JP2013054702A - Vehicle approach information notification device, vehicle approach information notification method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle approach information notification device capable of appropriately notifying an object of an approach of a vehicle, a vehicle approach information notification method, and a vehicle approach information notification program.SOLUTION: ECU 101 sets, in an image corresponding to image data from a camera 102, a detection area on the image corresponding to a detection area on a real space, and detects a pedestrian in the detection area on the basis of a longitudinal edge in the detection area on the image. Further, when the pedestrian is present within a first area, the ECU 101 causes a parametric speaker 105 to output a first notification sound towards the pedestrian and, when the pedestrian is present within a second area, causes the parametric speaker 105 to output a second notification sound towards the pedestrian.

Description

  The present invention relates to a vehicle approach information notification device that is mounted on a vehicle and notifies an object of approach of the vehicle, a vehicle approach information notification method in the vehicle approach information notification device, and a program.

  When it is predicted that a pedestrian approaches the vehicle and comes into contact with the vehicle, there is an in-vehicle device that outputs an alarm sound toward the pedestrian. For example, the vehicular alarm device described in Patent Document 1 detects the possibility of a collision between a vehicle and a pedestrian, and when a collision with a pedestrian is predicted, the vehicle alarm device provides audio to only a person who is predicted to collide. Output an alarm.

JP 2008-62666 A

  However, the vehicle alarm device described in Patent Document 1 may output a sound alarm even to a pedestrian who has a very low possibility of a collision. Specifically, the vehicle alarm device detects all pedestrians included in the imaging range in front of the vehicle by the camera, and among the detected pedestrians, a collision is predicted for pedestrians having a high relative speed to the vehicle. Detected as a pedestrian. In this case, the vehicle alarm device is far from the vehicle, and even if the pedestrian has a very low possibility of collision, the pedestrian is present in the shooting range and the relative speed with the vehicle is large. Detected as a pedestrian who is predicted to collide, and output a voice alarm. For this reason, a pedestrian will perform useless avoidance action.

  This invention is made | formed in view of such a problem, and it aims at notifying the approach of a vehicle appropriately with respect to a target object.

In order to achieve the above object, a vehicle approach information notification device according to the first aspect of the present invention includes:
A vehicle approach information notification device mounted on a vehicle for notifying an object of the approach of the vehicle,
Detecting means for detecting an object present in a detection area which is a band-like area extending in front of the vehicle;
And a sound output means for outputting a sound toward the object when the object is detected by the detecting means.

For example, the vehicle approach information notification device includes a photographing unit that photographs a traveling direction of the vehicle,
The detection means may detect an object existing in the detection area based on an image photographed by the photographing means.

  For example, in the vehicle approach information notification device, the detection unit detects two white lines existing on both sides of the vehicle on a road based on an image photographed by the photographing unit, and the two white lines An area sandwiched between the two may be set as the detection area.

  For example, in the vehicle approach information notification device, when the two white lines cannot be detected, the detection unit sets a belt-like region extending in the traveling direction of the vehicle and having a predetermined width as the detection region. You may make it do.

For example, in the vehicle approach information notification device, the detection region extends in the traveling direction of the vehicle, extends in the traveling direction of the vehicle, and a belt-shaped first region having a width equal to the width of the vehicle. And comprises a belt-like second region on both sides of the first region,
The detecting means detects an object existing in the first area and an object existing in the second area,
The sound output means outputs a first sound toward the object when the object is detected in the first area by the detecting means, and the sound means outputs the first sound in the second area. When the object is detected in step 2, the second sound may be output toward the object.

  For example, in the vehicle approach information notification device, the sound output means outputs the first sound when the object is detected in the second area while outputting the first sound. May be stopped.

  For example, in the vehicle approach information notification device, the sound output means may stop outputting the sound when at least one of a steering wheel operation and a brake operation is performed.

