JPH05250589A - Alarm device - Google Patents

Abstract

PURPOSE:To give an effective alarm to a specific alarmed object person. CONSTITUTION:A sensor 1 is a set of various sensors which detect reference quantities of alarm generation and an alarm sound generation judgement part 2 makes an ON/OFF judgement for an alarm sound according to the reference quantities from the sensor 1 and outputs an alarm sound ON/OFF signal. An alarm original sound generation part 3 controls the output and stop of an alarm original sound according to the alarm sound ON/OFF signal from the alarm sound generation judgement part 2. Further, a sound image control part 4 performs signal processing such as digital filtering wherein 'head transfer function' is simulated for the alarm original sound from the alarm original sound generation part 3 and generates the alarm sound which invades an object human individual space to be alarmed, thereby stimulating only a driver.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a warning device, and more particularly to a warning device for generating a warning sound to a driver of a running vehicle.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Laid-Open No. 56-222.
No. 8 and Japanese Patent Laid-Open No. 1-732286, when a vehicle is driving or getting up, a warning sound (alarm sound) is generated as a stimulus to awaken a person driving the vehicle or a person sleeping. There is a device. Then, in this type of device, a warning sound is usually set to a large volume in order to enhance the awakening effect.

[0003]

However, in the above-mentioned conventional apparatus, when there is another person other than the person around the person to be warned, that is, the person to be warned, for example, When there is a passenger in the vehicle or when another person is sleeping in the surroundings, it is not possible to use a loud volume to stimulate a specific person to awaken.

Further, if the alertness depends only on the volume of the warning sound, there is a problem that the person who is the target of the warning becomes accustomed to the high volume and the effect of the warning disappears. The present invention has been made in view of the above points, and generates a sound image of a warning sound in the personal space of a person who is to give a warning, invades the personal space, and repulsion or attack caused by it. An object is to provide a warning device that obtains an effective warning effect from physical psychology.

[0005]

In order to achieve the above object, the present invention comprises the following constitutions. That is, a warning device that generates a warning sound using a plurality of electro-acoustic conversion means, means for generating a signal that is a criterion for the warning sound generation, and whether or not the warning sound is generated based on the signal. Means for generating a warning original sound in response to the determination result, and a control means for controlling the sound image of the warning original sound,
The control means forms a sound image in a specific area surrounding a person who is a target of warning.

[0006]

In the above structure, it functions to give an effective warning to a specific warning subject.

[0007]

【Example】

[Explanation of the Principle of the Invention] An animal such as a human has a habit of naturally having a territory (a territorial consciousness), and an eye surrounding the individual does not enter into the space surrounding the individual. A region surrounded by a boundary line that cannot be seen is formed. When an animal tries to enter this area, it has a feeling of fear or pressure, and causes a strong emotional reaction such as repulsion or attack.

Therefore, a sound image of a warning sound is generated in the personal space (personal space) of the person who is going to give the warning (here, the driver of the vehicle), and it is caused by violating the personal space with the warning sound. An effective warning effect can be obtained by utilizing the repulsion and aggressive psychology. Such a warning method has a great warning effect because it has an effect as an emotional stimulus rather than giving a stimulus that causes a human to perceive sound pressure.

That is, according to this method, an effective warning effect is obtained when a large volume cannot be used as a warning, or when it is used in combination with a large volume as the next means when a familiarization effect on the volume appears. can get. In addition, by controlling the way of infringing the personal space, it is possible to give a warning effect of moderate strength to a human being and an effect of attracting a warning sound in the direction of the warning sound. Note that the sound image is used here
This is because the driver can determine its position only by hearing, which means that it is a safer warning method for the driver than a visual warning.

[Description of Basic Structure of Device] FIG. 1 is a block diagram showing the basic structure of an alarm device according to an embodiment of the present invention. As shown in the figure, the warning device has a sensor 1, a warning sound generation determination unit 2, a warning original sound generation unit 3, and a sound image control unit 4 as its main components. The sensor 1 is, for example,
When the vehicle is running, drowsiness of the driver or vehicle lightness,
It is a set of various sensors that detect a reference amount of alarm generation such as a predetermined time, and the alarm sound generation determination unit 2 determines ON / OFF of the alarm sound based on the reference amount from the sensor 1. A warning sound ON / OFF signal is output. The original warning sound generation unit 3 turns on / off the warning sound from the warning sound generation determination unit 2.
The output of the warning original sound and its stop are controlled according to the OFF signal. In addition, the sound image control unit 4 performs signal processing such as digital filtering that simulates a “head transfer function” described later on the warning original sound from the warning original sound generating unit 3 to generate a warning in the personal space of the human being to be the warning target. By forming the sound image of the original warning sound, that is, the warning sound that violates the personal space, only the driver is stimulated. The warning sound is generated by the speaker 10L,
It is given to the person (driver) 20 who is the target of the warning in the personal space 15 via 10R.

