Alarm device and alarm method
An alarm device executes first alarm processing when an alarm target satisfies a first alarm condition, and second alarm processing when the alarm target satisfies a second alarm condition. In a first alarm state where the first or second alarm processing is executed upon detection of the alarm target, when a second object is detected as an alarm target different from a first object that is an alarm target of the first alarm state, the alarm device does not execute the first alarm processing for the second object as the alarm target even when the second object satisfies the first alarm condition, determines priorities of the second alarm processing for the first object and the second object when the second object satisfies the second alarm condition, and executes the second alarm processing for the second object when the priority of the second alarm processing for the second object is higher.
1 . An alarm device comprising a processor configured to:
determine whether a first target is detected by sensors mounted on a host vehicle;
determine whether the first target satisfies a first condition in response to determining that the first target is detected, the first condition being that a distance between the host vehicle and the first target is less than a first threshold value;
determine whether a second target is detected by the sensors in a state where the first target is detected;
determine whether the second target satisfies the first condition in response to determining that the second target is detected;
control a speaker or a buzzer of the host vehicle to emit a first alarm sound in a case where a determination is made that the first target satisfies the first condition and the second target does not satisfy the first condition, the first alarm sound being a continuous sound having a first frequency;
determine whether the second target satisfies a second condition in a case where a determination is made that both the first target and the second target satisfy the first condition, the second condition being that (i) the second target is located, with respect to the host vehicle, in a direction different from the first target, and (ii) a risk level is higher for the second target than for the first target; and
control the speaker or the buzzer of the host vehicle to emit a second alarm sound in a case where a determination is made that the second target satisfies the second condition, the second alarm sound being a continuous sound having a second frequency different from the first frequency.
2 . The alarm device according to claim 1 , wherein the processor is further configured to:
determine whether the first target satisfies a third condition in a case where a determination is made that the first target does not satisfy the first condition, the third condition being a distance between the host vehicle and the first target is equal to or less than a second threshold value, the second threshold value being greater than the first threshold value; and
control the speaker or the buzzer of the host vehicle to emit a third alarm sound in a case where the first target satisfies the third condition, the third alarm sound being an intermittent sound having the first frequency.
3 . The alarm device according to claim 2 , wherein the third alarm sound corresponds to an alert that alerts an occupant in the host vehicle, and the first alarm sound and the second alarm sound correspond to a brake operation request that urges the occupant to perform a brake operation.
4 . The alarm device according to claim 1 , wherein the processor is further configured to control the speaker or the buzzer of the host vehicle to emit the first alarm sound in a case where a determination is made that the second target does not satisfy the second condition.
5 . The alarm device according to claim 1 , wherein the risk level increases as a distance between the host vehicle and the first target or the second target decreases.
6 . The alarm device according to claim 1 , wherein the processor is configured to communicate with the sensors mounted on the host vehicle, the sensors including a front camera, a rear camera, a left front side radar sensor, a central front side radar sensor, a right front side radar sensor, a left rear side radar sensor, a central rear side radar sensor, a right rear side radar sensor, a left front side sonar sensor, a right front side sonar sensor, a left rear side sonar sensor, and a right rear side sonar sensor.
7 . The alarm device according to claim 6 , wherein
the processor is further configured to:
acquire data corresponding to multiple regions around the host vehicle from the sensors, the multiple regions being obtained by dividing an area surrounding the host vehicle into a plurality of areas; and
determine in which of the multiple regions the first target and the second target are respectively located based on the acquired data, and
the determination of whether the second target satisfies the second condition includes determining whether the first target and the second target exist in the same region.
8 . The alarm device according to claim 7 , wherein a condition is satisfied that the second target is located, with respect to the host vehicle, in the direction different from the first target, in a case where the first target and the second target do not exist in the same region.