In order to achieve the above object, a vehicle approach information notification method according to a second aspect of the present invention includes:
A vehicle approach information notification method in a vehicle approach information notification device that is mounted on a vehicle and notifies the approach of the vehicle to an object,
The vehicle approach information notifying device detecting an object present in a detection area which is a band-like area extending in front of the vehicle;
The vehicle approach information notification device includes a step of outputting a sound toward the target when the target is detected.

In order to achieve the above object, a program according to the third aspect of the present invention provides:
Computer
Detection means for detecting an object existing in a detection region which is a belt-like region extending in front of the vehicle;
When the object is detected by the detecting means, the object is made to function as a sound output means for outputting a sound toward the object.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to notify the approach of a vehicle appropriately with respect to a target object.

It is a block diagram of the vehicle approach information notification apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the detection area | region on the real space which concerns on embodiment of this invention. It is a figure which shows an example of the detection area | region on the image which concerns on embodiment of this invention. It is a figure which shows an example of the edge detection result of the vertical direction which concerns on embodiment of this invention. It is a figure which shows an example of the position detection result of the pedestrian in the detection area which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the vehicle approach information notification apparatus which concerns on embodiment of this invention.

  Hereinafter, a vehicle approach information notification device, a vehicle approach information notification method, and a vehicle approach information notification program according to embodiments of the present invention will be described with reference to the drawings.

(1) Configuration of Vehicle Approach Information Notification Device FIG. 1 is a configuration diagram of a vehicle approach information notification device according to an embodiment of the present invention. The vehicle approach information notification device 100 shown in FIG. 1 is mounted on a vehicle and notifies the approach of the vehicle to an object (pedestrian) that is predicted to collide with the vehicle. The vehicle approach information notification device 100 constitutes a part of a car navigation system, for example. The vehicle approach information notification device 100 includes an ECU (Electronic Control Unit) as detection means and sound output means, a camera 102 as detection means, a brake 103, a handle 104, and a parametric speaker 105 as sound output means, A driver speaker 106 and a light source 107 are provided.

  The ECU 101 controls the entire vehicle approach information notification device 100. Specifically, the ECU 101 controls the vehicle approach information notification device 100 by reading and executing a program stored in a built-in memory.

  The camera 102 is fixed to the vehicle, and the shooting direction and the shooting magnification based on the traveling direction of the vehicle are unchanged. In the present embodiment, the shooting direction is the traveling direction of the vehicle. The camera 102 captures a predetermined range in the traveling direction of the vehicle and generates image data. Further, the camera 102 outputs image data to the ECU 101. The brake 103 and the handle 104 each output a signal (operation signal) corresponding to the operation of the driver to the ECU 101. The parametric speaker 105 is a speaker having directivity with respect to the sound output direction, and outputs sound toward a pedestrian. The parametric speaker 105 is mounted on the front grill of the vehicle 150, for example. The driver speaker 106 outputs sound toward the driver.

  Next, details of processing when notifying the approach of the vehicle to an object (pedestrian) predicted to collide with the vehicle will be described.

  FIG. 2 is a diagram illustrating an example of a region (detection region) for detecting a pedestrian in real space. A detection area 200 shown in FIG. 2 is a belt-like area extending in the traveling direction of the vehicle 150. The detection area 200 has a width equivalent to the width of the vehicle 150, and the first area 201, which is a band-like area extending in the traveling direction of the vehicle 150, and the traveling direction of the vehicle 150, The second region 202 that is a belt-like region extending in the traveling direction of the vehicle 150 on the right side of the first region 201 and the traveling direction of the vehicle 150 on the left side of the first region 201 when the traveling direction of the vehicle 150 is used as a reference. And a second region 203 which is a band-like region extending in the direction of the region. Here, the width equivalent to the width of the vehicle 150 means the same width as the width of the vehicle 150 or a width wider than the width of the vehicle 150 by a predetermined length, for example, about 2 m.

  Image data from the camera 102 is input to the ECU 101. Next, the ECU 101 sets the detection area 200 in the image corresponding to the image data. FIG. 3 is a diagram illustrating an example of the detection area 200 on the image.

  As described above, the camera 102 is fixed to the vehicle 150, and the shooting direction based on the traveling direction of the vehicle 150 and the shooting magnification are unchanged. The shooting direction is the traveling direction of the vehicle 150. For this reason, the first region 201 is located at the center of the image. Coordinate information indicating the position of the first area 201 in the image is stored in the memory built in the ECU 101. The ECU 101 generates an image corresponding to the image data from the camera 102. The ECU 101 sets the first region 201 in the image based on the coordinate information.

  Further, the ECU 101 detects a white line on the road surface in the image by image analysis processing. When a white line (white line 302 in FIG. 3) is detected on the right side of the first area 201 in the image, the ECU 101 determines that the area from the right end of the first area 201 to the white line is the second area 202 in the image. Set as. On the other hand, when a white line is not detected on the right side of the first area 201, the ECU 101 sets a predetermined area (for example, an area corresponding to a width of 1 m) on the right side from the right end portion of the first area 201 to the second in the image. Set as area 202.

  Similarly, when a white line is detected on the left side of the first area 201 in the image, the ECU 101 sets the area from the left end of the first area 201 to the white line as the second area 203 in the image. On the other hand, when a white line is not detected on the left side of the first area 201, the ECU 101 sets a predetermined area (for example, an area corresponding to a width of 1 m) on the left side from the left end portion of the first area 201 to the second in the image. Set as area 203.

  After the detection area 200 is set in the image by the processing described above, the ECU 101 detects a pedestrian existing in the detection area 200. Specifically, the ECU 101 determines a difference in luminance between two pixels continuous in the horizontal direction of the image in the detection region 200 in the image. Further, the ECU 101 detects a boundary between two consecutive pixels where the difference in luminance is equal to or greater than a predetermined value as an edge in the vertical direction. In the present embodiment, the vertical edge is regarded as an edge of a three-dimensional object (object).

  However, the ECU 101 excludes vertical edges corresponding to white lines on the road surface. Specifically, the white line is arranged on a straight line in the image, and has a regularity that the width becomes narrower toward the upper side of the image. For this reason, the ECU 101 excludes vertical edges that match this regularity.

  FIG. 4 is a diagram illustrating an example of a vertical edge detection result. FIG. 4A is an example of a vertical edge detection result when the object is a pedestrian that is a detection target. FIG. 4B is an example of a vertical edge detection result when the object is a three-dimensional object other than a pedestrian. The black dots in FIGS. 4A and 4B are the two pixels in the case where the luminance of the left pixel is greater than the luminance of the right pixel by a predetermined value or more, out of the two pixels continuous in the horizontal direction. Indicates the position of the boundary (vertical edge). On the other hand, the black dots in FIG. 4A and FIG. 4B are the two dots when the luminance of the right pixel is larger than the luminance of the left pixel by two or more in the horizontal direction. Indicates the position of a pixel boundary (vertical edge).

  Next, when the set of detected vertical edges exists on the vertical straight line, the ECU 101 excludes the vertical edges. When a set of vertical edges corresponding to pedestrians in FIG. 4A is compared with a set of vertical edges corresponding to solid objects other than the pedestrians in FIG. 4B, the vertical edges corresponding to the pedestrians are compared. The set of directional edges does not exist on the vertical straight line and is irregularly arranged, whereas the set of vertical edges corresponding to solid objects other than pedestrians is on the vertical straight line. It exists and is a regular arrangement. For this reason, the ECU 101 can regard the remaining vertical edges after eliminating the set of vertical edges existing on the vertical straight line as the vertical edges corresponding to the pedestrians. In other words, the ECU 101 can consider that a pedestrian exists in the detection area 200 when a vertical edge remains.

  The following processing is performed for each pedestrian until the pedestrian does not exist in the detection area 200. The ECU 101 detects the lowest vertical edge among the edges constituting the set of vertical edges corresponding to the pedestrian as a contact point between the pedestrian and the road surface on the image. Further, the ECU 101 detects a contact point between the pedestrian and the road surface in the real space based on the contact point between the pedestrian and the road surface on the image.

