection unit 110. Control. More specifically, the notification control unit 120 sends a notification according to information about an obstacle, such as the distance to the obstacle, the type of the obstacle, the time at which the presence of the obstacle is detected, and information about the position of the obstacle. It is configured to execute notification control in which a plurality of devices described above provided as the unit 300 are appropriately used and controlled by a plurality of methods.

Hereinafter, a plurality of examples of notification control methods that can be performed by the notification control unit 120 will be sequentially described.

FIG. 3 is an exemplary schematic diagram showing, in a table form, an example of a notification control method executed in the embodiment. The information shown in FIG. 3 is a notification control method according to the distance to an obstacle detected as one of the information on the obstacle.

In the example illustrated in FIG. 3, when the distance to the obstacle is short, the notification control unit 120 controls the notification unit 300 so as to urge relatively strong attention to the inside and outside of the railway vehicle RV. More specifically, in the example illustrated in FIG. 3, when the distance to the obstacle is short, the notification control unit 120 causes the headlight 310 and the indoor lamp 320 to blink quickly, and causes the horn 330 to short ON / OFF. A periodic sound is output, and the indoor speaker 340 outputs a sound with a large and / or short ON / OFF cycle, and the vibrating device 350 is vibrated strongly.

On the other hand, in the example illustrated in FIG. 3, when the distance to the obstacle is long, the notification control unit 120 issues a weaker alert to the inside and outside of the railway vehicle RV as compared to the case where the distance to the obstacle is short. The notification unit 300 is controlled to prompt. More specifically, in the example illustrated in FIG. 3, when the distance to the obstacle is long, the notification control unit 120 causes the headlight 310 and the indoor lamp 320 to blink slowly, and causes the horn 330 to have a long ON / OFF. A periodic sound is output, and the indoor speaker 340 outputs a sound with a small and / or long ON / OFF cycle, and the vibration device 350 is weakly vibrated.

In the example illustrated in FIG. 3, when the distance to the obstacle is medium, which is neither short nor far, the notification control unit 120 determines that the distance to the obstacle is short with respect to the inside and outside of the railway vehicle RV. The notification unit 300 is controlled so as to prompt the user to call attention of a medium strength between the case of the long time and the case of the long time. More specifically, in the example illustrated in FIG. 3, when the distance to the obstacle is medium, the notification control unit 120 causes the headlight 310 and the indoor lamp 320 to blink at medium frequency, and the audible alarm Device 330 outputs a medium-length ON / OFF cycle sound, and the indoor speaker 340 outputs a medium-sized and / or medium-length ON / OFF cycle sound. The vibration device 350 is vibrated at a medium intensity.

As described above, the notification control unit 120 according to the embodiment can change the form of the notification by the notification unit 300 according to the distance to the obstacle detected as one of the information on the obstacle. Thus, according to the embodiment, a notification including a warning can be issued to the inside and outside of the railway vehicle RV with appropriate strength according to the distance to the obstacle.

FIG. 4 is an exemplary schematic diagram showing, in a table form, an example of a notification control method executed in the embodiment, which is different from FIG. The information shown in FIG. 4 is a notification control method according to the type of the obstacle detected as one of the information on the obstacle.

In the example shown in FIG. 4, the types of obstacles are classified into five types: a person, a car, an animal other than a person, a damaged portion of the track RL, and others.

Here, a person, a car, and an animal can take an avoidance action when receiving a notification including a warning from the railway vehicle RV. Therefore, when the type of the obstacle is a person, a car, or an animal, the railway vehicle RV It is worthwhile to make a notification, including an alert, to the outside of the Therefore, in the example illustrated in FIG. 4, the notification control unit 120 includes the headlight 310 and the alarm for outputting a notification to the outside of the railway vehicle RV only when the type of the obstacle is a person, a car, or an animal. When the sound device 330 is controlled and the type of the obstacle is a broken portion of the line RL or another type, the headlight 310 and the horn 330 are not used as control objects. The headlight 310 and the horn 330 when the type of the obstacle is a person, a car, or an animal is controlled according to another method as shown in FIG. 3 (and FIGS. 5 to 7 described later). You.

On the other hand, even if the type of the obstacle is the broken part of the track RL or other obstacles, the inside of the railway vehicle RV is notified so that the driver can determine the degree of danger (possibility of danger). Worth doing. In addition, the degree of danger is considered to be different between the case where the type of obstacle is a person or a car, the case where the obstacle is an animal, and the case where the type of obstacle is a broken part of the track RL or other objects. It is considered worthwhile to make the form of notification different.

