JP2009042843A - Alarm device and its method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable the driver of its own vehicle notice an alarm sound to call the driver's attention to an object detected in the periphery of its own vehicle. <P>SOLUTION: An object is detected by an object detection part 10, and whether or not it is necessary to call a driver's attention to an object is judged by a judgement part 30, and when it is judged that it is necessary to call the driver's attention, an alarm sound is generated by an alarm sound generation part 41, and a marker sound to announce the output of the alarm sound beforehand is generated by a marker sound generation part 42, and the position of the sound image of the marker sound is set by a setting part 43, and the position of the sound image of the alarm sound changing with time with the position of the sound image of the marker sound as a start point is set, and the alarm sound is output to the set sound image position after the marker sound is output, so that the consciousness of the driver drawn by the marker sound can be turned to the alarm sound to be output from the same position following the marker sound. Thus, it is possible to enable the driver to easily notice the alarm sound. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an alarm device for detecting a person or other vehicle existing around a vehicle and informing the driver of the vehicle of the presence, and a method thereof.

Various devices have been proposed for notifying a vehicle driver of the presence of pedestrians, other vehicles, and obstacles around a vehicle such as an automobile. For example, Patent Document 1 discloses the device. There is a device.
In the case of the device disclosed in Patent Document 1, the sound image of the alarm sound is localized at a predetermined position by outputting an alarm sound that causes a time difference or an intensity difference from a plurality of speakers provided in the vehicle interior. The vehicle driver is informed of the presence and position of the object.
JP 2000-36998 A

  However, since the apparatus disclosed in Patent Document 1 is configured to notify the presence of an object by outputting an alarm sound, it is difficult to hear the alarm sound if there is an environmental sound similar to the alarm sound. There was a thing. In such a case, it is difficult to notice the warning sound without paying attention to it, and since the vehicle occupant does not notice the warning sound, it cannot recognize the objects present around the vehicle. , Recognition was delayed.

  Therefore, according to the present invention, when an object is detected in the vicinity of the host vehicle, an occupant of the vehicle can surely notice an alarm sound that is output to alert the presence of the detected object. In this way, an object is to enable a vehicle occupant to recognize the presence of an object.

  The present invention determines whether or not alerting is required for an object, and generates a marker sound that alerts the output of an alarm sound and alert sound when it is determined that alerting is necessary, Set the position of the sound image of the sound, set the position of the sound image of the warning sound that changes over time starting from the position of the sound image of the marker sound, and first output the marker sound to the set sound image position, An alarm sound is output.

  According to the present invention, the marker sound for outputting the warning sound is output before the warning sound for alerting the object detected around the host vehicle is output. The marker sound is different from the warning sound and attracts the driver's consciousness, so that the driver's consciousness can be directed to the warning sound that is output after that. Make it easier for people to recognize.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram illustrating a configuration of an alarm device according to the present embodiment.

  The alarm device 1 includes an object detection unit 10, a self-displacement detection unit 20, a determination unit 30, a notification sound generation unit 40, a conversion unit 50, and an output unit 60.

The object detection unit 10 detects the presence of objects such as other vehicles, people, and obstacles around the host vehicle, and detects the displacement of the detected object. Then, object information for specifying the displacement of the object such as the position, moving direction, and moving speed of the object is generated and output to the determination unit 30.
Detection of the presence of an object can be performed using a conventionally known technique, for example, by processing information input from an ultrasonic sensor, a laser radar, a scanning sensor, a microphone, or the like.

  The self-displacement detection unit 20 monitors the operation of the accelerator, the blinker, and the steering, and the output from the acceleration sensor and the GPS device mounted on the own vehicle, and the movement direction, the movement speed, the direction indicated by the turn signal, the steering Operation information for specifying the displacement of the host vehicle such as a corner is generated and output to the determination unit 30.

Based on the object information and the operation information, the determination unit 30 determines whether or not it is necessary to alert the driver of the host vehicle about the presence of the object.
Specifically, the position of the target object after a predetermined time has been predicted based on the target information, and the position of the host vehicle after the predetermined time has been predicted based on the operation information. When the presence of the object is not preferable for traveling of the host vehicle, such as when there is a possibility of approaching or colliding, it is determined that the driver of the host vehicle needs to be alerted to the presence of the object.

With reference to FIG. 1, the notification sound generation unit 40 includes an alarm sound generation unit 41, a marker sound generation unit 42, a setting unit 43, and an output timing setting unit 44.
The alarm sound generation unit 41 sets an alarm sound for alerting the driver of the host vehicle of the presence of the target object when the determination unit 30 determines that attention is required.
The marker sound generation unit 42 sets a sound having a characteristic different from the alarm sound as a marker sound for notifying the output of the alarm sound.

The sound used as an alarm sound or marker sound will be described.
The marker sound notifies the driver of the own vehicle of the output of the warning sound and the position where the warning sound is output, and directs the driver's consciousness toward the warning sound output after the marker sound. Therefore, a sound that is clearly different from a sound heard during driving of the vehicle, such as a running sound or an audio sound of the vehicle, is selected as the marker sound. For example, the sound of a specific frequency with a short output time such as “Pawn”, “Poon”, “Pee”, etc. can be mentioned.

The warning sound alerts the driver of the vehicle to the presence of other objects such as other vehicles and pedestrians, and the driver's consciousness directed to the warning sound is continuously alerted by the movement of the virtual sound source. A continuous sound or intermittent sound having a predetermined output time is used so that the sound can be directed to the sound.
For example, if the target object is a car, a continuous sound of a predetermined length such as “Boon” or an intermittent sound such as “Pippi” is a person. Etc. are examples of alarm sounds.
Note that the types of alarm sounds are not limited to those exemplified here, and various sounds can be selected as long as the driver of the vehicle can recognize the presence of the target object. For example, CD, MD, Audio sounds output from radios, sound effects used in games and movies, and effect sounds can also be used as alarm sounds.

Here, the alarm sound and the marker sound are, for example, 2000 Hz to enable the driver of the vehicle to surely hear the alarm sound even for an elderly person who is difficult to hear a low frequency sound. It is preferable that the sound has a frequency of 3000 Hz.
In addition, the frequency sound used for emergency vehicles is generally easy to call attention, so it is a sound of the frequency used for emergency vehicles such as police cars, and the output cycle is changed to prevent confusion. It can also be used for sound.
Furthermore, a sound with fluctuation obtained by modulating a sound of a single frequency may be used. The fluctuation sound is a sound that attracts attention, so that the driver of the vehicle can notice the output of the marker sound and the warning sound.

  However, the driver of the own vehicle needs to be able to distinguish between the marker sound and the warning sound. Therefore, for example, when a fluctuating sound is used as the marker sound and the alarm sound, the marker sound and the alarm sound can be reliably distinguished by setting the sound having a fluctuation at different frequencies.

  The setting unit 43 sets a position where the sound image of the marker sound is localized (hereinafter simply referred to as the position of the sound image), and sets the position of the sound image of the alarm sound that is displaced with time from the position of the sound image of the marker sound. After the marker sound is output from the position of the target object, the warning sound is output from the same position, so that the driver of the own vehicle recognizes that the position where the warning sound is output has moved over time. To do.

FIG. 2 shows the same direction as the own vehicle V behind the right lane when the own vehicle V traveling straight on the left lane of the two-lane road tries to move to the right lane by blinking the blinker W. It is a figure which shows the case where the other vehicle A which drive | works toward is detected and the judgment part 30 judges that the alerting about the other vehicle A is required.
In this case, the setting unit 43 identifies the current position P of the other vehicle A with reference to the object information, sets the identified current position P as the position of the marker sound image, and also the start point of the warning sound image. Set as position.
Then, the time-dependent displacement of the position of the sound image of the warning sound is set so that the position of the sound image of the warning sound moves along the arrow L in the figure, and the driver of the host vehicle V It is felt that the alarm sound heard from is moving in the direction indicated by the arrow L in the figure.

Here, the position of the sound image of the alarm sound corresponds to the detected displacement of the object with time, for example, it is moved over time in the same direction as the movement direction of the object, and further the movement speed of the object It is preferable to move at the same speed.
FIG. 3 shows an example of the case where the sound “Pawn” is used as the marker sound and the sound “Boon” is used as the alarm sound in order to explain how to output the marker sound and the alarm sound. FIG.
For example, referring to (a) of FIG. 3, the position of the sound image of the alarm sound is moved in the same direction as the moving direction of the other vehicle A, which is the object, at the same speed as the moving speed of the other vehicle A. In this case, the driver of the host vehicle V can sensibly grasp the detected position of the other vehicle A, its moving direction, and moving speed by moving the sound image of the alarm sound.

Referring to FIG. 1, output timing setting unit 44 determines the output timing of alarm sound and marker sound.
4A and 4C are diagrams for explaining the output timing and output time of the marker sound and the alarm sound. FIGS. 4B and 4D show the sound “Pawn” as the marker sound. It is a figure explaining the listening image of the marker sound and warning sound which the driver | operator of the own vehicle listens when the sound of "Boon" is employ | adopted as a warning sound.

Since the marker sound is a notification sound for notifying the output of the alarm sound, the output timing setting unit 44 sets the output timing so that the alarm sound is continuously output following the marker sound.
As shown in FIG. 4A, the output timing setting unit 44 sets the output timing so that the output of the marker sound is started almost simultaneously with the end of the output of the alarm sound. Thereby, as shown in FIG. 4B, the driver of the host vehicle listens to the warning sound before the marker sound is not heard. Therefore, the driver's consciousness directed to the marker sound can be moved to the alarm sound as it is.

  In addition, the sound pressure of the sound to be output and the delay time are controlled for each speaker S provided in the passenger compartment for the localization of the sound image of the alarm sound and the marker sound to the desired position and the control of the movement of the position of the sound image over time. Although the details are disclosed in the above-mentioned Patent Document 1, detailed description thereof is omitted here.

Referring to FIG. 1, conversion unit 50 performs analog conversion of notification sound and marker sound data input from notification sound generation unit 40, and then outputs the result to output unit 60.
The amplification unit 61 of the output unit 60 amplifies the data of the notification sound and the marker sound input from the conversion unit 50, and adjusts the alarm sound and the marker sound to a volume that can be heard. The speaker 62 outputs an alarm sound after outputting the marker sound.

A case where a plurality of objects are detected will be described.
FIG. 5 shows another vehicle that travels in the right lane when the own vehicle V traveling on the left side of the two-lane road tries to move to the right lane by blinking the blinker W by operating the blinker. It is a figure which shows the case where A is detected and the motorcycle B which drive | works the other vehicle A further is detected.

In this case, an alarm sound for alerting the other vehicle A and an alarm sound for alerting the motorcycle B are output from the detected positions of the other vehicle A and the motorcycle B, respectively. Then, as shown in the time chart of FIG. 5B, the alarm sound output timing for the other vehicle A and the alarm sound output timing for the motorcycle B partially overlap.
Here, prior to the output of each warning sound, a marker sound that easily attracts the attention of the driver D of the host vehicle V is always output, so even if a plurality of objects are detected, It is possible to distinguish between the alarm sound output first and the alarm sound output later. Therefore, the driver D can sensuously recognize the presence of the other vehicle A and the motorcycle B by each alarm sound, and can grasp a continuous dangerous situation.

A case where the detected object is a person will be described.
FIG. 6 is a diagram illustrating a case where a person P is detected in the moving direction of the host vehicle V when the host vehicle V is to be moved backward to perform parallel parking.
In this case, since the person P is detected at the position P4 diagonally right behind the host vehicle V, the driver D of the host vehicle V outputs the marker sound from the position P4 diagonally right rear of the host vehicle V. The alarm sound is output from the same position P4, and it is felt that the position where the alarm sound is output moves in the direction indicated by the arrow in the figure over time.
Therefore, the driver D of the host vehicle V senses the presence and position of the target object even when the target object such as a person exists at a position that becomes a blind spot when the host vehicle is moved backward. Can be recognized.

FIG. 7 is a diagram showing a case where a person P is detected in the vicinity of the host vehicle V when the host vehicle V parked in the parking space is moved backward and the host vehicle V is taken out of the parking space.
In this case, since the person P is detected at the position P5 diagonally right behind the host vehicle V, the driver D of the host vehicle V has output a marker sound from the position P5 diagonally right behind the host vehicle V. Later, an alarm sound is output from the same position P5, and it is felt that the position where the alarm sound is output moves with time in the direction indicated by the arrow in the figure.
Therefore, the warning sound is output after the warning sound and the position where the warning sound is output are noticed by the marker sound and the driver D of the host vehicle V is attracted. It becomes easy to notice. Further, since the position where the warning sound is output is felt to move in the direction indicated by the arrow in the figure, the driver's attention can be continuously directed to the warning sound.
Here, when the pedestrian is moving, if the position where the alarm sound is output moves in the same direction as the moving direction of the pedestrian at the same speed, the driver is not only the presence of the pedestrian, The moving direction and moving speed can be recognized sensuously.

The process performed by the alarm device 1 will be described.
FIG. 8 is a flowchart showing the flow of processing performed by the alarm device.
In step 100, the object detection unit 10 confirms whether the object exists within a predetermined range around the host vehicle. When the presence of an object is detected in step 101, in step 102, the self-displacement detection unit 20 performs an operation such as an accelerator, a blinker, and a steering, an output from an acceleration sensor or a GPS device mounted on the own vehicle. For example, when the vehicle is moved backward, when the traveling lane is changed, or when making a right or left turn, the behavior of the own vehicle is confirmed, that is, the behavior of the own vehicle is confirmed.

In step 103, the determination unit 30 determines whether or not it is necessary to alert the driver of the host vehicle of the presence of the target object. For example, if there is a possibility that the vehicle and the object are in contact with each other based on the confirmed behavior of the vehicle or the detected behavior of the object. Determines that an alarm sound needs to be output.
If it is determined in step 104 that an alarm sound needs to be output, the positions of the marker sound image and the alarm sound image are set in step 105, the marker sound and alarm sound data are acquired in step 106, and First, marker sound data is output at the set sound image positions, and then alarm sound data is output.

  Here, step 100 in FIG. 8 corresponds to the object detection unit and the object detection stage in the invention, step 102 corresponds to the self-displacement detection unit, step 103 corresponds to the determination unit and the determination stage, and step 105. Corresponds to the setting section and the setting stage, and step 106 corresponds to the output section and the output stage.

As described above, in this embodiment, it is necessary to detect an object such as another vehicle, a person, and an obstacle around the own vehicle, and determine whether or not to alert the detected object and to call for attention. If it is determined, the alarm sound for alerting and the marker sound for notifying the output of the alarm sound are generated, the position of the sound image of the marker sound is set and the position of the sound image of the marker sound is set as the starting point over time The position of the sound image of the alarm sound to be displaced is set, and the alarm sound is output to the position of the set sound image after first outputting the marker sound.
Therefore, after outputting the marker sound for notifying the output of the warning sound, the warning sound for alerting the object detected around the host vehicle is output. Here, since the position of the sound image of the marker sound and the start point position of the sound image of the warning sound are the same, the driver of the host vehicle can make the marker sound and the warning sound output following this from the same position. It feels like it is being output. Further, since the position of the sound image of the warning sound is displaced with time, the driver of the host vehicle feels that the position where the warning sound is output is moving with time.
As a result, the warning sound is output from the same position as the marker sound after the driver of the own vehicle has focused on the marker sound, so that the driver of the own vehicle can easily notice the warning sound. Furthermore, since the position where the warning sound is output seems to move with time, the driver's consciousness can be continuously directed to the warning sound. Therefore, the presence of an object detected around the host vehicle is easily recognized by the driver of the host vehicle.

  In addition, the displacement of the host vehicle such as a lane change is detected, and the necessity of alerting the object is determined based on the displacement of the host vehicle and the displacement of the object. It is possible to more appropriately determine whether or not it is necessary to call attention.

  In particular, based on the position of the host vehicle after a predetermined time predicted based on the displacement of the host vehicle and the position of the target after the predetermined time predicted based on the displacement of the target, If it is configured to determine whether or not the object needs to be alerted, it is possible to more appropriately determine whether or not the object needs to be alerted.

  In addition, since the position of the detected object is set as the position of the sound image of the marker sound, the driver of the host vehicle can detect by the marker sound and the alarm sound output from the same position following this. The position of the target object can be recognized sensuously.

  Further, since the alarm sound is output continuously after the marker sound, the alarm sound is output without interruption after the output of the marker sound. Therefore, the driver's consciousness attracted by the marker sound can be directed to the alarm sound, and the output of the alarm sound can be easily noticed.

  In addition, since the warning sound is configured to be a fluctuation sound that modulates a single frequency sound, the driver can generate a marker sound or warning sound by the fluctuation sound that easily attracts the listener's attention. It becomes easy to notice output.

  Further, since the position of the sound image of the alarm sound is displaced in the same direction as the displacement direction of the target object, when the target object is moving, the driver of the host vehicle determines the position of the detected target object. The moving direction can be grasped by an alarm sound.

  In addition, since the position where the sound image of the warning sound is localized is displaced at the same speed as the moving speed of the target object, the driver who has received the warning sound senses the moving speed in addition to the position and moving direction. Can be grasped.

In the alarm device according to the above-described embodiment, as shown in FIGS. 4A and 4B, the alarm sound is continuously output following the marker sound. ) And (d), an alarm sound may be output after a predetermined time has elapsed after the marker sound is output.
Referring to FIG. 4C, after outputting the marker sound and outputting a warning sound after a predetermined time t, referring to FIG. 4D, the driver of the host vehicle After the sound cannot be heard, the alarm sound is heard after a while. In other words, since a silent section can be intentionally created between the listening of the marker sound and the warning sound, the driver of the vehicle can generate the marker sound and the warning sound by the silent section where the sound is interrupted for a moment. It is possible to listen with distinction.

  In the alarm device according to the above-described embodiment, the position of the sound image of the alarm sound is displaced with time toward the side of the driver D of the host vehicle V as shown in FIG. The driver D feels that the alarm sound moves toward the side of the host vehicle V, but the position of the sound image of the alarm sound is displaced toward the host vehicle V over time. May be. In this case, the driver can sensuously recognize the presence of an object such as another vehicle moving toward the host vehicle V and the danger of contact with the object by an alarm sound.

Furthermore, in the alarm device according to the above-described embodiment, with reference to FIG. 3A, the position where the sound image of the alarm sound is localized is the same speed as the moving speed of the other vehicle A that is the target, and the other Although the vehicle A moves in the same direction as the moving direction of the vehicle A, as shown in FIG. 3B, it moves in the same direction as the moving direction of the object at a speed faster than the moving speed of the object. Anyway.
In this case, since the warning sound reaches the side of the host vehicle V before the other vehicle A, the driver of the host vehicle V can recognize the approach of the other vehicle A early.

Further, as shown in FIG. 3 (c), the position of the sound image of the warning sound is displaced over time toward a predetermined position on the side of the host vehicle V, and when the predetermined position is reached, You may make it return to the present position of the vehicle A, and it may be displaced with time toward the predetermined position of the side of the own vehicle V again.
In this case, the driver of the host vehicle V feels that the alarm sound is repeatedly output. That is, since it becomes the same as having repeatedly listened to the warning sound, the recognition of the warning is improved. It should be noted that the predetermined position may be the position of the host vehicle V, which is only the position on the side of the host vehicle V.

Furthermore, the position of the sound image of the warning sound may move at the same speed as the moving speed of the target object, and the warning sound may fade out after the target object reaches a predetermined position.
FIG. 9 shows the other vehicle A in which the detected object is passing by the side of the host vehicle V, and the position where the alarm sound is heard is in the same direction as the movement direction of the other vehicle A at the same moving speed. It is a figure which shows the case where it moves.
In the case of this figure, after the other vehicle A passes by the side of the own vehicle V, the driver D of the own vehicle V can recognize the other vehicle A that has overtaken the own vehicle V by its running sound and visual observation. There is no need to call attention with an alarm sound output. Therefore, as shown in FIG. 9 (b), if the sound pressure of the warning sound is adjusted so that the warning sound after the other vehicle A passes the side of the host vehicle V fades out, the driver's attention The driver can listen to the traveling sound of the other vehicle A after the warning sound that attracts the vehicle is not heard and the warning sound is not heard.
Therefore, since the warning sound that attracts the driver's attention can not be heard, the driver's consciousness can be returned to the driving of the host vehicle V, so that the driver can be concentrated on driving.

In the alarm device according to the above-described embodiment, as illustrated in FIG. 10A, the case where the marker sound for notifying the output of the alarm sound is output only once is described as an example. May be output multiple times.
For example, when the marker sound is output twice, as shown in FIG. 10B, the position of the sound image of the marker sound is set to a different position within the range of the detected object.
In this case, the driver of the host vehicle feels as if the position where the marker sound is output is shifted, and the consciousness is attracted to the marker sound, so that the driver can easily notice the alarm sound output after the marker sound.
Further, as compared with the case where the marker sound is output only once, the driver is more easily aware of the output of the marker sound, so that the possibility of missing the alarm sound output after the output of the marker sound is reduced.