In FIG. 2, a person 20 to be warned
Two speakers 10L and 10R are arranged in the rear part of the back, and a path from the center of these speakers to the left and right ears of the human 20 is indicated by a symbol H. Here, the symbol H is the “head related transfer function” of each path. Further, the position of the sound image is indicated by X, and the sound image is controlled to the localization by processing the original sound according to the block diagram shown in FIG.
In addition, in FIG. 3, components indicated by reference numerals 31 to 34 will be described later.

FIG. 4 is a block diagram showing the internal structure of the sound image control unit 4 to which the above-mentioned original sound processing is applied. In the figure, the switching switch 42 is a switch that switches its position to any of the positions according to the parameter input to the sound image control unit 4. The switching condition will be described later. Further, the clock generator 41 uses the head related transfer functions Hφ ₁ and Hφ corresponding to each sound image position X when moving the sound image.
Generates a clock that becomes the reference for the switching timing of ₂ .

The sound image moving speed parameter converter 43 receives the sound image moving speed parameter Pv, outputs the sound image position X corresponding to Pv by measuring the timing with the clock. That is, the conversion of Pv → X (t _i ) ... (1) is performed. Similarly, the sound image moving direction parameter converter 44 inputs the sound image moving direction parameter Pα, measures the timing with the clock, and outputs the sound image position X corresponding to Pα. The conversion is represented by Pα → X (t _i ) ... (2).

Further, the sound image moving direction / start point / end point parameter converter 45 inputs the sound image moving direction parameter Pα, the sound image moving start point parameter Ps, and the sound image moving end point parameter P _E, and inputs the clock signal. By timing at, the sound image position and the sound image movement end point according to the sound image movement start point are sequentially output. The conversion by the sound image moving direction / start point / end point parameter converter is shown by an equation: Pα → X (t _i ) ... (2) Ps → X (t _start ) ... (3) P _E → X ( t _end ) ... (4)

In the sound image position / head transfer function table 46, head transfer functions Hφ ₁ and Hφ ₂ are prepared in advance in association with the sound image position X, and the head image transfer functions Hφ ₁ and Hφ ₂ are prepared according to the input sound image position X. Head related transfer functions are searched and they are output. Circulating signal generator 3 shown in FIGS. 3 and 4.
1 performs signal processing corresponding to (H ₁₂ / H ₁₁ ) ² for the head related transfer function, and the delay signal generator 32 outputs (H ₁₂ · Hφ ₂ ) / (H _{11 for the} input head related transfer function.・
Signal processing corresponding to Hφ ₁ ) is performed. Further, the common frequency correction device 33 performs signal processing in which the head related transfer function Hφ ₁ is divided by H ₁₁ , and the result is processed by the left speaker SP ₁ (10
It is output as an acoustic signal to L). Further, the binaural creation device 34 is (H ₁₁ · Hφ ₂ −H ₁₂ · Hφ ₁ ) / (H _{11
· Hφ 1 -H 12 · Hφ 2} ) performs the signal processing corresponding to performs output of sound signals to the right speaker SP ₂ (10R). Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[First Embodiment] A first embodiment of the present invention will be described. FIG. 5 is a block diagram showing the configuration of the warning device according to the first embodiment of the present invention. In the figure, the same components as those of the warning device shown in FIG. 1 are designated by the same reference numerals, and their description will be omitted.

The warning device according to the present embodiment controls the volume of the sound image according to the degree of danger as the content of the warning, and in the case of an imminent warning, the volume is a step function, and
If not, an appropriate warning is given at a low volume that calls attention. The warning sound volume determination unit 5 shown in FIG. 5 controls the original warning sound generation unit 3 based on the judgment reference amount of the warning generation from the sensor 1 so that the warning sound has a volume corresponding to the content of the warning. The warning volume parameter, which is a parameter, is output. Then, the original warning sound generation unit 3 controls the output of the original warning sound, its stop, and the warning sound volume according to the warning sound ON / OFF signal from the warning sound occurrence determination unit 2 and the warning sound volume parameter from the warning sound volume determination unit 5. To do.

Next, the operation of the sound image controller 4 in this embodiment will be described. As described above, in the present embodiment, the volume of the sound image is controlled according to whether the warning level is serious or slight. Therefore, the switching switch 42 shown in FIG. 4 is turned to the side, and the sound image position X is input to the sound image position / head transfer function table 46. When the head related transfer functions Hφ ₁ and Hφ ₂ corresponding to the sound image position X are retrieved, they are input to the delay signal generator 32, the common frequency correction device 33, and the binaural difference generator 34. It

The warning original sound signal from the warning original sound generating unit 3 is
In addition to the delay signal generation device 32, the common frequency correction device 33, the binaural difference generation device 34, the circulation signal generation device 31 performs processing with predetermined signal processing characteristics, and then the left and right speakers 10 are processed.
It is output to L and 10R. That is, here, signal processing is performed by the digital filter that simulates the head-related transfer function from the point X shown in FIG.

FIG. 6 is a diagram showing an example of frequency level characteristics of signal processing in this embodiment. As shown in the figure, here, a signal sound that spreads on the frequency axis and matches the sensitivity of the human ear is used as a warning sound, and the sound image is controlled by filtering this signal sound. ing. As described above, according to the present embodiment, by controlling the sound image in the personal space according to the degree of danger, it is possible to give an appropriate warning to the warning target person.

[Second Embodiment] The second embodiment according to the present invention will be described below. FIG. 7 is a block diagram showing the configuration of the alarm device according to the second embodiment. In the figure, the same components as those of the warning device shown in FIG. 1 are designated by the same reference numerals, and their description will be omitted. In the warning device according to the present embodiment, the content of the warning, that is, the moving speed of the sound image is controlled according to the degree of danger, and in the case of an urgent warning, a high speed that immediately approaches the sound image. If it is not, or if it is not, for example, when the vehicle is congested, a warning is given by a sound image of moving at a low speed that warns the driver.

The sound image moving speed setting unit 6 shown in FIG. 7 tells the sound image control unit 4 the moving speed of the sound image of the warning sound according to the warning content based on the judgment reference amount of the warning occurrence from the sensor 1. A sound image moving speed parameter Pv, which is a parameter for controlling to have, is output. Then, the sound image control unit 4 performs signal processing on the warning original sound from the warning original sound generating unit 3 such as switching of digital filtering characteristics simulating a head related transfer function according to the sound image moving speed parameter Pv, and the like. A sound image of a warning original sound that moves at a speed according to a warning content is formed in a personal space of a target person.

The operation of the sound image control unit 4 of the apparatus according to this embodiment is as follows. The sound image moving speed parameter Pv is input, the switching switch 42 shown in FIG. 4 is set to the side, and this parameter is set to the sound image moving speed parameter converter 4.
Input to 3. For this input, from the sound image movement speed parameter converter 43, the sound image position X that are timed by the clock t _i is output. Then, as in the above embodiment, the head-related transfer functions Hφ ₁ and Hφ ₂ corresponding to X are searched by referring to the sound image position / head-related transfer function table 46, and these are searched for in the delay signal generator 32 and the common frequency correction. The signal is input to the device 33 and further to the binaural creation device 34, and undergoes processing with a predetermined signal processing characteristic.

The warning original sound signal from the warning original sound generating unit 3 is
Circulating signal generator 31 and delay signal generator 3
2. The signal is output to the left and right speakers 10L and 10R after being processed by the common frequency correction device 33 and the binaural difference creation device 34. FIG. 8 is a diagram showing an example of the frequency level characteristic of the signal processing in this embodiment. Here, the original warning sound is
As shown in FIG. 7, subjecting the sound image moving from the point X1 to the point X2 (the moving speed thereof is v) to signal processing by a digital filter simulating a head-related transfer function to both ears of the human 20. become. That is, the precision of movement of the sound image is improved by finely controlling the frequency characteristics of the sound to the human right and left ears.

In the characteristic shown in FIG. 8, the filtering characteristic GX1 is a characteristic for localizing the sound image at X1 according to the sound image moving speed parameter Pv. Then, in order to move the sound image to a predetermined position at the speed v, the characteristics are switched to the characteristic GX2 for finally localizing the sound image at the point X2 through the intermediate characteristics g1, g2, .... As explained above,
According to the present embodiment, the filter characteristic is switched according to the predetermined parameter, and the sound image of the warning original sound that moves at a speed according to the warning content is formed in the personal space of the person who is the warning target, thereby increasing the degree of danger. Accordingly, there is an effect that a warning can be issued to the driver.

[Third Embodiment] Next, a third embodiment of the present invention will be described. In the warning device according to the present embodiment, the moving direction of the sound image is controlled according to the warning content such as the degree of danger and the risk factor, and when the degree of danger is high, that is, in a situation where an urgent warning is required, the warning is given. The sound image is moved in the direction that approaches the person. That is, an attractive point is set in the direction of the risk factor, and the sound image is moved from that direction to give an appropriate warning.

FIG. 9 is a block diagram showing the structure of the warning device according to this embodiment. In the figure, the same components as those of the warning device shown in FIG. 1 are designated by the same reference numerals, and their description will be omitted. In FIG. 9, the vehicle approach detection unit 7
Detects the approach of the own vehicle to a risk factor such as the approach of the own vehicle and another vehicle, or the approach of the own vehicle and another object, and outputs the reference amount necessary for determining the attraction point. That is, the vehicle approach detection unit 7 has a function of detecting a risk factor and outputting a reference amount necessary for determining the direction of the alerted person when the alert is effective. Further, when the sound image movement direction setting unit 8 receives the amount of the warning reference from the sensor 1 and the amount required to judge the attraction point from the vehicle approach detection unit 7, the sound image moving direction setting unit 8 receives the sound image accordingly. A sound image moving direction parameter Pα for controlling the moving direction of the sound is output.

Then, the sound image control unit 4 responds to the warning original sound from the warning original sound generating unit 3 with the sound image moving direction parameter P.
Signal processing such as switching of digital filtering characteristics simulating the head related transfer function in accordance with α is performed, and a sound image of the original warning sound that moves in the direction according to the content of the warning is formed in the personal space of the human being targeted for the warning. .. The operation of the sound image control unit 4 forming the warning device according to the present embodiment is as follows.

That is, the sound image moving direction parameter Pα is input, the switching switch 42 shown in FIG. 4 is set to the side, and this parameter is set to the sound image moving direction parameter converter 4.
Input to 4. This input from the sound image moving direction parameter converter 44, the sound image position X timing by the clock t _i paced is output. And the first
The head related transfer function H corresponding to the sound image position X, as in the above embodiment.
φ ₁ and Hφ ₂ are searched, and they are searched for by the delay signal generator 3
2. Input to the common frequency correction device 33 and the binaural difference creation device 34 to be processed by a predetermined signal processing characteristic.

The warning original sound signal from the warning original sound generation unit 3 is
Circulating signal generator 31 and delay signal generator 3
2. The signal is output to the left and right speakers 10L and 10R after being processed by the common frequency correction device 33 and the binaural difference creation device 34. FIG. 10 is a diagram showing an example of frequency level characteristics of signal processing in the present embodiment. In the present embodiment, as shown in FIG. 9, the warning original sound is a sound image that moves from a point X1 that is in the direction of the attraction point X and is determined by Pα to a point X2 that is a point that localizes the sound image. The signal processing by the digital filter simulating the head-related transfer function to both ears of the human 20 will be performed.

In the characteristic shown in FIG. 10, the filtering characteristic GX1 is a characteristic for locating the sound image at the point X1 according to the sound image moving direction parameter Pα. Then, in order to move the sound image to a predetermined position, g as an intermediate characteristic
1, g2, ..., Finally, the characteristic is switched to the characteristic GX2 that localizes the sound image at the point X2. As described above, according to the present embodiment, the filter characteristic is switched according to the parameter indicating the approach to the risk factor, and the sound image of the warning original sound is generated in the direction according to the warning content in the personal space of the person who is the target of the warning. By moving it, it becomes possible to set an attractive point to the driver in the direction of the risk factor and give an accurate warning.

[Fourth Embodiment] Next, a fourth embodiment of the present invention will be described. In the present embodiment, the moving direction of the sound image is controlled according to the warning content such as the degree of danger or the risk factor, and when the degree of danger is high, in other words, when an imminent warning is required, the warned person is notified. The sound image is moved in a direction that approaches straight. That is, an attractive point is set in the direction of the risk factor, and the sound image is moved from that direction to give an appropriate warning.