Therefore, in the example illustrated in FIG. 4, the notification control unit 120 determines whether the type of the obstacle is a person or a car, an animal, and a case where the obstacle is a broken portion of the track RL or another type. The form of notification by the indoor lamp 320 is made different. More specifically, the notification control unit 120 dims the indoor lamp 320 so as to emit red light when the type of the obstacle is a person or a car, and sets yellow light when the type of the obstacle is an animal. The interior lamp 320 is dimmed so that the obstacle is a broken portion of the line RL or another obstacle, and the interior lamp 320 is dimmed so as to provide light blue illumination.

FIG. 4 shows a method in which the indoor speaker 340 and the vibration device 350 are controlled according to another method as shown in FIG. 3 (and FIGS. 5 to 7 described later) regardless of the type of the obstacle. Is exemplified. However, in the embodiment, the indoor speaker 340 and the vibration device 350 are similar to the indoor lamp 320 described above, when the type of the obstacle is a person or a car, when the type of an obstacle is an animal, when the obstacle is a broken part of the line RL or other The notification control method may be set so that a notification in a different form is performed depending on the case.

As described above, the notification control unit 120 according to the embodiment can change the form of the notification by the notification unit 300 according to the type of the obstacle detected as one of the information regarding the obstacle. Thereby, according to the embodiment, an unnecessary notification to the outside of the railway vehicle RV is omitted or an appropriate notification including an alarm is issued to the inside of the railway vehicle RV according to the type of the obstacle. be able to.

FIG. 5 is an exemplary schematic diagram showing an example of a notification control method executed in the embodiment, which is different from FIGS. 3 and 4 in a table format. The information shown in FIG. 5 is a notification control method according to the time when the presence of the obstacle detected as one of the information on the obstacle is detected.

(4) If the time zone to which the time when the presence of the obstacle is detected belongs to a bright time zone such as morning or noon, it is considered that the illumination of the headlight 310 does not easily function as a notification to the outside of the railway vehicle RV. Therefore, in the example illustrated in FIG. 5, the notification control unit 120 does not use the headlight 310 as a control target when the time zone to which the time when the presence of the obstacle is detected belongs to morning or noon.

On the other hand, when the time zone to which the time when the presence of the obstacle is detected belongs is early morning, evening, night, or midnight, the illumination of the headlight 310 is considered to function sufficiently as a notification to the outside of the railway vehicle RV. . Therefore, in the example shown in FIG. 5, when the time zone to which the time when the presence of the obstacle is detected belongs to early morning, evening, night, or midnight, the notification control unit 120 determines whether the time zone is in the early morning, evening, night, or midnight. The headlight 310 is controlled as usual according to another method as shown in FIGS. 6 and 7).

Note that, in FIG. 5, the notification unit 300 other than the headlight 310 is shown in FIGS. 3 and 4 (and FIGS. 6 and 7 described later) regardless of the time zone to which the time when the presence of the obstacle is detected belongs. A method in which control is performed according to another method as shown in FIG. However, in the embodiment, like the headlight 310, the notification unit 300 other than the headlight 310 performs notification in a different form according to the time zone to which the time when the presence of the obstacle is detected belongs. , A notification control method may be set.

As described above, the notification control unit 120 according to the embodiment transmits the notification by the notification unit 300 in accordance with the time (the time zone to which the obstacle belongs) when the presence of the obstacle detected as one of the information on the obstacle is detected. The form can be changed. Thus, according to the embodiment, a notification including a warning can be issued to the inside and outside of the railway vehicle RV in an appropriate form according to the time when the presence of the obstacle is detected.

FIG. 6 is an exemplary schematic diagram showing an example of the notification control method executed in the embodiment, which is different from FIGS. 3 to 5, in a table format. The information shown in FIG. 6 is a position of an obstacle detected as one of the information on the obstacle, and more specifically, a positional relationship indicating whether or not the position of the obstacle is within a preset range. This is a notification control method according to.

A building in which the position of the obstacle is set as a vehicle limit set as a limit range of the cross-sectional size of the railway vehicle RV, or a building in which installation of a structure such as a building outside the railway vehicle RV is limited. If outside the range, the obstacle does not pose a danger. Therefore, in the example illustrated in FIG. 6, when the position of the obstacle is outside the vehicle limit or the building limit, the notification control unit 120 does not use the notification unit 300 as a control target.

On the other hand, if the position of the obstacle is inside the vehicle limit or building limit, the obstacle may pose a danger. Therefore, in the example illustrated in FIG. 6, when the position of the obstacle is inside the vehicle limit or the building limit, the notification control unit 120 may perform other operations as illustrated in FIGS. 3 to 5 (and FIG. 7 described later). According to the method described above, the notification unit 300 is controlled as usual.

As described above, the notification control unit 120 according to the embodiment determines whether or not the position of the obstacle detected as one of the information on the obstacle, more specifically, whether the position of the obstacle is within a preset range. The form of notification by the notification unit 300 can be changed in accordance with the positional relationship indicating the above. Thereby, according to the embodiment, it is possible to perform a notification including an alarm to the inside and outside of the railway vehicle RV in an appropriate form according to whether or not the position of the obstacle is within a preset range. .

FIG. 7 is an exemplary schematic diagram showing, in a table form, an example of the notification control method executed in the embodiment, which is different from FIGS. 3 to 6. The information shown in FIG. 7 includes the type of the obstacle detected as one of the information about the obstacle, more specifically, whether or not the type of the obstacle is an animal and the other information about the obstacle. This is a notification control method according to both the position of the obstacle detected as one, more specifically, the positional relationship indicating the direction of the position of the obstacle with respect to the line RL.

As described above, an animal can take an avoidance action when receiving a notification including an alarm from the railway vehicle RV. Therefore, when the type of the obstacle is an animal, an alarm is issued to the outside of the railway vehicle RV. It is worth making a notification that includes:

Therefore, in the example shown in FIG. 7, when the type of the obstacle is an animal, the notification control unit 120 causes the horn 330 to output a sound of a frequency that the animal dislikes. Thereby, it is possible to more strongly alert the animal. When the type of the obstacle is other than an animal, the horn 330 controls the horn 330 as usual according to another method as shown in FIGS.

Here, when the type of the obstacle is an animal, it is meaningful if the animal can be notified of the direction of the avoidance action.

Therefore, in the example illustrated in FIG. 7, the notification control unit 120 moves from right to left when the type of the obstacle is an animal and the animal exists at a position in the left direction with respect to the track RL. The headlight 310 is irradiated with the sweeping light to urge the animal to move away from the track RL. On the other hand, when the type of the obstacle is an animal and the animal is present at a position in the right direction with respect to the track RL, the notification control unit 120 emits light that sweeps from right to left with the headlight 310. To urge the animal to move away from the track RL.

According to the example illustrated in FIG. 7, the notification control unit 120 emits light that sweeps from right to left when the type of the obstacle is an animal and the animal exists on the track RL. The headlight 310 is irradiated. However, in this case, even if the headlight 310 is irradiated with light that sweeps from left to right, it is possible to encourage the animal to move away from the track RL. However, in a double track facility in which two tracks RL are installed side by side, since there is another track RL on the left side with respect to the traveling direction of the railway vehicle RV, light sweeping from right to left is emitted by the headlight 310. It is more appropriate to irradiate the animal to avoid entering the other track RL.

By the way, in order to avoid danger, it is necessary to notify the driver of the railway vehicle RV of the direction of the obstacle with respect to the track RL, regardless of whether the type of the obstacle is an animal. Is appropriate.

Therefore, in the example illustrated in FIG. 7, the notification control unit 120 determines whether or not the obstacle is in a direction relative to the line RL, regardless of whether the obstacle is an animal. The control method of the vibration device 350 capable of independently transmitting vibration to the left side and right side of is changed.

More specifically, in the example illustrated in FIG. 7, when the obstacle is located at a position leftward with respect to the line RL, the notification control unit 120 transmits the vibration transmitted to the left side of the driver to the right side. The vibration device 350 is controlled so as to be stronger. Conversely, the notification control unit 120 sets the vibration device 350 such that, when the obstacle is present at the right position with respect to the line RL, the vibration transmitted to the right side of the driver is stronger than the vibration transmitted to the left side. Control. In addition, when an obstacle is present on the line RL, the notification control unit 120 controls the vibration device 350 so that the vibration transmitted to the left side of the driver and the vibration transmitted to the right side of the driver are substantially the same. According to these controls, the driver can be easily notified of the positional relationship of the obstacle with respect to the line RL.

