Patent Publication Number: US-2023150424-A1

Title: System for detecting surrounding conditions of moving body

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a Continuation of U.S. patent application Ser. No. 16/177,182, filed on Oct. 31, 2018, which claims benefit under 35 USC § 120 as a Continuation of U.S. patent application Ser. No. 16/119,569, filed on Aug. 31, 2018, U.S. patent application Ser. No. 16/119,749, filed on Aug. 31, 2018, U.S. patent application Ser. No. 16/119,840, filed on Aug. 31, 2018, U.S. patent application Ser. No. 16/119,876, filed on Aug. 31, 2018, and U.S. patent application Ser. No. 16/119,905, filed on Aug. 31, 2018, which are Continuations of U.S. patent application Ser. No. 16/034,257 (U.S. Pat. No. 10,384,596, issued Aug. 20, 2019), and U.S. patent application Ser. No. 16/034,283, filed Jul. 12, 2018, which are Continuations of U.S. patent application Ser. No. 15/711,988, filed Sep. 21, 2017, which is a Continuation of U.S. patent application Ser. No. 15/489,174, filed on Apr. 17, 2017 (U.S. Pat. No. 9,802,532, issued Oct. 31, 2017), which is a Continuation of U.S. patent application Ser. No. 14/110,118, filed on Dec. 17, 2013 (U.S. Pat. No. 9,649,972, issued May 16, 2017), which is a National Stage entry under 35 USC § 371 of PCT/JP2011/058803, filed Apr. 7, 2011, the contents of which are incorporated by reference in their entirety for all purposes. 
    
    
     TECHNICAL FIELD 
     The present invention relates to a system for detecting surrounding conditions of a moving body that notifies a moving body driver of conditions around the moving body, in particular, surrounding conditions that can be used to facilitate driving of the moving body. 
     BACKGROUND ART 
     To assist driving of a vehicle (i.e., moving body), a device that notifies a vehicle driver of surrounding conditions regarding traveling of the vehicle is known (see, for example, Patent Document 1). The device notifies the surrounding conditions by displaying on an on-vehicle display unit a video obtained by video-recording surroundings of the vehicle with an on-vehicle camera. 
     However, there is a problem; to check contents displayed on the on-vehicle display unit, the driver needs to move his visual line from a travelling direction of the moving body to the display unit. 
     Patent Document 1: Japanese Patent Application Kokai No. 2000-285394 
     SUMMARY OF THE INVENTION 
     Problems to be Solved by the Invention 
     The present invention has been developed in order to solve the above-described problem, and its object is to provide a system for detecting surrounding conditions of a moving body (e.g., a vehicle, a ship, and an aircraft) that can notify a driver of surrounding conditions of the moving body without causing the driver to move his visual line. 
     Solutions to the Problems 
     A system for detecting surrounding conditions of a moving body according to claim  1  is a system for detecting surrounding conditions of a moving body that includes a plurality of lighting devices (illumination devices), a detector, and a controller. The illumination devices are disposed in a room (cabin) of the moving body. Each of the illumination devices has a switch for switching between a lighting state (or a turn on state) and an unlit state (or a turn off state). The detector is configured to detect an object to which attention must be paid around the moving body. The controller is configured to change a state of at least one of the lighting devices upon detecting the attention-required object. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram of a system for detecting surrounding conditions of a moving body according to the present invention. 
         FIGS.  2 A and  2 B  show exemplary installation of illumination panels  2  mounted in a cabin of a vehicle or the moving body. 
         FIG.  3    is a perspective view of a schematic structure of a contact-sensor-integrated EL panel  23 . 
         FIG.  4    is a flowchart illustrating a main flow of a surrounding condition notification control. 
         FIG.  5    is a flowchart illustrating a forward vehicle&#39;s rear lamp notification subroutine. 
         FIG.  6    is a flowchart illustrating a traffic light notification subroutine. 
         FIG.  7    is a flowchart illustrating a pedestrian/bicycle notification subroutine. 
         FIG.  8    is a flowchart illustrating an attention-required zone (cautionary zone) notification subroutine. 
         FIG.  9    is a flowchart illustrating an emergency vehicle notification subroutine. 
         FIG.  10    is a flowchart illustrating an obstacle notification subroutine. 
         FIG.  11 A  to  FIG.  11 E  illustrate lighting states of illumination panels  2   1  to  2   4  according to a lighting state of a rear lamp assembly of a vehicle traveling forward, respectively. 
         FIG.  12 A  to  FIG.  12 F  illustrate lighting states of illumination panels  2   5  to  2   8  according to a lighting state of a traffic light ahead, respectively. 
         FIG.  13 A  to  FIG.  13 C  illustrate lighting states of illumination panels  2   9  to  2   14  when an obstacle-to-avoid is present around the vehicle equipped with the surrounding condition detecting system, respectively. 
         FIG.  14 A  and  FIG.  14 B  illustrate exemplary lighting states of illumination panels  2   15  and  2   16  when the vehicle equipped with the surrounding condition detecting system enters an intersection with poor visibility. 
     
    
    
     MODE FOR CARRYING OUT THE INVENTION 
     When a system for detecting surrounding conditions of a moving body according to the present invention detects a “pay attention” object to which attention must be paid during traveling, in the surroundings of the moving body, then the system forcibly changes a state of at least one illumination device among a plurality of illumination devices installed in a cabin of the moving body (change from a unlit state to a lighting or blinking state, change in emission color, or change in luminance). Accordingly, even if a driver of the moving body does not visually observe an attention-required object present near the moving body, a change in the state of the lighting device (illumination device) enters the driver&#39;s field of vision. This enables the driver to recognize that the attention-required object approaches the moving body or the moving body approaches the attention-required object. To this end, changed is the state of the illumination device (s) installed at a position corresponding to a direction where the attention-required object is present. This allows the moving body driver to recognize the direction where the attention-required object is present without moving the driver&#39;s visual line. In the case where the attention-required object is lighting of a rear lamp of a forward vehicle (the rear lamp may be a lamp assembly that includes at least one of a stop lamp, a backup lamp, a turn signal lamp, and a hazard warning lamp), an illumination panel (light-emitting panel) installed in front of a driver&#39;s seat is caused to light or blink (flash) in a color corresponding to a lighting color of the rear lamp assembly. Accordingly, even if the driver does not look straight the rear lamp assembly of the forward vehicle, the driver can recognize whether the lighting rear lamp assembly of the forward vehicle is the backup lamp, the stop lamp, the turn signal lamp, or the hazard warning lamp without moving the direction of his visual line. In the case where the attention-required object is a traffic light, the illumination panel installed above the driver&#39;s seat in the moving body is caused to light in a color corresponding to a lighting color of the traffic light. Accordingly, even if the driver does not look at the traffic light ahead, the driver can recognize the lighting color of the traffic light without moving the direction of his visual line. In the case where the attention-required object is an avoidance-required obstacle which the vehicle equipped with the surrounding condition detecting system must avoid, such as pedestrian, a bicycle, a wall, an edge stone, an obstruction, or an emergency vehicle, then an illumination panel installed in a direction that the avoidance-required obstacle is present is forced to light or blink. An emission color, luminance, and/or a blinking speed of the illumination panel are also altered according to a distance and a relative speed between the moving body and the avoidance-required obstacle. When the avoidance-required obstacle is an obstruction that hinders the traveling of the vehicle equipped with the surrounding condition detecting system, then the emission color and the luminance of the lighting panel (illumination panel) are changed according to a size of the obstruction. This allows the driver to intuitively recognize a hazard of the approaching avoidance-required obstacle. 
     Embodiments 
       FIG.  1    is a block diagram of a system configuration when a system for detecting surrounding conditions of a moving body according to the present invention is provided in a vehicle. 
     In  FIG.  1   , illumination panels  2   1  to  2   n  (n represents an integer equal to or more than two), each of which serves as a lighting device or an illumination device, are installed, for example, at a front panel in front of a driver&#39;s seat, a steering wheel SW, a console box, doors DL and DR in the vehicle as illustrated by the dashed lines shown in  FIG.  2 A  and on the ceiling in the vehicle illustrated by the dashed lines shown in  FIG.  2 B , respectively. The illumination panels  2   1  to  2   n  are coupled to a controller  1  via a control bus BUS, respectively. A front camera  3 , a rear camera  5 , and a side camera  6  are also coupled to the controller  1  via the control bus BUS. 
     The illumination panels  2   1  to  2   n  have the same internal configuration. 
     When the controller  1  sends a lighting or a blinking command signal of a certain color (red, white, yellow, green, blue, purple, indigo or orange) to a lighting on/off switch  21  of an illumination panel  2  via the control bus BUS, the lighting on/off switch  21  turns on and allows a power supply voltage V 1  to be supplied to an electroluminescence (EL) panel driver  22 . When the controller  1  supplies an turn off command signal to the on/off switch  21  via the control bus BUS, the switch  21  turns off, and stops the supply of the power supply voltage V 1  to the EL panel driver  22 . The EL panel driver  22  generates various light emission drive voltages based on the lighting or blinking command signal of a desired color (red, white, yellow, green, blue, purple, indigo or orange) received from the controller  1  via the control bus BUS while the power supply voltage V 1  is being supplied through the switch  21 , and supplies the resulting light emission drive voltages to a touch-sensor-integrated EL panel  23 . When, for example, the EL panel driver  22  receives a red lighting command signal from the controller  1 , the EL panel driver  22  supplies a light emission drive voltage to the EL panel  2   3  to cause the EL panel to light in red. When the EL panel driver  22  receives a yellow blinking command signal from the controller  1 , the EL panel driver  22  supplies a light emission drive voltage to the EL panel  2   3  to cause the EL pane  23  to blink in yellow. 
       FIG.  3    is a perspective view illustrating a rough structure of the touch-sensor-integrated EL panel  23 . 
     As shown in  FIG.  3   , the EL panel  2   3  includes a transparent touch sensor panel TP bonded on a light emitting face of an organic electroluminescence (EL) light emitting panel ELP. 
     The organic EL light emitting panel ELP as a plane EL light emitting element lights or blinks in an emission color corresponding to the light emission drive voltage supplied from the EL panel driver  22 . The light is emitted to outside via the touch sensor panel TP. The organic EL light emitting panel ELP is in the off state (unlit state) when the light emission drive voltage is not supplied. The touch sensor panel TP is a switch that switches between lighting and extinction (no lighting) of the organic EL light emitting panel ELP. When a person touches a touch sensor face of the touch sensor panel TP, the touch sensor panel TP generates a contact detection signal TC to turn on or off the organic EL light emitting panel ELP while the contact is being made. The contact detection signal TC is supplied to the controller  1  via the control bus BUS. 
     With the above-described configuration, each of the illumination panels  2   1  to  2   n  lights or blinks in the emission color indicated by the lighting or blinking command signal that represents a desired color (red, white, yellow, green, blue, purple, indigo, or orange) received from the controller  1 . When, for example, the controller  1  sends a white lighting command to the lighting panel  2   1 , the illumination panel  2   1  emits a white light. When the controller  1  sends a white blinking command, the lighting panel  2   1  blinks in white. When the controller  1  sends a red lighting command to the illumination panel  2   1 , the illumination panel  2   1  emits a red light. When the controller  1  sends a red blinking command, the illumination panel  2   1  blinks in red. