JP6740644B2 - Notification device - Google Patents

Description

The present invention relates to a notification device.

Patent Literature 1 discloses the following technique. In principle, the driving support device warns the driver when there is a feature at an intersection in front of the host vehicle. The driving support device determines whether or not the driver visually recognizes the feature based on the face direction and the line-of-sight direction of the driver. When it is determined that the driver is visually recognizing the feature, the driving support device does not issue the above warning.

JP, 2008-123443, A

It is conceivable to apply the technology described in Patent Document 1 to a notification device that notifies a driver of a target such as a pedestrian. That is, when the notification device that notifies the target when the target is detected determines that the driver visually recognizes the target, it is possible to exclude the target from the notification target thereafter.

After the driver once visually recognizes the target, the target may deviate from the driver's visible range and the movement direction may change significantly. In this case, it is highly necessary to notify the target of which the moving direction is significantly changed. However, in the above notification device, the target that has been once viewed remains excluded from the notification target even if the moving direction is changed significantly thereafter.

The present invention has been made in view of these problems, and an object of the present invention is to provide an informing device capable of informing a target once excluded from an informing target according to the situation.

The notification device of the present disclosure includes a target detection unit that detects a target existing around a vehicle, a notification unit that notifies a target detected by the target detection unit, and a target detected by the target detection unit. The moving direction acquisition unit that acquires the moving direction of the vehicle, the range acquisition unit that acquires the visible range of the driver in the vehicle, and the target detected by the target detection unit is within the visible range, An exclusion unit that excludes the notification unit from the notification target.

The notification device of the present disclosure further includes an additional unit. The additional unit adds the target, which is excluded from the notification target by the exclusion unit, to the notification target on the condition that the movement direction is changed by a preset threshold value or more outside the visible range.

The notification device of the present disclosure, when the target once enters the visible range and is excluded from the target of the notification, when the target changes the moving direction by a preset threshold value or more outside the visible range, the target is changed. Add the mark to the notification target.

The situation where the target changes the movement direction beyond the preset threshold value outside the visible range is a situation in which the driver's attention should be directed to the target.
Therefore, according to the notification device of the present disclosure, even after the target once enters the visible range and is excluded from the target of the notification, if the driver needs to pay attention to the target, the target is related to the target. Notification can be made.

3 is a block diagram showing the configuration of the notification device 1. FIG. 3 is a block diagram showing a functional configuration of the notification device 1. FIG. It is a flow chart showing the whole processing which information device 1 performs. It is a block diagram showing a configuration of a terminal 47. It is a flow chart showing visual recognition range acquisition processing which information device 1 performs. It is explanatory drawing showing the line-of-sight direction 59, the basic range 61, the blind spot range 63, and the visual recognition range A. 5 is an explanatory diagram showing a history stored in a memory 5. FIG. It is explanatory drawing showing the position and the moving direction of a detected pedestrian. It is explanatory drawing showing the example of the result of the process which the alerting|reporting apparatus 1 performs.

An embodiment of the present disclosure will be described.
<First Embodiment>
1. Configuration of Notification Device 1 The configuration of the notification device 1 and the configuration related thereto will be described with reference to FIGS. 1 and 2. The notification device 1 is a device mounted on a vehicle. Hereinafter, the vehicle equipped with the notification device 1 is referred to as the own vehicle. The notification device 1 is mainly composed of a well-known microcomputer having a CPU 3 and a semiconductor memory such as a RAM, a ROM, a flash memory (hereinafter referred to as a memory 5). Various functions of the notification device 1 are realized by the CPU 3 executing a program stored in the non-transitional substantive recording medium. In this example, the memory 5 corresponds to a non-transitional substantive recording medium storing a program. Further, by executing this program, the method corresponding to the program is executed. Note that the number of microcomputers included in the notification device 1 may be one or more.

As shown in FIG. 2, the notification device 1 has a configuration of functions realized by the CPU 3 executing a program, as shown in FIG. 2, a target detection unit 7, a notification unit 9, a moving direction acquisition unit 11, and a range acquisition unit. 13, an exclusion unit 15, an addition unit 17, and a target recording unit 19. Further, the range acquisition unit 13 includes a driver direction acquisition unit 21, a basic range setting unit 23, a blind spot range acquisition unit 25, and a blind spot exclusion unit 27. The method of realizing these elements that configure the notification device 1 is not limited to software, and some or all of the elements may be realized by using hardware that is a combination of logic circuits and analog circuits.

