JP2020154795A - Output control device, output control method, and output control program - Google Patents

Abstract

To make a driver quickly recognize an existence of an object around a vehicle.SOLUTION: An output control unit 15 causes one or more sound output units 41-44 in a vehicle 1 to output a warning sound for notifying a driver of the vehicle 1 of an existence of an object based on a relative position of the object detected around the vehicle 1 with respect to the vehicle 1. An output control unit 15 controls the output of the warning sound so that a sound image position of the warning sound moves from a predetermined position toward a position where the object exists.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to an output control device, an output control method, and an output control program for notifying the driver of the presence of an object detected around the vehicle by sound.

In recent years, the number of vehicles equipped with an advanced driver assistance system (ADAS) is increasing. As one of the ADAS, there is one that detects an object (pedestrian, etc.) existing around the vehicle with a camera, millimeter-wave radar, sonar, etc., and warns the driver of the existence of the object. For example, when an object is detected, a warning image may be displayed on a display device in the vehicle. At that time, a method has been proposed in which the driver's line of sight is guided in the direction in which the object exists by moving the alert image in the direction in which the object exists in the screen of the display device (for example, a patent). Reference 1).

Japanese Unexamined Patent Publication No. 2016-91055

The setting value of the moving speed of the above-mentioned alert image needs to be set to an upper limit of the speed that can be followed by the human eye. The driver may follow the alert image with his / her eyes to recognize the object and collide with the object while performing the avoidance operation. In order to improve safety, it is required to make the driver aware of the existence of the object more quickly.

The present disclosure has been made in view of such circumstances, and an object of the present invention is to provide a technique for promptly recognizing the existence of an object existing around a vehicle to a driver.

In order to solve the above problems, the output control device of an aspect of the present disclosure determines the existence of the object based on the relative position of the object detected around the vehicle with respect to the vehicle. An output control unit is provided which outputs a warning sound for notifying the driver of the vehicle to one or more sound output units in the vehicle. The output control unit controls the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward the position where the object exists.

It should be noted that any combination of the above components and the conversion of the expression of the present disclosure between methods, devices, systems, computer programs and the like are also effective as aspects of the present disclosure.

According to the present disclosure, the driver can quickly recognize the existence of an object existing around the vehicle.

It is a figure which shows an example of the vehicle which is equipped with the output control device which concerns on embodiment. It is a figure for demonstrating the output control apparatus which concerns on embodiment. It is a flowchart for demonstrating operation example 1 of the output control apparatus which concerns on embodiment. 4 (a) and 4 (b) are diagrams for explaining a specific example of the operation example 1 of the output control device according to the embodiment. It is a flowchart for demonstrating operation example 2 of the output control apparatus which concerns on embodiment. It is a figure for demonstrating the specific example of the operation example 2 of the output control apparatus which concerns on embodiment. It is a flowchart for demonstrating operation example 3 of the output control apparatus which concerns on embodiment. It is a flowchart for demonstrating operation example 4 of the output control apparatus which concerns on embodiment. 9 (a) and 9 (b) are diagrams for explaining a specific example of the operation example 4 of the output control device according to the embodiment.

FIG. 1 is a diagram showing an example of a vehicle 1 equipped with the output control device according to the embodiment. The vehicle 1 shown in FIG. 1 is equipped with various sensors for grasping the conditions around and inside the vehicle 1. In FIG. 1, a camera 21, a millimeter-wave radar 22, a sonar 23, and a line-of-sight detection unit 30 are mounted.

In FIG. 1, the camera 21 is mounted on the rear mirror in the vehicle 1. The camera 21 captures the front of the vehicle 1 in the traveling direction. The camera 21 can be mounted outside the vehicle 1, and may be built into the front grill, for example. The cameras 21 may be installed at a plurality of positions of the vehicle 1. For example, a camera for photographing the rear of the vehicle 1 may be installed on the rear grill of the vehicle 1.

In FIG. 1, the millimeter wave radar 22 is built in the front grill. The sonar 23 is installed at a plurality of positions of the vehicle 1. Specifically, the sonar 23 is attached to the inside of the holes formed in the front bumper and the rear bumper, respectively. Sonar is also attached to the other side. The millimeter wave radar 22 may be installed at a plurality of positions of the vehicle 1 as well as the sonar 23.