At this time, the movement start point and the movement end point of the movement of the sound image are controlled, and if a sufficient warning effect is obtained while the sound image for warning is moving outside the personal space, By stopping the movement of the sound image outside the space, the alerted person does not cause unnecessary attacks or repulsive psychology.
FIG. 11 is a block diagram showing the configuration of the warning device according to the present embodiment. In the figure, the same components as those of the warning device shown in FIG. 1 are designated by the same reference numerals, and their description will be omitted.

In FIG. 11, the sound image moving direction / starting point /
The end point setting unit 9 is necessary for determining the direction from the vehicle approach detection unit 7 having the same function as the vehicle approach detection unit 7 in the third embodiment when the alert of the person to be warned is effective. Parameters for controlling the moving direction, moving start point, and moving end point of the sound image according to these values A sound image movement direction parameter Pα,
The sound image movement start point parameter Ps and the sound image movement end point parameter P _E are output.

The sound image control unit 4 performs signal processing on the warning original sound from the warning original sound generating unit 3 such as switching of digital filtering characteristics simulating a head related transfer function according to the parameters Pα, Ps, and P _E. A sound image of a warning original sound that moves in a direction according to the content of the warning is formed in the personal space of the person who performs the warning. That is, in the sound image control unit 4, the sound image movement direction parameter Pα, the sound image movement start point parameter Ps, and the sound image movement end point parameter P _E are input, the switching switch 42 shown in FIG. 4 is set to the side, and these parameters are set. It is input to the direction / start point / end point parameter converter 45. This input from the sound image movement direction, the starting point and end point parameter converter 45, the sound image position X that are timed by the clock t _i is output.

Here, as in the first embodiment, the sound image position / head transfer function table 46 is also referred to, and the head related transfer functions Hφ ₁ and Hφ ₂ corresponding to X are retrieved, and these are delayed signals. It is input to the generator 32, the common frequency correction device 33, and the binaural difference creation device 34, and undergoes processing according to a predetermined signal processing characteristic. Then, the warning original sound signal from the warning original sound generation unit 3 is processed by the circulating signal generation device 31, the delay signal generation device 32, the common frequency correction device 33, and the binaural difference creation device 34, and then the left and right Speaker 10
It is output to L and 10R.

FIG. 12 is a diagram showing an example of frequency level characteristics of signal processing in the present embodiment. Here, as shown in FIG. 11, the original warning sound changes from a point X1 that is located in the direction of the attraction point X and is determined by the parameters Pα, Ps, and P _E to a point X2 that is a point that localizes the sound image. The moving sound image is subjected to signal processing by a digital filter that simulates a head-related transfer function to both ears of the human 20.

In the characteristic shown in FIG. 12, the filtering characteristic GX1 is the parameter Pα, Ps, P.
_The characteristic of localizing the sound image to the point X1 according to _E is shown. Then, in order to move the sound image to a predetermined position, it is switched to the characteristic GX2 for finally localizing the sound image at the point X2 through the intermediate characteristics g1, g2, .... Next, a warning processing procedure in the warning device according to the present embodiment will be described.

FIG. 13 is a flowchart showing a warning processing procedure according to this embodiment. In the figure, step S
In step 1, set the attraction point in the direction of the risk factor, and step S2
Then, the sound image movement start point and the sound image movement end point are set based on the sound image movement start point parameter Ps and the sound image movement end point parameter P _E. In step S3, the filtering characteristic GX1 (i) (where i indicates the sequence of a series of sound image movement control. Therefore, if it is the first movement control, i
= 1. ), The sound image is localized at the point X1 according to the parameters Pα, Ps, P _E , and in the subsequent step S4,
The sound image is moved according to the above-mentioned intermediate characteristics g1, g2, .... Then, in step S5, it is determined whether the moving sound image is outside the personal space or inside the personal space. If it is determined that the sound image is outside the personal space, step S6 is performed.
Check the warning effect at that sound image position. The confirmation of the effect here is performed based on the output from the sensor 1.

If it is determined in step S6 that the warning is effective, the process proceeds to step S10, the movement of the sound image is immediately stopped, and the present process is terminated. This is because, as described above, when a sufficient warning effect is obtained while the sound image for warning is moving outside the personal space, by stopping the movement of the sound image at that position, the person being warned This is to prevent unnecessary attacks and repulsive psychology.