In addition to the notification device 1, the host vehicle includes a sensor group 29, a GPS antenna 31, a driver camera 33, a communication antenna 35, an in-vehicle camera 37, a display 39, a speaker 41, and a storage device 43. Prepare

The sensor group 29 is composed of a plurality of sensors and detects a plurality of state quantities in the vehicle. Examples of the state quantity detected by the sensor group 29 include vehicle speed, yaw rate, steering angle, and acceleration.

The GPS antenna 31 receives radio waves from GPS satellites. The driver camera 33 is a camera provided in the passenger compartment of the vehicle. The driver camera 33 captures an area including the face of the driver of the vehicle.

The communication antenna 35 receives pedestrian information by wireless communication from a terminal 47 described later. The vehicle-mounted camera 37 is a camera that captures a landscape around the vehicle. The shooting range of the vehicle-mounted camera 37 may be any of the front, side, and rear of the host vehicle. Further, the shooting range of the vehicle-mounted camera 37 may be a range including the front and side of the host vehicle, or a range including the side and the rear of the host vehicle.

The display 39 is provided in the vehicle compartment of the own vehicle. The display 39 can display an image in response to an instruction from the notification device 1. The driver of the own vehicle can see the display 39.

The speaker 41 is provided in the vehicle compartment of the own vehicle. The speaker 41 can output a sound in response to an instruction from the notification device 1. The driver of the own vehicle can listen to the sound output from the speaker 41.

The storage device 43 stores information such as map information 45. The map information 45 is map information that specifies the positions of roads, buildings, and the like.
2. Processing executed by the notification device 1 The processing executed by the notification device 1 repeatedly at predetermined time intervals will be described with reference to FIGS. 3 to 9. In step 1 of FIG. 3, the target detection unit 7 uses the communication antenna 35 to determine whether or not pedestrian information can be received. The pedestrian information is information including the position information P _W and the identification information ID of the terminal 47. Pedestrian information corresponds to target information.

The pedestrian information is information that the terminal 47 shown in FIG. 4 transmits by wireless communication. The terminal 47 is a terminal carried by a pedestrian. Pedestrians correspond to targets. The terminal 47 includes a control unit 49, a GPS antenna 51, and a communication antenna 53. The control unit 49 holds the identification information ID in advance. The identification information ID is unique to each terminal 47 and is different for each terminal 47.

The control unit 49 acquires the position information P _W indicating the position of the terminal 47 by using the GPS antenna 51 at regular intervals. Since the terminal 47 is carried by a pedestrian, the position information P _W is information indicating the position of the pedestrian carrying the terminal 47. The identification information ID is information for identifying a pedestrian carrying the terminal 47.

The control unit 49 transmits the pedestrian information including the position information P _W and the identification information ID at regular intervals using the communication antenna 53.
If the notification device 1 can receive the pedestrian information, the process proceeds to step 2, and if not, the process ends.

In step 2, the target detection unit 7 extracts the position information P _W and the identification information ID from the pedestrian information received in step 1. In the following, a pedestrian carrying the terminal 47, which is the transmission source of the pedestrian information received in step 1, is a detected pedestrian. The extracted position information P _W represents the position of the detected pedestrian. The extracted identification information ID is information that can be used to identify the detected pedestrian.

In step 3, the target detection unit 7, by using a GPS antenna 31, acquires position information _{P C} of the vehicle.
In step 4, the target detection unit 7, the position information P _W extracted in step 2, and position information P _C obtained in the step 3 is mapped in the map information 45.

In step 5, the target detection unit 7 determines whether or not the detected pedestrian exists in the vicinity of the own vehicle by using the mapping result in step 4 above. The vicinity of the host vehicle means a region where the distance from the host vehicle is equal to or less than a preset upper limit value and is outside the building. If the detected pedestrian exists in the vicinity of the own vehicle, the process proceeds to step 6, and if the detected pedestrian does not exist in the vicinity of the own vehicle, this processing ends.

In step 6, the range acquisition unit 13 acquires the visible range A for the driver of the own vehicle. The visible range A means a range having a constant spread in the left and right centering on the line-of-sight direction of the driver. However, the blind spot range 63 described later is not included in the line-of-sight range A. The possibility that the driver visually recognizes the pedestrian is higher when the pedestrian is within the line-of-sight range A than when the pedestrian is outside the visible range A.

A method for the range acquisition unit 13 to acquire the visible range A will be described with reference to FIGS. 5 and 6. In step 21 of FIG. 5, the driver camera 33 is used to acquire an image of a range including the face of the driver 57 in the vehicle 55.

In step 22, the driver direction acquisition unit 21 recognizes the driver's face and the driver's eyes in the image acquired in step 21 by a known image recognition technique. Then, the driver direction acquisition unit 21 determines the line-of-sight direction 59 of the driver 57 based on the recognized face direction and the position of the black eye in the eye. The line-of-sight direction 59 may be a direction within a horizontal plane or a direction having a vertical component.

In step 23, the basic range setting unit 23 sets the basic range 61 based on the line-of-sight direction 59 determined in step 22 and the position information P _C acquired in step 3. The basic range 61 is a fan-shaped range which has the position represented by the position information P _C as its apex and has a spread of a constant angle θ to the left and right around the line-of-sight direction 59. The basic range 61 is a range in which the distance from the host vehicle 55 is a fixed value L or less. L is a positive number.

In step 24, the blind spot range acquisition unit 25 captures an image of the surroundings of the vehicle using the vehicle-mounted camera 37 and acquires an image.
In step 25, the blind spot range acquisition unit 25 acquires the blind spot range 63 using the image acquired in step 24. The blind spot range 63 is a range that is a blind spot as seen from the viewpoint of the driver 57. The blind spot range 63 includes, for example, a blind spot due to the shadow of another vehicle 65 and a blind spot due to the shadow of the building 67.

In step 26, the blind spot exclusion unit 27 excludes the blind spot range 63 acquired in step 25 from the basic range 61 set in step 23. The range remaining without being excluded from the basic range 61 is defined as a visible range A.

Returning to FIG. 3, in step 7, the exclusion unit 15 determines whether or not the position represented by the position information P _W extracted in step 2 is within the visual recognition range A acquired in step 6. If the position represented by the position information P _W is within the visual recognition range A, the process proceeds to step 8, and if the position represented by the position information P _W is not within the visual recognition range A, the process proceeds to step 11.

In step 8, the exclusion unit 15 sets the notification target flag F _α of the detected pedestrian to 0. The notification target flag F _α is a flag set to 0 or 1 for the detected pedestrian. When the notification target flag F _α is 0, the detected pedestrian is excluded from the notification targets in step 18 described later. When the notification target flag F _α is 1, the detected pedestrian is a target of notification in step 18 described later.

In step 9, the target recording unit 19 sets the flag F _β within the visible range of the detected pedestrian to 1. The visual recognition range flag F _β is a flag set to 0 or 1 for the detected pedestrian. The visibility range flag F _β is set to 1 when it is determined in step 7 that the position represented by the position information P _W is within the visibility range A, and the position represented by the position information P _W is It is set to 0 when it is determined that it is not within the visible range A.

In step 10, the target recording unit 19 updates the history by adding the latest information regarding the detected pedestrian. As shown in FIG. 7, the history includes the time t at which the pedestrian information is received, the identification number ID and the position information P _W included in the pedestrian information, the notification target flag F _α in the detected pedestrian, and the detected walking. It is a database in which the in-viewing range flag F _{β of the} person is recorded in association with each other. The history is recorded in the memory 5.

In the following, a combination of the time t, the identification number ID, the position information P _W , the notification target flag F _α , and the in-viewing range flag F _β that are associated with each other is referred to as unit data DU.
In this step, the history is updated by adding the latest unit data DU to the history up to that point.

When a negative determination is made in step 7, the process proceeds to step 11. In step 11, the target recording unit 19 sets the flag F _β within the visible range of the detected pedestrian to 0.
In step 12, the target recording unit 19 determines whether the detected pedestrian is a new detected pedestrian. The new detected pedestrian means a detected pedestrian whose unit data DU including the identification information ID of the detected pedestrian does not exist in the history. The target recording unit 19 compares the identification information ID extracted in step 2 with the history to determine whether the detected pedestrian is a new detected pedestrian. If the detected pedestrian is not a new detected pedestrian, the process proceeds to step 13. If the detected pedestrian is a new detected pedestrian, the notification target flag F _{α is set} to 1 in step 19, and then the process proceeds to step 18.