In FIG. 1, the line-of-sight detection unit 30 is installed above the steering fixing unit. The line-of-sight detection unit 30 is a sensor for detecting the line of sight of the driver, and for example, a visible light camera or an infrared camera can be used. When an infrared camera is used, the detection accuracy is improved by irradiating the driver's eye with weak infrared rays using the infrared LED and imaging the driver's eye with the infrared camera. The line-of-sight detection unit 30 may be attached to any position in the vehicle 1 as long as it can detect the driver's line of sight.

FIG. 2 is a diagram for explaining the output control device 10 according to the embodiment. The vehicle 1 includes a detection unit 20 for grasping the surrounding conditions of the own vehicle and the state of the own vehicle. For example, the detection unit 20 includes a camera 21, a millimeter-wave radar 22, a sonar 23, a vehicle speed sensor 24, a steering angle sensor 25, and a GPS sensor 26.

The camera 21 includes a solid-state image sensor (for example, a CMOS image sensor, a CCD image sensor) and a signal processing circuit. The solid-state image sensor converts incident light into an electric signal, and the signal processing circuit performs signal processing such as A / D conversion and noise removal on the image data photoelectrically converted by the solid-state image sensor and outputs the data. ..

The cameras 21 installed at each position of the vehicle 1 may be a monocular camera or a stereo camera. In the case of a stereo camera, the distance to the object can also be estimated. An infrared camera may be installed in addition to the visible light camera. In this case, the surrounding environment of the vehicle 1 can be grasped even at night based on the image taken by the camera 21.

The millimeter wave radar 22 radiates a radio wave (millimeter wave) around the vehicle 1, receives the reflected signal, and measures the distance to an object existing in the surroundings based on the received reflected signal. The millimeter wave radar 22 can also detect a distant object.

The sonar 23 radiates ultrasonic waves around the vehicle 1, receives the reflected signal, and measures the distance to an object existing in the surroundings based on the received reflected signal. Since the detection range of the sonar 23 is narrower than the angle of view of the camera 21, it is preferable to install a plurality of sonars 23. The millimeter-wave radar 22 or sonar 23 can measure the distance to an object that is difficult to detect with a monocular camera.

In addition to the camera 21, millimeter-wave radar 22 and sonar 23, an infrared radar, LIDAR (Light Detection and Ranging), and ToF (Time-of-Flight) sensor are installed to grasp the surrounding environment of the vehicle 1 in more detail. You may.

The vehicle speed sensor 24 generates a pulse signal proportional to the number of rotations of the wheels and outputs the generated pulse signal. The steering angle sensor 25 detects the steering angle of the steering wheel of the vehicle 1. The GPS sensor 26 detects the position information of the vehicle 1. Specifically, the transmission time is received from each of a plurality of GPS satellites, and the latitude and longitude of the reception point is calculated based on the received plurality of transmission times.

The detection data detected by various detection units 20 in the vehicle 1 is transmitted to the output control device 10 via an in-vehicle network (for example, CAN (Controller Area Network) or LIN (Local Interconnect Network)).

The line-of-sight detection unit 30 captures an image including the driver's eyes and transmits the captured image to the output control device 10.

At least one sound output unit is installed in the vehicle 1. The sound output unit includes a speaker. The sound output unit may include an amplifier. The amplifier may be built in the output control device 10. In the example shown in FIG. 2, four sound output units of the first sound output unit 41, the second sound output unit 42, the third sound output unit 43, and the fourth sound output unit 44 are installed (FIG. 4B). reference). In the example shown in FIG. 4B, the first sound output unit 41 is the front left, the second sound output unit 42 is the front right, the third sound output unit 43 is the rear left, and the fourth sound output unit 44 is the rear right. It will be installed in each.

The arrangement of the sound output unit shown in FIG. 4B is an example, and other arrangements may be used. For example, a 5.1ch surround system may be constructed by further adding two, a center and a subwoofer. Further, the two sound output units may be arranged on the left and right sides of the front, respectively, to form a general stereo arrangement. Further, the sound output unit may be built in the headrest of the driver's seat. Further, the two sound output units may be fixed to the left and right sides of the headrest, respectively.

The display unit 50 has a liquid crystal display, an organic EL display, or a head-up display (HUD), and reproduces and displays an image signal supplied from the output control device 10. As the display unit 50 in the vehicle 1, for example, at least one of a center display, a head unit display, a meter display, a windshield irradiation type HUD, and a combiner type HUD can be used. If a display is placed instead of a general mirror-type side mirror or room mirror and a camera monitoring system that displays the image taken by the camera on the display is adopted, the side mirror or room mirror An alternative display can also be used as one of the display units 50.

The output control device 10 includes a processing unit 11 and a storage unit 16. The processing unit 11 includes an object detection unit 12, a risk calculation unit 13, a line-of-sight direction specifying unit 14, and an output control unit 15. The function of the processing unit 11 can be realized by the cooperation of the hardware resource and the software resource, or only by the hardware resource. As hardware resources, CPU, ROM, RAM, GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and other LSIs can be used. Programs such as firmware can be used as software resources.

The storage unit 16 includes a non-volatile recording medium such as an EEPROM (Electrically Erasable Programmable Read-Only Memory) and a flash memory, and stores various programs and data. The data includes acoustic / audio data and image data for alerting, which will be described later.

The object detection unit 12 detects a predetermined object based on the detection data around the vehicle 1 detected by the detection unit 20. For example, a predetermined object is detected by image recognition from the image captured by the camera 21. Specifically, a predetermined object is detected by pattern matching by searching the image based on dictionary data of pedestrians, bicycles, oncoming vehicles, and the like. Instead of pattern matching, a predetermined object may be detected based on a learning model generated by deep learning by AI. Further, the object detection unit 12 estimates the relative position of the object with respect to the own vehicle based on the detection result of the millimeter wave radar 22 or the sonar 23. Specifically, the direction in which the object exists and the distance to the object are estimated with the own vehicle as a reference position.

The object detection unit 12 can detect the motion vector of the object by detecting the difference between the position of the object detected in the current frame image and the position of the object detected in the past frame image. it can. The object detection unit 12 can estimate the moving speed of the object by sequentially detecting motion vectors between two consecutive frame images and calculating the average value of the detected motion vectors. The moving direction and moving speed of the object may be detected by using the optical flow method.

The risk calculation unit 13 calculates the risk of the object based on the possibility of collision between the object detected by the object detection unit 12 and the own vehicle. Specific examples of the risk calculation method will be described later.

The line-of-sight direction specifying unit 14 specifies the line-of-sight direction of the driver based on the image captured by the line-of-sight detection unit 30. When a visible light camera is used for the line-of-sight detection unit 30, the line-of-sight direction specifying unit 114 sets the inner corner of the eye in the visible light image as a reference point and the iris as a moving point, and also establishes a positional relationship between the reference point and the moving point. Specify the line-of-sight direction. When an infrared camera is used for the line-of-sight detection unit 30, the line-of-sight direction specifying unit 14 sets the corneal reflex in the infrared image as a reference point and the pupil as a moving point, and based on the positional relationship between the reference point and the moving point. Specify the direction of the line of sight.

The output control unit 15 acquires the relative position of the object detected by the object detection unit 12 with respect to the own vehicle, and sounds a warning sound for notifying the driver of the existence of the object and calling attention. Output to output units 41-44. The warning sound may be a sound that does not include a linguistic message (for example, an alarm) or a voice that includes a linguistic message (for example, voice guidance). The acoustic / voice data for reproducing the alarm and the voice guidance is registered in advance in the storage unit 16. When the warning sound is output to the sound output unit 41-44, the output control unit 15 reads the acoustic / voice data from the storage unit 16 and outputs the sound / voice data to the sound output unit 41-44, respectively.

The output control unit 15 tunes the acoustic / audio data to be output to the sound output units 41-44 so that the warning sound can be heard from the direction in which the object exists. Further, the output control unit 15 can control the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward the position where the object exists.