The notification unit 300 (the indoor lamp 320 and the indoor speaker 340) capable of notifying the driver of information other than the vibration device 350 is provided as usual according to another method as shown in FIGS. Is controlled.

As described above, the notification control unit 120 according to the embodiment determines the position of the obstacle detected as one of the information related to the obstacle, more specifically, the position of the track RL to which the railway vehicle RV is to travel and the position of the obstacle. The form of notification by the notification unit 300 can be changed according to the relationship. Thus, according to the embodiment, a notification including an alarm can be issued to the inside and outside of the railway vehicle RV in an appropriate form according to the positional relationship between the track RL and the obstacle.

In the embodiment, information as shown in FIG. 3 to FIG. 7 representing the notification control method is stored in the storage unit 130 (see FIG. 1). The notification control unit 120 performs notification control according to the information stored in the storage unit 130. The specific contents of the notification control method are not limited to the examples shown in FIGS.

Hereinafter, the control operation of the embodiment will be described.

FIG. 8 is an exemplary and schematic flowchart showing a series of processes executed by the notification control device 100 according to the embodiment. The processing flow shown in FIG. 8 is repeatedly executed at a predetermined control cycle while the railway vehicle RV is traveling.

In the processing flow illustrated in FIG. 8, first, in S801, the notification control device 100 (the detection unit 110) acquires information indicating a situation around the railway vehicle RV from the sensor 200 including the imaging unit 210 and the like.

Then, in S802, the notification control device 100 (the detection unit 110) detects information on an obstacle that may exist in the traveling direction of the railway vehicle RV based on the information acquired in S801. As described above, the information on the obstacle may include various information such as the distance to the obstacle, the type of the obstacle, the time when the presence of the obstacle is detected, and the information on the position of the obstacle.

Then, in S803, the notification control device 100 (the notification control unit 120) controls the notification unit 300 according to the detection result in S802. More specifically, the notification control unit 120 issues a notification including an alarm for the inside and outside of the railway vehicle RV in accordance with the detection result in S802 in accordance with the information stored in the storage unit 130 as shown in FIGS. The notification unit 300 is controlled so as to be performed in various modes. Then, the process ends.

As described above, the notification control device 100 according to the embodiment includes the detection unit 110 that detects information about an obstacle in the traveling direction of the railway vehicle RV, and at least the railway vehicle RV based on the detection result of the detection unit 110. And a notification control unit 120 that controls the notification unit 300 to perform a notification including an alarm to the outside. According to such a configuration, when the obstacle is a living thing such as a person or an animal, the living thing can be urged to take a measure such as leaving the track RL. As a result, it is possible to reduce the necessity of performing the operation adjustment including the speed adjustment of the railway vehicle RV due to the obstacle, and to easily avoid the contact between the railway vehicle RV and the obstacle.

Although the embodiment of the present invention has been described above, the above embodiment is merely an example, and is not intended to limit the scope of the invention. The above embodiment can be implemented in various forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. The above embodiments and modifications thereof are included in the scope and spirit of the invention, and are also included in the invention described in the claims and the equivalents thereof.

Claims

A detection unit that detects information about an obstacle in the traveling direction of the railway vehicle,
A control unit that controls a notification unit to perform a notification including a warning to at least the outside of the railway vehicle according to a detection result of the detection unit,
A notification control device comprising:
The detection unit detects a distance to the obstacle as information on the obstacle,
The control unit changes a form of the notification by the notification unit according to a distance to the obstacle.
The notification control device according to claim 1.
The detection unit detects the type of the obstacle as information about the obstacle, based on a captured image obtained by an imaging unit that captures an area in the traveling direction of the railway vehicle,
The control unit changes the form of the notification by the notification unit according to the type of the obstacle,
The notification control device according to claim 1.
The detection unit detects information on the obstacle in association with a time when the presence of the obstacle is detected,
The control unit changes the form of the notification by the notification unit according to the time at which the presence of the obstacle is detected,
The notification control device according to any one of claims 1 to 3.
The detection unit, as the information on the obstacle, detects whether the position of the obstacle is within a preset range,
The control unit changes the form of the notification by the notification unit according to whether the position of the obstacle is within the preset range,
The notification control device according to any one of claims 1 to 4.
The detection unit, as the information on the obstacle, detects the positional relationship between the railroad vehicle is scheduled to travel and the obstacle,
The control unit changes the form of the notification by the notification unit according to the positional relationship between the track and the obstacle.
The notification control device according to any one of claims 1 to 5.