On the other hand, when the effect of the warning cannot be confirmed in step S6, it is determined in the following step S7 whether or not the movement of the sound image due to the intermediate characteristic is completed. If the movement is not completed, the processing is returned to step S4. The process returns to continue the movement processing of the sound image based on the intermediate characteristic. When it is determined in step S5 that the sound image is in the personal space, or when the movement of the sound image due to the intermediate characteristic is completed in step S7,
In step S8, the sound image is converted to the point X according to the parameters Pα, Ps, and P _E by the filtering characteristic GX2 (i).
Position to 2. Then, in the next step S9, the effect of the warning is confirmed, and if the effect is obtained, the sound image moving process is ended in step S10. If there is no effect, the value of i is incremented by 1 in step S11, The process returns to step S3 again. This means controlling the movement start point and movement end point of the next sound image movement.

As described above, according to this embodiment,
When an alert point is set in the direction of the risk factor and the movement start point and movement end point of sound image movement are controlled, and a sufficient warning effect is obtained while the warning sound image is moving outside the personal space. By stopping the movement of the sound image outside the personal space, it is possible to avoid giving unnecessary stimulus or discomfort to the alerted person, and obtain a detailed alerting effect.

In each of the above-mentioned embodiments, the left and right speakers are installed behind the driver, but the present invention is not limited to this, and two or more speakers may be arranged. .. A headphone may be used instead of the speaker.

[0044]

As described above, according to the present invention,
It is possible to obtain an effective warning effect for a specific warning target person without giving discomfort to persons other than the warning target person.

[Brief description of drawings]

FIG. 1 is a block diagram showing a basic configuration of a warning device according to an embodiment of the present invention,

FIG. 2 is a sound image control unit 4 forming the warning device according to the embodiment.
For explaining sound image generation in

FIG. 3 is a sound image control unit 4 forming the warning device according to the embodiment.
For explaining sound image generation in

FIG. 4 is a sound image control unit 4 to which original sound processing according to the embodiment is applied.
Block diagram showing the internal configuration of

FIG. 5 is a block diagram showing the configuration of a warning device according to the first embodiment of the present invention,

FIG. 6 is a diagram showing an example of frequency level characteristics of signal processing in the first embodiment;

FIG. 7 is a block diagram showing the configuration of an alarm device according to a second embodiment of the present invention,

FIG. 8 is a diagram showing an example of frequency level characteristics of signal processing in the second embodiment;

FIG. 9 is a block diagram showing a configuration of a warning device according to a third embodiment of the present invention,

FIG. 10 is a diagram showing an example of frequency level characteristics of signal processing in the third embodiment;

FIG. 11 is a block diagram showing a configuration of a warning device according to a fourth embodiment of the present invention,

FIG. 12 is a diagram showing an example of frequency level characteristics of signal processing in the fourth embodiment;

FIG. 13 is a flowchart showing a warning processing procedure according to the fourth embodiment.

[Explanation of symbols]

 1 sensor 2 warning sound generation judgment unit 3 warning original sound generation unit 4 sound image control unit 5 warning sound volume judgment unit 6 sound image movement speed setting unit 7 vehicle approach detection unit 8 sound image movement direction setting unit 9 sound image movement direction / start point / end point setting Part 15 Private space 20 Human (driver)

Claims (7)

[Claims] 1. A warning device for generating a warning sound using a plurality of electro-acoustic conversion means, comprising means for generating a signal serving as a judgment reference for generating a warning sound, and a warning sound generating element based on the signals. Means for determining whether or not, a means for generating a warning original sound in response to the determination result, and a control means for controlling the sound image of the warning original sound, the control means, a specific region surrounding a human being a target of the warning A warning device, which is characterized by forming a sound image on the. 2. The warning device according to claim 1, wherein the control unit controls the volume of the sound image according to the degree of danger. 3. The control means controls the movement of the sound image so that the sound image gradually approaches a human being to be warned,
The warning device according to claim 1, wherein the moving speed of the sound image is controlled according to the degree of danger. 4. The warning device according to claim 1, wherein the control unit controls the moving direction of the sound image according to the degree of danger. 5. The control means moves the sound image from outside the area of the specific area to inside the area, and controls the start point and the end point of the movement according to the response of a human being who is a warning target. The warning device according to claim 4. 6. The control means further comprises means for detecting a risk factor approaching a human being to be warned, and generate a sound image corresponding to the direction of the risk factor. The warning device according to item 4. 7. The control means further comprises means for detecting a risk factor approaching a human being to be warned, and a sound image is generated from the direction of the mirror corresponding to the direction of the risk factor. The warning device according to claim 4.