The output control unit 15 localizes the sound image in the direction or position where the object exists based on the relative positional relationship between the object and the own vehicle. A sound image is a sound source that humans perceive audibly. The sound generated by the sound source travels through solids and air and reaches the human ear. Therefore, the sound that reaches the human ear is affected not only by the characteristics peculiar to the sound source but also by the characteristics of the propagated medium and the head-related transfer function (HRTF). The head-related transfer function is a function that expresses the sound transmission characteristics from the sound source to the eardrum of the listener in free space, and depends on the three-dimensional shape of the listener's body, head, and pinna.

The simplest method for localizing the sound image in the direction in which the object exists is as follows. The output control unit 15 outputs a warning sound to the sound output unit installed at the position closest to the sound image among the plurality of sound output units. The output control unit 15 does not output a warning sound to other sound output units, or lowers the volume to output.

The output control unit 15 may reproduce the head-related transfer function at a desired sound image position in the three-dimensional space by digital signal processing. In this case, the sound image position in the three-dimensional space can be freely moved. The output control unit 15 localizes the sound image in the three-dimensional space based on the relative positional relationship between the object and the own vehicle. In the method using the head-related transfer function, the sound image can be localized at a desired position in the three-dimensional space even with one sound output unit.

In general, sounds with a large amount of anti-phase components can be heard far away, and sounds with a small amount of anti-phase components can be heard near. Utilizing this property, the output control unit 15 can make the listener feel a sense of perspective to the object by adjusting the amount of the opposite phase component of the warning sound output from the sound output unit. Further, the output control unit 15 can simultaneously make the listener feel the direction in which the object exists by adjusting the balance of the volume of the warning sound output from the left and right sound output units.

If a line array speaker is used for the sound output unit, a warning sound with stronger directivity can be output, and the sense of direction can be further emphasized.

(Operation example 1)
FIG. 3 is a flowchart for explaining an operation example 1 of the output control device 10 according to the embodiment. The object detection unit 12 of the output control device 10 detects the object based on the detection data around the vehicle 1 detected by the detection unit 20 (S10). The object detection unit 12 estimates the direction in which the detected object exists with reference to the position of the vehicle 1 (S11).

The output control unit 15 determines whether or not to alert the driver to the detected object (S12). The output control unit 15 is based on, for example, at least one of the distance from the own vehicle to the object, the direction in which the object exists, the movement vector of the object, the traveling direction of the own vehicle, and the speed of the own vehicle. Determine the possibility of contact between the vehicle and the object. If the contact possibility is higher than the predetermined reference value, it is determined that it is necessary to call attention, and if it is lower than the predetermined reference value, it is determined that it is not necessary to call attention.

When it is determined that it is necessary to call attention (Y in S12), the output control unit 15 causes the sound output unit 41-44 to output a warning sound so that the warning sound can be heard from the direction in which the detected object exists. (S13). The transition to step S10.

When it becomes unnecessary to call attention in step S12 (N in S12), the output control unit 15 stops the output of the warning sound. For example, when an event such as the own vehicle passing by the object, the moving direction of the object changes in the direction away from the own vehicle, or the own vehicle stops, it is determined that there is no need to call attention. ..

4 (a) and 4 (b) are diagrams for explaining a specific example of the operation example 1 of the output control device 10 according to the embodiment. FIG. 4A shows a state in which the pedestrian O1 is detected on the left shoulder as an object in front of the vehicle. In FIG. 4B, a loud warning sound is output from the first sound output unit 41 on the left side of the front, and from the other second sound output unit 42 to the fourth sound output unit 44 in response to the detection of the pedestrian O1. Indicates that a small warning sound is being output. As a result, the driver can recognize by sound that the object exists on the front left. In the first operation example, the line-of-sight detection unit 30, the line-of-sight direction specifying unit 14, and the risk calculation unit 13 shown in FIGS. 1 and 2 can be omitted.

(Operation example 2)
FIG. 5 is a flowchart for explaining an operation example 2 of the output control device 10 according to the embodiment. The object detection unit 12 of the output control device 10 detects the object based on the detection data around the vehicle 1 detected by the detection unit 20 (S20). The object detection unit 12 estimates the direction in which the detected object exists and the distance to the object with reference to the position of the vehicle 1 (S21).

The output control unit 15 determines whether or not to alert the driver to the detected object (S22). When it is determined that it is necessary to call attention (Y in S22), the output control unit 15 acquires the line-of-sight direction of the driver specified by the line-of-sight direction specifying unit 14 (S23). The output control unit 15 localizes the sound image of the warning sound at a predetermined position in the driver's line-of-sight direction (S24). The output control unit 15 causes the sound output units 41-44 to output the warning sound so that the warning sound can be heard from the localized sound image position (S25). The transition to step S20.

The output control unit 15 sets the initial position of the sound image to a predetermined position in the line-of-sight direction of the driver when starting the output of the warning sound. After that, the output control unit 15 gradually moves the sound image position of the warning sound toward the position where the object exists. At that time, the output control unit 15 acquires the driver's line-of-sight direction in real time so as to guide the driver's line of sight to the object, and even if the sound image position is gradually moved in synchronization with the acquired line-of-sight direction. Good.

When it becomes unnecessary to call attention in step S22 (N in S22), the output control unit 15 stops the output of the warning sound.

FIG. 6 is a diagram for explaining a specific example of the operation example 2 of the output control device 10 according to the embodiment. FIG. 6 is a diagram showing an example of movement of the sound image when the pedestrian O1 is detected on the left shoulder. The initial position SIi of the sound image is set to a predetermined position on the driver's line-of-sight direction when the output of the warning sound is started, and the sound image gradually moves toward the pedestrian O1. As a result, the driver can more intuitively grasp the direction in which the pedestrian O1 exists. In the second operation example, the risk calculation unit 13 shown in FIG. 2 can be omitted.

In operation example 2, the output control unit 15 may set the initial position of the sound image to a predetermined position in the normal line-of-sight direction of the driver. For example, it may be set at a position several tens of meters ahead of the vehicle. The output control unit 15 moves the set sound image position toward the position where the object exists at a predetermined speed. In this case, the line-of-sight detection unit 30, the line-of-sight direction specifying unit 14, and the risk calculation unit 13 shown in FIGS. 1 and 2 can be omitted.

(Operation example 3)
FIG. 7 is a flowchart for explaining an operation example 3 of the output control device 10 according to the embodiment. The object detection unit 12 of the output control device 10 detects the object based on the detection data around the vehicle 1 detected by the detection unit 20 (S30). The object detection unit 12 estimates the direction in which the detected object exists and the distance to the object with reference to the position of the vehicle 1 (S31).

The output control unit 15 determines whether or not to alert the driver to the detected object (S32). When it is determined that it is necessary to call attention (Y in S32), the output control unit 15 acquires the line-of-sight direction of the driver specified by the line-of-sight direction specifying unit 14 (S33). When the driver's line of sight locks the object or detects the driver's danger avoidance operation (Y in S34), the output control unit 15 reduces the volume of the warning sound (S35). The output of the warning sound may be stopped. If the warning sound output has not started, the warning sound output may be stopped. The danger avoidance operation includes an operation of turning the steering wheel in a direction away from the object, an operation of stepping on the brake, and the like.

When the driver's line of sight locks the object and neither the driver's danger avoidance operation can be detected (N in S34), the output control unit 15 skips the process of step S35. The output control unit 15 localizes the sound image of the warning sound at a predetermined position in the driver's line-of-sight direction (S36). The output control unit 15 causes the sound output units 41-44 to output the warning sound so that the warning sound can be heard from the localized sound image position (S37). The transition to step S30.

When it becomes unnecessary to call attention in step S32 (N in S32), the output control unit 15 stops the output of the warning sound.

A state in which the driver's line of sight locks the object or a state in which the danger avoidance operation is performed is a state in which the driver is presumed to have already recognized the existence of the object. In these conditions, the need to output a warning tone is reduced. In the operation example 3, in these states, the volume of the warning sound is lowered or the output of the warning sound is stopped, so that the annoyance of the occupant due to the warning sound can be reduced.