  As described above, the camera 102 is fixed to the vehicle 150, and the shooting direction based on the traveling direction of the vehicle 150 and the shooting magnification are unchanged. Therefore, the ECU 101 can associate the position on the image and the position on the real space on a one-to-one basis. Further, the ECU 101 can detect a grounding point between the pedestrian and the road surface in the real space based on the grounding point between the pedestrian and the road surface on the image. The contact point between the pedestrian and the road surface in the real space is the position of the pedestrian. FIG. 5 is a diagram showing a position 301 in the real space of the pedestrian 300 on the image shown in FIG.

  After the position of the pedestrian in real space (the position of the pedestrian in the detection area 200) is detected, the ECU 101 derives the position of the pedestrian in the lateral direction. Specifically, the ECU 101 determines whether a pedestrian is present in the first area 201 or in any one of the second areas 202 and 203.

  When a pedestrian is present in the first area 201, the ECU 101 performs control to output the first notification sound that is an alarm sound from the parametric speaker 105. At this time, the ECU 101 determines the direction to the position of the pedestrian in the detection area 200 with respect to the vehicle 150 as the output direction of the first notification sound, and the first notification sound is output in that direction. The directivity of the parametric speaker 105 is controlled. The parametric speaker 105 in which the directivity is controlled outputs the first notification sound toward the direction toward the pedestrian in the detection area 200. Moreover, when a pedestrian exists in the 1st area | region 201, ECU101 controls the light source 107 so that light may blink. The light source 107 blinks light under the control of the ECU 101.

  On the other hand, when a pedestrian is present in any of the second areas 202 and 203, the EU 101 performs control to output a second notification sound that is an alarm sound from the parametric speaker 105. The second notification sound is, for example, a sound with a lower warning level than the first notification sound. At this time, as in the case of outputting the first notification sound, the ECU 101 determines the direction of the position of the pedestrian in the detection area 200 with respect to the vehicle 150 as the output direction of the second notification sound. Then, the directivity of the parametric speaker 105 is controlled so that the second notification sound is output in the direction. The parametric speaker 105 whose directivity is controlled outputs the second notification sound toward the direction of the position of the pedestrian in the detection area 200. Moreover, when a pedestrian exists in either of the 2nd area | regions 202 and 203, ECU101 controls the light source 107 so that light may blink. At this time, the manner of blinking may be the same as or different from the case where a pedestrian is present in the first region 201. The light source 107 blinks light under the control of the ECU 101.

  However, if the pedestrian is present in any one of the second areas 202 and 203 and the first notification sound is being output and the blinking of the light is being executed, the first is the first. It can be considered that the pedestrian who existed in the area 201 recognizes the approach of the vehicle 150 by the first notification sound or flashing light, and has moved to one of the second areas 202 and 203 in order to avoid danger.

  For this reason, when the pedestrian is present in any one of the second areas 202 and 203 and the first notification sound is being output, the ECU 101 uses the control to stop the output of the first notification sound and the light source 107. The control for stopping the blinking of light may be performed, and the control for outputting the second notification sound may not be performed. In this case, the parametric speaker 105 stops outputting the notification sound. The light source 107 stops blinking light.

  Further, even if there is a pedestrian in the detection area 200, when the brake 103 is operated, it can be considered that the driver of the vehicle 150 is taking measures to avoid the pedestrian. In this case, the ECU 101 may control the output of the notification sound and the flashing of the light in consideration of the operation state of the brake 103 based on the operation signal from the brake 103.

  Further, when the steering wheel 104 is rotated by a predetermined angle or more, it can be considered that the driver of the vehicle 150 is taking measures to avoid a pedestrian. In this case, the ECU 101 may control the output of the notification sound and the blinking of the light in consideration of the operation state of the handle 104 based on the operation signal from the handle 104.

  Specifically, when a pedestrian is present in the first region 201 and the brake 103 is operated, the ECU 101 does not perform control for outputting the first notification sound. When a pedestrian is present in the first area 201 and the handle 104 is rotated by a predetermined angle or more, the ECU 101 causes the light to be flashed by the light source 107 and the control for outputting the first notification sound. Do not control. The parametric speaker 105 does not output a notification sound. The light source 107 does not blink light. On the other hand, when a pedestrian is present in the first area 201, the brake 103 is not operated, and the handle 104 is not operated to rotate more than a predetermined angle, the ECU 101 performs control for outputting the first notification sound. And a control for blinking light by the light source 107. The parametric speaker 105 outputs the first notification sound toward the direction of the position of the pedestrian in the detection area 200. The light source 107 blinks light.

  Further, when the pedestrian is present in any of the second areas 202 and 203 and the brake 103 is operated, the ECU 101 performs control for outputting the second notification sound and control for causing the light source 107 to blink light. And do not do. When the pedestrian is present in any one of the second areas 202 and 203 and the handle 104 is rotated by a predetermined angle or more, the ECU 101 controls the output of the second notification sound and the light source 107. Do not control to blink the light. The parametric speaker 105 does not output a notification sound. The light source 107 does not blink light. On the other hand, when the pedestrian is present in any one of the second areas 202 and 203, the brake 103 is not operated, and the handle 104 is not rotated more than a predetermined angle, the ECU 101 generates a second notification sound. Control for output and control for blinking light by the light source 107 are performed. The parametric speaker 105 outputs the second notification sound toward the direction of the position of the pedestrian in the detection area 200. The light source 107 blinks light.

  Alternatively, when a pedestrian exists in one of the second areas 202 and 203, the first notification sound is not being output, and the brake 103 is operated, the ECU 101 controls to output the second notification sound. And the control to blink the light is not performed. When the pedestrian is present in any one of the second areas 202 and 203 and the handle 104 is rotated by a predetermined angle or more, the ECU 101 controls to output the second notification sound and blinks the light. Control is not performed. The parametric speaker 105 does not output a notification sound. The light source 107 does not blink light. On the other hand, when a pedestrian exists in one of the second areas 202 and 203, the first notification sound is not being output, the brake 103 is not operated, and the handle 104 has not been rotated more than a predetermined angle. The ECU 101 performs control for outputting the second notification sound and control for blinking light by the light source 107. The parametric speaker 105 outputs the second notification sound toward the direction of the position of the pedestrian in the detection area 200. The light source 107 blinks light.

(2) Operation of Vehicle Approach Information Notification Device FIG. 6 is a flowchart showing the operation of the vehicle approach information notification device 100. The ECU 101 determines whether or not a pedestrian has been detected in the detection area (step S101). In step S101, when a pedestrian is detected in the detection area, the ECU 101 derives the lateral position of the pedestrian in the detection area 200 (step S102). The ECU 101 determines whether or not the pedestrian exists in one of the second regions 202 and 203 based on the lateral position of the pedestrian in the derived detection region 200 (step S103).

  When the pedestrian is not present in any of the second areas 202 and 203, in other words, when the pedestrian is present in the first area 201 (step S103: NO), the ECU 101 determines whether or not the brake 103 has been operated. Whether the handle 104 has been rotated by a predetermined angle or more is determined (step S104).

  When the brake 103 has not been operated and the handle 104 has not been rotated by a predetermined angle or more (step S104: NO), the ECU 101 makes a first notification sound toward the pedestrian in the first area 201. Control to output and control to blink light are performed (step S105). Thereafter, the ECU 101 repeats the operations after step S102.

  On the other hand, when the brake 103 is operated and / or when the handle 104 is rotated at a predetermined angle or more (step S104: YES), the ECU 101 stops the output of the notification sound. Control and control for stopping the blinking of light are performed (step S106). Thereafter, the ECU 101 repeats the operations after step S102.