  Furthermore, in the alarm device according to the above-described embodiment, the presence of the target object is detected when the subject vehicle is not preferable for the subject vehicle, such as when the subject vehicle may collide with the subject object. However, when an emergency vehicle such as a fire engine is detected, it may be determined that it is necessary to call attention. In this case, for example, it is determined that alerting is necessary on the condition that sound of a specific frequency adopted for the siren of the emergency vehicle is acquired via a microphone (not shown).

It is a block diagram of the alarm device which concerns on embodiment. It is a figure explaining the output of a marker sound and an alarm sound. It is a figure explaining the output of a marker sound and an alarm sound. It is a figure explaining the output timing of a marker sound and an alarm sound. It is a figure explaining the output of a marker sound and an alarm sound. It is a figure explaining the output of a marker sound and an alarm sound. It is a figure explaining the output of a marker sound and an alarm sound. It is a flowchart explaining the process in the alarm device which concerns on embodiment. It is a figure explaining the output of a marker sound and an alarm sound. It is a figure explaining the output of a marker sound.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Alarm apparatus 10 Object detection part 20 Self-displacement detection part 30 Judgment part 40 Notification sound production | generation part 41 Alarm sound production | generation part 42 Marker sound production | generation part 43 Setting part 44 Output timing setting part 50 Conversion part 60 Output part

Claims (13)

An object detection unit for detecting an object around the host vehicle;
A determination unit for determining whether it is necessary to call attention to the object;
An alarm sound generator that generates an alarm sound for alerting when it is determined that alerting is necessary;
A marker sound generating unit for generating a marker sound for notifying the output of the warning sound;
A setting unit for setting the position of the sound image of the marker sound and setting the position of the sound image of the alarm sound that is displaced with time from the position of the sound image of the marker sound;
An alarm device comprising: an output unit that outputs the alarm sound after first outputting the marker sound at a position of a sound image set by the setting unit. A self-displacement detection unit for detecting the displacement of the host vehicle;
The alarm device according to claim 1, wherein the determination unit determines whether it is necessary to call attention to the object based on a displacement of the host vehicle and a displacement of the object. The alarm device according to claim 1, wherein the setting unit sets the position of the detected object as the position of the sound image of the marker sound. The alarm device according to claim 3, wherein the marker sound is output at least twice, and the position of the sound image of each marker sound is set at a different position separated by a predetermined distance. The alarm device according to any one of claims 1 to 4, wherein the alarm sound is output following the marker sound. The alarm device according to any one of claims 1 to 4, wherein the alarm sound is output after a predetermined time has elapsed after the marker sound is output. The alarm device according to any one of claims 1 to 6, wherein the alarm sound is a fluctuating sound obtained by modulating a single frequency sound. The alarm device according to any one of claims 1 to 7, wherein a position of a sound image of the alarm sound is displaced in the same direction as a displacement direction of the object. The alarm device according to any one of claims 1 to 8, wherein the position of the sound image of the alarm sound is displaced at the same speed as the moving speed of the target object. The alarm device according to any one of claims 1 to 8, wherein a position of a sound image of the alarm sound is displaced at a speed faster than a moving speed of the object. The position of the sound image of the alarm sound is displaced toward a predetermined position, and when reaching the predetermined position, returns to the current position of the object and is displaced toward the predetermined position again. 10. The alarm device according to 10. The position of the sound image of the alarm sound is displaced at the same speed as the moving speed of the object, and the alarm sound fades out after the object reaches a predetermined position. The alarm device according to claim 8. A method for informing the presence of an object around the host vehicle,
An object detection stage for detecting an object around the host vehicle;
A determination step for determining whether or not it is necessary to call attention to the object;
An alarm sound generation stage for generating an alarm sound for alerting when it is determined that attention is required;
A marker sound generating step for generating a marker sound for notifying the output of the warning sound;
Setting the position of the sound image of the marker sound, and setting the position of the sound image of the alarm sound that changes over time starting from the position of the sound image of the marker sound,
A method comprising: outputting a warning sound after first outputting a marker sound at each sound image position set in the setting stage.

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