(Operation example 4)
FIG. 8 is a flowchart for explaining an operation example 4 of the output control device 10 according to the embodiment. The object detection unit 12 of the output control device 10 detects the object based on the detection data around the vehicle 1 detected by the detection unit 20 (S40). The object detection unit 12 estimates the direction in which the detected object exists and the distance to the object with reference to the position of the vehicle 1 (S41).

The output control unit 15 determines whether or not to alert the driver to the detected object (S42). When it is determined that it is necessary to call attention (Y in S42), the output control unit 15 acquires the line-of-sight direction of the driver specified by the line-of-sight direction specifying unit 14 (S43).

The risk calculation unit 13 calculates the risk based on the estimated time until the object and the own vehicle collide or approach each other (S44). When the object is stationary, the time when the object and the own vehicle collide or approach each other can be estimated based on the traveling direction and speed of the own vehicle. When the object is moving, it can be estimated from the moving direction and speed of the object and the traveling direction and speed of the own vehicle.

In the example shown in FIG. 8, when the expected time is shorter than the first set time, the risk calculation unit 13 determines the risk as “high”. When the estimated time is longer than the first set time and shorter than the second set time, which is longer than the first set time, the risk calculation unit 13 determines that the risk is “medium”. When the estimated time is longer than the second set time, the risk calculation unit 13 determines that the risk is “low”. The first set time and the second set time are preset by the designer.

When the degree of danger is "high" (high in S45), the output control unit 15 causes the sound output units 41-44 to output a warning sound for alerting the driver to the presence of the object (S46). As the warning sound output method, any method shown in Operation Example 1-3 may be used.

When the degree of danger is "medium" (inside S45), the output control unit 15 causes the display unit 50 to output a warning image for alerting the driver to the presence of the object (S47).

When the degree of risk is "low" (low in S45), the output control unit 15 superimposes the effect on the object displayed on the display unit 50 (S48).

When it becomes unnecessary to call attention in step S42 (N in S42), the output control unit 15 stops the output of the warning sound, the display of the warning image, or the effect superimposition.

9 (a) and 9 (b) are diagrams for explaining a specific example of the operation example 4 of the output control device 10 according to the embodiment. 9 (a) and 9 (b) show an example of using a HUD for displaying an image on the windshield 50a as the display unit 50.

FIG. 9A shows an example of displaying a warning image on the windshield 50a. Similar to the sound image position control described above, the output control unit 15 displays a warning image at a predetermined position in the windshield 50a in the driver's line-of-sight direction. In the example shown in FIG. 9A, the warning mark M1 is displayed as a warning image. The design of the warning mark M1 may be a design indicating the type of the object.

The output control unit 15 sets the initial position of the warning mark M1 to a predetermined position in the line-of-sight direction of the driver when the display of the warning mark M1 is started. After that, the output control unit 15 gradually moves the position of the warning mark M1 in the direction in which the object exists. At that time, the output control unit 15 acquires the driver's line-of-sight direction in real time so as to guide the driver's line of sight to the object, and gradually moves the position of the warning mark M1 in synchronization with the acquired line-of-sight direction. You may let me.

FIG. 9B shows an example in which the detection frame F1 is displayed as an effect on the windshield 50a by superimposing it on the pedestrian O1 visible through the windshield 50a. The pedestrian O1 seen through the windshield 50a may be emphasized by the color and brightness.

When an object is detected behind the vehicle 1 when parked or the like, a center display or a head unit display on which a rear image is displayed can be used as the display unit 50. In that case, a warning mark or a detection frame is displayed on the screen of the center display or the head unit display.

In the operation example 4, when the risk level is “high”, the output control unit 15 may execute both the output of the warning sound and the display of the warning image. In addition, the risk level is classified into two categories, "high" and "low". When the risk level is "high", the output control unit 15 outputs a warning sound, and when the risk level is "low", the output control unit 15 may execute the display of the warning image or the effect.

When a plurality of objects are detected around the vehicle 1, the object having the shortest expected time until the own vehicle collides or approaches the vehicle (hereinafter referred to as the main object) is used as a reference among the plurality of objects. , The risk calculation unit 13 calculates the risk. Usually, the object that exists closest to the own vehicle is the main object. The output control unit 15 causes the sound output units 41-44 to output a warning sound for alerting the driver to the presence of the main object. In addition, the display of the warning image may be used together. The output control unit 15 superimposes an effect on an object other than the main object on the display unit 50.