  In Step S103, when it is determined that a pedestrian is present in any of the second areas 202 and 203 (Step S103: YES), the ECU 101 determines whether or not the first notification sound is being output. (Step S107).

  When the first notification sound is not being output (step S107: NO), the ECU 101 determines whether the brake 103 has been operated and whether the handle 104 has been rotated more than a predetermined angle (step S108).

  When the brake 103 has not been operated and the handle 104 has not been rotated by a predetermined angle or more (step S108: NO), the ECU 101 determines that a pedestrian existing in one of the second areas 202 and 203 is not used. Then, control for outputting the second notification sound and control for blinking the light are performed (step S109). Thereafter, the ECU 101 repeats the operations after step S102.

  On the other hand, when the brake 103 is operated and / or when the handle 104 is rotated at a predetermined angle or more (step S108: YES), the ECU 101 stops the output of the notification sound. Control and control for stopping the blinking of light are performed (step S110). Thereafter, the ECU 101 repeats the operations after step S102.

  When it is determined in step S107 that the first notification sound is being output (step S107: YES), the ECU 101 performs control for stopping output of the first notification sound and control for stopping blinking of light. Is performed (step S111). Thereafter, the ECU 101 repeats the operations after step S102.

(3) Actions / Effects As described above, in the vehicle approach information notification device 100 according to the embodiment of the present invention, the ECU 101 includes the detection area 200 in the real space in the image corresponding to the image data from the camera 102. A detection area 200 on the corresponding image is set. Next, the ECU 101 detects a pedestrian in the detection area 200 based on a vertical edge in the detection area 200 on the image. Furthermore, when there is a pedestrian in the first area 201, the ECU 101 causes the parametric speaker 105 to output a first notification sound toward the pedestrian. When there is a pedestrian in the second area 202 or 203, the ECU 101 causes the parametric speaker 105 to output a second notification sound toward the pedestrian. For this reason, the vehicle approach information notification device 100 is far from the vehicle 150 and does not warn a pedestrian who has a very low possibility of a collision, and the vehicle 150 approaches the pedestrian appropriately. Can be notified.

  In addition, even if a pedestrian is present in either of the second areas 202 and 203, if the first notification sound is being output, the pedestrian recognizes the approach of the vehicle 150 by the first notification sound, and is dangerous. For avoidance, it can be regarded as having moved to one of the second regions 202 and 203. For this reason, even if the pedestrian is present in any of the second areas 202 and 203, the ECU 101 performs control to stop outputting the notification sound when the first notification sound is being output. . Thereby, the output of an unnecessary notification sound is prevented, and unnecessary avoidance behavior of a pedestrian can be prevented.

  In addition, even if there is a pedestrian in the detection area 200, when the brake 103 is operated or when the handle 104 is rotated more than a predetermined angle, a measure for the driver of the vehicle 150 to avoid the pedestrian Can be regarded as performing. For this reason, the ECU 101 performs control to stop the output of the notification sound when the brake 103 is operated or when the handle 104 is rotated by a predetermined angle or more. Thereby, the output of an unnecessary notification sound is prevented, and unnecessary avoidance behavior of a pedestrian can be prevented. When a notification sound is output, the light source 107 blinks light. Thereby, the pedestrian can recognize that the vehicle 150 exists in the direction of the blinking light, and can take an appropriate avoidance action.

(4) Other Embodiments In the above-described embodiments, the ECU 101 performs control to stop outputting the notification sound when the brake 103 is operated or when the handle 104 is rotated more than a predetermined angle. It was. However, the ECU 101 may further control the output of the notification sound in consideration of the speed of the vehicle 150.

  Specifically, the ECU 101 calculates the speed of the vehicle 150 based on a pulse signal output from, for example, a vehicle speed pulse generator mounted on the vehicle 150. The pulse interval of the pulse signal changes according to the speed. Therefore, the ECU 101 can calculate the speed of the vehicle 150 based on the pulse signal.