In step 13, the target recording unit 19 reads from the history the unit data DU including the same identification information ID as the identification information ID extracted in step 2.
In step 14, the target recording unit 19 determines whether or not the notification target flag F _α in the latest unit data DU of the unit data DU read in step 13 is 0. If the notification target flag F _α is 0, the process proceeds to step 15, and if the notification target flag F _α is not 0, the process proceeds to step 18.

In step 15, the moving direction acquisition unit 11 acquires the past moving direction D of the detected pedestrian using the unit data DU read in step 13. A method of acquiring the moving direction D will be described based on FIG. In the unit data DU read in step 13, the positions of the detected pedestrians at times t ₀ , t ₁ , t ₂ , t ₃ , and t ₄ are P _W0 , P _W1 , P _W2 , P _W3 , and P _W4. Suppose

Movement direction _{D 1} of the detection pedestrian at time _{t 1} is the direction toward the position _{P W1} from the position _{P W0.} Likewise, the moving direction _{D 2} of the detection pedestrian at time _{t 2} is the direction toward the position _{P W2} from the position _{P W1.} Further, the movement direction _{D 3} of the detection pedestrian at time _{t 3} is the direction toward the position _{P W3} from the position _{P W2.} The time _t the moving direction _{D 4} of the detection pedestrians in ₄ is a direction toward the position _{P W4} from the position _{P W3.}

In step 16, the additional unit 17 determines whether or not the condition J for changing the notification target flag F _α of the detected pedestrian to 1 is satisfied.
The condition J is a condition that the moving direction D at the present time changes by a preset threshold value or more as compared with the previous moving direction D when the detected pedestrian visual recognition range flag F _β is 0. .. This condition J is equivalent to the detected pedestrian changing the movement direction D outside the visible range A by a preset threshold value or more. Examples of the threshold value include values of 30 degrees, 45 degrees, 60 degrees, 90 degrees, and the like.

The additional unit 17 uses the visibility range flag F _β included in the unit data DU read in step 13 and the transition of the moving direction D of the detected pedestrian in the past acquired in step 15 to determine the condition J. To determine whether is satisfied.

When the condition J is satisfied, the process proceeds to step 17, and when the condition J is not satisfied, the process proceeds to step 10.
In step 17, the notification target flag F _α for the detected pedestrian is set to 1.

In step 18, the notification unit 9 notifies the detected pedestrian. The notification means displaying a warning image for notifying the presence of the detected pedestrian on the display 39 and outputting a warning sound for notifying the presence of the detected pedestrian using the speaker 41. After step 18, the process proceeds to step 10.

An example of the above processing will be described with reference to FIG. The positions P _W of the detected pedestrians are P _W0 , P _W1 , P _W2 , and P _W3 at times t ₀ , t ₁ , t ₂ , and t ₃ , respectively. Times t ₀ , t ₁ , t ₂ , and t ₃ are times when it is determined that the pedestrian information is received in step 1 above. The detected pedestrian was first detected at time t ₀ . The moving directions D of the detected pedestrians are D ₁ , D ₂ , and D ₃ at times t ₁ , t ₂ , and t ₃ , respectively. The moving direction D ₁ and the moving direction D ₂ are the same. The moving direction D ₃ is a direction that is changed by 90 degrees from the moving direction D ₂ . 90 degrees is a value that exceeds the threshold in condition J.

The position of the host vehicle 55 is P _C0 , P _C1 , P _C2 , and P _C3 at times t ₀ , t ₁ , t ₂ , and t ₃ , respectively. The visual recognition range A is A ₀ , A ₁ , A ₂ , and A ₃ at times t ₀ , t ₁ , t ₂ , and t ₃ , respectively. The position P _W0 is outside the visible range A ₀ . The position P _W1 is within the visible range A ₁ . The position P _W2 is outside the visible range A ₂ . The position P _W3 is outside the visible range A ₃ .

The detected pedestrian visual recognition range flag F _β is 0 at time t ₀ , becomes _{1 at} time t ₁ , and is 0 at times t ₂ and t ₃ . The detected pedestrian notification target flag F _α is ₁ because the position P _W0 is outside the visible range A ₀ at the time t ₀ when the detected pedestrian is first detected. Next, at time t ₁ , since the position P _W1 is within the visual recognition range A ₁ , the notification target flag F _α becomes 0. Then, at time t _2, the although the flag F _beta viewable is 0, since the moving direction D ₂ is not changed from the moving direction D _1, without satisfying the condition J, the notification target flag F _alpha 0 It remains.

Then, at time t _3, within the flag F _beta viewable 0, and, since the movement direction D ₃ has changed significantly from the moving direction D _2, and satisfies the condition J, the notification target flag F _alpha It becomes 1.

As a result, the notification in step 18 is executed when the detected pedestrian is at the position P _W0 and the position P _W3 . On the other hand, the notification in step 18 is not executed when the detected pedestrian is at the position P _W1 and the position P _W2 .

3. Effects of Notification Device 1 (1A) In the notification device 1, when the detected pedestrian satisfies the condition J even after the detected pedestrian once enters the visual recognition range A and sets the notification target flag F _α to 0. The notification target flag F _{α is set} to 1, and the notification is performed. The case where the detected pedestrian satisfies the condition J is a case where the detected pedestrian largely changes the moving direction when it is highly possible that the driver does not visually recognize the detected pedestrian. In this case, the driver should pay attention to the detected pedestrian.

Therefore, even if the detected pedestrian once enters the visual recognition range A and sets the notification target flag F _α to 0, the notification device 1 detects the detected walk if the driver should pay attention to the detected pedestrian. A person can be informed.

(1B) The notification device 1 acquires the line-of-sight direction 59 of the driver. Then, the notification device 1 sets, as the basic range 61, a range having a certain extent centered on the line-of-sight direction 59. Further, the notification device 1 sets the range excluding the blind spot range 63 from the basic range 61 as the visible range A. Thereby, the visual recognition range A can be easily and appropriately set.

(1C) The notification device 1 acquires the blind spot range 63 using an image of the surroundings of the host vehicle 55. Thereby, the blind spot range 63 can be set easily and appropriately.
(1D) The notification device 1 detects the detected pedestrian by receiving the pedestrian information transmitted from the terminal 47. Thereby, the detected pedestrian can be detected easily and accurately.

(1E) The pedestrian information received by the notification device 1 includes the positional information P _W of the detected pedestrian and the identification information ID of the detected pedestrian. Thereby, the notification device 1 can easily acquire the position of the detected pedestrian. In addition, the notification device 1 can easily identify the detected pedestrian.

(1F) The notification device 1 detects a pedestrian and gives a notification. Although a pedestrian may suddenly change the moving direction D, the informing device 1 can appropriately provide an alert according to a change in the moving direction of the pedestrian or the like.
<Other Embodiments>
Although the embodiments for carrying out the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be carried out.

(1) In step 6, the basic range 61 may be set as the visible range A as it is. In this case, the visible range A can be acquired more easily. In this case, the basic range setting unit 23 corresponds to the visual recognition range setting unit.

(2) In step 22, the direction in which the driver's face is facing may be acquired instead of the line-of-sight direction 59. The direction in which the face of the driver is facing can be obtained by recognizing the face of the driver by a known image recognition technique in the image acquired in step 21 and based on the face. In step 23, the basic range 61 may be a fan-shaped range centered on the direction in which the driver's face is facing and having a spread of a constant angle θ to the left and right.

(3) The mode of notification in step 18 may change according to the moving direction D. For example, the notification when the moving direction D is the direction toward the host vehicle 55 can be made more noticeable to the driver than the notification when the moving direction D is another direction. As a notice more noticeable to the driver, for example, the image displayed on the display 39 is enlarged, and the color of the image is made more noticeable. Examples include increasing the image display time, increasing the volume of the speaker 41, and increasing the time during which the speaker 41 outputs sound.

(4) The target detected by the notification device 1 and targeted for notification may be a target other than a pedestrian. Examples of targets other than pedestrians include vehicles, motorcycles, and bicycles. The vehicle, the two-wheeled vehicle, the bicycle, etc. may hold the terminal 47, or the vehicle, the two-wheeled vehicle, the bicycle, etc. may have the same function as the terminal 47.

(5) The notification device 1 may detect the pedestrian and identify the position of the pedestrian by a method other than the method of receiving the pedestrian information. For example, a pedestrian may be detected and the position of the pedestrian may be specified using a camera, a radar device, or the like.

(6) When a plurality of detected pedestrians are detected, the notification device 1 can prioritize the plurality of detected pedestrians, and sequentially perform notification according to the priority order. For example, the higher the moving speed of the detected pedestrian, the higher the priority can be. In addition, the higher the danger level of the detected pedestrian, the higher the priority can be. The risk level of the detected pedestrian can be increased, for example, as the distance between the own vehicle and the detected pedestrian or the shorter collision margin time.

(7) In step 7, even if the position of the detected pedestrian is temporarily outside the visible range A, the length of time during which the position of the detected pedestrian is outside the visible range A is set in advance. If it is less than or equal to the threshold value, a positive determination may be made. In this case, for example, it is possible to prevent the notification target flag F _{α from} becoming 1 only when the driver looks aside for a short time.

(8) The notification device 1 may acquire the moving direction D by a method other than the method described above. For example, the terminal 47 can acquire the moving direction D of the pedestrian and can transmit the pedestrian information including the moving direction D. The notification device 1 can extract the moving direction D from the received pedestrian information.

(9) The notification device 1 may acquire the blind spot range 63 by another method. For example, the notification device 1 holds, as the map information 45, three-dimensional map information that also includes information about the height of a building or the like. The notification device 1 maps the position of the vehicle on the map information 45. Further, the notification device 1 uses the height information held by the map information 45 to infer a range that cannot be visually recognized due to a shadow of a building or the like when viewed from the position of the vehicle, and sets the range as a blind spot range 63. ..

(10) A plurality of functions of one constituent element in the above-described embodiment may be realized by a plurality of constituent elements, or one function of one constituent element may be realized by a plurality of constituent elements. .. Further, a plurality of functions of a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above-described embodiment may be added or replaced with respect to the configuration of the other above-described embodiment. Note that all aspects included in the technical idea specified only by the wording recited in the claims are embodiments of the present invention.

(11) In addition to the notification device 1 described above, a driving support system including the notification device 1 as a component, a program for causing a computer to function as the notification device 1, and a non-transitional actual state of a semiconductor memory or the like in which the program is recorded. The present invention can be realized in various forms such as a dynamic recording medium, a target notification method, a driving support method, and the like.

1... Notification device, 7... Target detection unit, 9... Notification unit, 11... Moving direction acquisition unit, 13... Range acquisition unit, 15... Exclusion unit, 17... Addition unit

Claims (8)

A target detection unit that detects a target existing around the vehicle,
An informing unit for informing about the target detected by the target detecting unit,
A movement direction acquisition unit that acquires a movement direction of the target detected by the target detection unit,
A range acquisition unit for acquiring the visible range of the driver in the vehicle,
After determining whether the target detected by the target detection unit is within the visible range and determining that the target is within the visible range, the target is notified from the target of the notification by the notification unit. An exclusion unit to exclude,
The target excluded from the notification target by the exclusion unit, outside the visible range, subject the target to the notification on condition that the moving direction is changed by a preset threshold value or more. An additional unit to add,
A notification device including. The notification device according to claim 1, wherein
The range acquisition unit,
A driver direction acquisition unit that acquires the line-of-sight direction of the driver or the direction in which the face is facing,
A visual range setting unit that sets a range having a certain extent as the visual range, centered on the direction of the line of sight or the direction in which the face is facing,
A notification device including. The notification device according to claim 1, wherein
The range acquisition unit,
A driver direction acquisition unit that acquires the line-of-sight direction of the driver or the direction in which the face is facing,
A basic range setting unit that sets a range having a certain extent as a basic range, with the direction of the line of sight or the direction in which the face faces as the center,
A blind spot range acquisition unit that acquires a blind spot range from the viewpoint of the driver,
A range excluding the range of the blind spot from the basic range, a blind spot excluding unit to set as the visible range,
A notification device including. The notification device according to claim 3,
The said blind spot range acquisition unit is an alerting|reporting apparatus which acquires the range used as the said blind spot using the image which image|photographed the circumference|surroundings of the said vehicle. The notification device according to any one of claims 1 to 4,
The target detection unit detects the target by receiving the target or target information transmitted from a terminal carried by the target. The notification device according to claim 5.
The target information includes a position information of the target and an identification information of the target. The notification device according to any one of claims 1 to 6,
The notification unit is a notification device that changes a mode of the notification according to a moving direction of the target with respect to the vehicle. The notification device according to any one of claims 1 to 7,
The notification device in which the target is a pedestrian.

Images