In the operation example 4, the warning sound is not output every time the object is detected, but the display of the image is limited to the case of the object whose risk is not high. As a result, it is possible to reduce the annoyance of the occupant due to the warning sound.

As described above, according to the present embodiment, when the object is detected, the driver is notified by a warning sound of the direction in which the object exists and should be alerted. As a result, the driver can quickly recognize the existence of the object. According to experimental psychology, the average value of human reaction speed (the speed from the presentation of a stimulus to the pressing of a button) is 180 to 200 ms for visual stimuli and 140 to 160 ms for auditory stimuli. Experimental results with seconds are available. In this way, humans can react faster by calling attention with sound than with images.

The present disclosure has been described above based on the embodiment. Embodiments are exemplary, and it will be appreciated by those skilled in the art that various modifications are possible for each of these components or combinations of processing processes, and that such modifications are also within the scope of the present disclosure. is there.

When an object is detected during playback of music, radio, car navigation guidance, etc. in the vehicle 1, the output control unit 15 does not overlap with the already reproduced sound / voice, and the sound / voice is easy to identify. The warning sound of the pattern may be selected and output to the sound output unit. For example, an acoustic / audio pattern having a frequency characteristic different from that of the already reproduced acoustic / audio is selected. In this case, since the warning sound becomes easier to hear, it is possible to prevent the effect of alerting the warning sound from being diminished by the sound / voice that has already been reproduced.

If an object is detected during playback of music, radio, car navigation guidance, etc. in the vehicle 1, the output control unit 15 stops the output of the already reproduced sound / voice and outputs only the warning sound. You may let me. Further, the output control unit 15 may reduce the volume of the sound / sound that has already been reproduced. Further, the output control unit 15 may raise the volume of the warning sound higher than usual without changing the volume of the sound / voice that has already been reproduced.

When outputting the warning sound, the output control unit 15 may change the volume according to the distance between the object and the own vehicle. Specifically, the farther the distance from the object is, the lower the volume is, and the closer the distance is to the object, the louder the volume is. As a result, the driver can feel the presence of the object approaching, and the driver can intuitively understand the degree of danger such as a collision.

When the output control unit 15 outputs the warning sound, the sound / voice pattern may be used properly according to the type of the object and the degree of danger. For example, in the case of an automobile, an acoustic pattern having a large amount of low frequency components may be selected, and in the case of a pedestrian, an acoustic pattern having a large amount of high frequency components may be selected. Further, an acoustic pattern having more low frequency components may be selected as the degree of risk increases. In this case, the driver can be made to understand the type and the degree of danger of the object before the driver visually observes the object.

In addition, the embodiment may be specified by the following items.

[Item 1]
Based on the relative position of the object detected around the vehicle (1) with respect to the vehicle (1), a warning sound for notifying the driver of the vehicle (1) of the existence of the object is emitted. The output control unit (15) for outputting to one or more sound output units (41-44) in the vehicle (1) is provided.
The output control unit (15) controls the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward the position where the object exists (10). ..
According to this, the driver can quickly recognize the existence of the object.
[Item 2]
The output control unit (15) moves the sound image position of the warning sound from a predetermined position in the line-of-sight direction of the driver when starting the output of the warning sound toward the position where the object exists. The output control device (10) according to item 1, which controls the output of the warning sound so as to move gradually.
According to this, the driver's attention can be accurately guided in the direction of the object.
[Item 3]
A risk calculation unit for calculating the risk of the object is further provided.
Whether or not the output control unit (15) outputs the warning sound to the one or more sound output units (41-44) according to the danger level of the object calculated by the risk level calculation unit. The output control device (10) according to item 1 or 2 to be determined.
By not designing to always output a warning sound when an object is detected, it is possible to reduce the annoyance caused by the warning sound.
[Item 4]
When the degree of danger of the object is equal to or higher than a predetermined threshold value, the output control unit (15) causes the one or more sound output units (41-44) to output the warning sound.
When the degree of danger of the object is less than the predetermined threshold value, the output control unit (15) does not output the warning sound to the one or more sound output units (41-44), and the object The output control device (10) according to item 3, wherein an image for notifying the driver of the existence of an object is displayed on a display unit (50) in the vehicle (1).
By properly using the sound and the image, it is possible to reduce the annoyance caused by the warning sound.
[Item 5]
When it is detected that the driver's line of sight locks the object, the output control unit (15) lowers the volume of the warning sound or stops the output of the warning sound, item 1. 4. The output control device (10) according to any one of 4.
According to this, it is possible to reduce the annoyance caused by the warning sound.
[Item 6]
When it is detected that the driver has performed the danger avoidance operation, the output control unit (15) lowers the volume of the warning sound or stops the output of the warning sound, whichever of items 1 to 5. The output control device (10) according to item 1.
According to this, it is possible to reduce the annoyance caused by the warning sound.
[Item 7]
Based on the relative position of the object detected around the vehicle (1) with respect to the vehicle (1), a warning sound for notifying the driver of the vehicle (1) of the existence of the object is emitted. It has an output step for outputting to one or more sound output units (41-44) in the vehicle (1).
The output step is an output control method for controlling the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward a position where the object exists.
According to this, the driver can quickly recognize the existence of the object.
[Item 8]
Based on the relative position of the object detected around the vehicle (1) with respect to the vehicle (1), a warning sound for notifying the driver of the vehicle (1) of the existence of the object is emitted. , The computer is made to execute an output process for outputting to one or more sound output units (41-44) in the vehicle (1).
The output process is an output control program that controls the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward a position where the object exists.
According to this, the driver can quickly perceive the existence of the object.

1 vehicle, 10 output control device, 11 processing unit, 12 object detection unit, 13 risk calculation unit, 14 line-of-sight direction identification unit, 15 output control unit, 16 storage unit, 20 detection unit, 21 camera, 22 millimeter-wave radar , 23 sonar, 24 vehicle speed sensor, 25 steering angle sensor, 26 GPS sensor, 30 line-of-sight detection unit, 41-44 sound output unit, 50 display unit, 50a windshield.

Claims (8)

One or more sounds in the vehicle to notify the driver of the vehicle of the existence of the object based on the relative position of the object detected around the vehicle with respect to the vehicle. Equipped with an output control unit that outputs to the output unit
The output control unit is an output control device that controls the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward a position where the object exists. The output control unit gradually shifts the sound image position of the warning sound from a predetermined position in the line-of-sight direction of the driver when starting the output of the warning sound toward the position where the object exists. The output control device according to claim 1, which controls the output of the warning sound so as to move. A risk calculation unit for calculating the risk of the object is further provided.
The output control unit determines whether or not to output the warning sound to the one or more sound output units according to the risk level of the object calculated by the risk level calculation unit, claim 1 or 2. The output control device described in. When the degree of danger of the object is equal to or higher than a predetermined threshold value, the output control unit causes the warning sound to be output to the one or more sound output units.
When the degree of danger of the object is less than the predetermined threshold value, the output control unit does not output the warning sound to the one or more sound output units, and the presence of the object is notified to the driver. The output control device according to claim 3, wherein an image for notifying is displayed on a display unit in the vehicle. When it is detected that the driver's line of sight locks the object, the output control unit lowers the volume of the warning sound or stops the output of the warning sound, claims 1 to 4. The output control device according to any one of the above items. When it is detected that the driver has performed the danger avoidance operation, the output control unit lowers the volume of the warning sound or stops the output of the warning sound, any one of claims 1 to 5. The output control device described in the section. One or more sounds in the vehicle to notify the driver of the vehicle of the existence of the object based on the relative position of the object detected around the vehicle with respect to the vehicle. It has an output step to output to the output section.
The output step is an output control method for controlling the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward a position where the object exists. One or more sounds in the vehicle to notify the driver of the vehicle of the existence of the object based on the relative position of the object detected around the vehicle with respect to the vehicle. Let the computer execute the output processing to be output to the output section
The output process is an output control program that controls the output of the warning sound so that the sound image position of the warning sound moves from a predetermined position toward a position where the object exists.

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