  Further, when the brake 103 is operated and the speed of the vehicle 150 is less than a predetermined speed, the ECU 101 performs control to stop outputting the notification sound. Further, when the steering wheel 104 is rotated by a predetermined angle or more and the speed of the vehicle 150 is less than the predetermined speed, the ECU 101 performs control to stop outputting the notification sound. Here, the predetermined speed becomes smaller as the distance between the vehicle 150 and the detected pedestrian is shorter. On the other hand, when the brake 103 is operated and the speed of the vehicle 150 is equal to or higher than a predetermined speed, the ECU 101 performs control to output a notification sound. Further, when the steering wheel 104 is rotated by a predetermined angle or more and the speed of the vehicle 150 is a predetermined speed or more, the ECU 101 performs control to output a notification sound.

  Thus, when the ECU 101 performs output control of the notification sound in consideration of the speed of the vehicle 150, the vehicle approach information notification device 100 can more appropriately notify the pedestrian of the approach of the vehicle 150. .

  In the above-described embodiment, the light source 107 blinks light when the parametric speaker 105 outputs a notification sound. However, the present invention can be similarly applied to a vehicle approach information notification device in which the light source 107 is not provided.

  In addition, the present invention is not limited by the description of the above-described embodiment and the drawings, and appropriate modifications and the like can be added to the above-described embodiment and the drawings. For example, the function of the vehicle approach information notification device 100 may be realized by a computer executing a program. Further, a program for realizing the function of the vehicle approach information notification device 100 may be stored in a storage medium such as a CD-ROM or downloaded to a computer via a network.

100 vehicle approach information notification device 101 ECU
102 Camera 103 Brake 104 Handle 105 Parametric Speaker 106 Driver Speaker 107 Light Source 150 Vehicle 200 Detection Area 201 First Area 202, 203 Second Area 300 Pedestrian

Claims (9)

A vehicle approach information notification device mounted on a vehicle for notifying an object of the approach of the vehicle,
Detecting means for detecting an object present in a detection area which is a band-like area extending in front of the vehicle;
A vehicle approach information notification device comprising: sound output means for outputting a sound toward the object when the object is detected by the detection means. A photographing means for photographing the traveling direction of the vehicle;
The vehicle approach information notification device according to claim 1, wherein the detection unit detects an object existing in the detection region based on an image captured by the imaging unit.   The detection means detects two white lines existing on both sides of the vehicle on the road based on an image photographed by the photographing means, and an area sandwiched between the two white lines is used as the detection area. The vehicle approach information notification device according to claim 2 to be set.   4. The vehicle approach information according to claim 3, wherein when the two white lines cannot be detected, the detection unit sets a belt-like region extending in the traveling direction of the vehicle and having a predetermined width as the detection region. Notification device. The detection area extends in the traveling direction of the vehicle and has a strip-shaped first area having a width equal to the width of the vehicle, and extends in the traveling direction of the vehicle, and on both sides of the first area. And a second region of the belt-like shape,
The detecting means detects an object existing in the first area and an object existing in the second area,
The sound output means outputs a first sound toward the object when the object is detected in the first area by the detecting means, and the sound means outputs the first sound in the second area. The vehicle approach information notification device according to any one of claims 1 to 4, wherein a second sound is output toward the target when the target is detected.   The vehicle according to claim 5, wherein the sound output means stops the output of the first sound when the object is detected in the second area while the first sound is being output. Approach information notification device.   The vehicle approach information notification device according to any one of claims 1 to 6, wherein the sound output unit stops outputting sound when at least one of a steering wheel operation and a brake operation is performed. A vehicle approach information notification method in a vehicle approach information notification device that is mounted on a vehicle and notifies the approach of the vehicle to an object,
The vehicle approach information notifying device detecting an object present in a detection area which is a band-like area extending in front of the vehicle;
The vehicle approach information notification method comprising: outputting a sound toward the target when the target is detected. Computer
Detection means for detecting an object existing in a detection region which is a belt-like region extending in front of the vehicle;
A program that functions as sound output means for outputting sound toward the object when the object is detected by the detection means.

Images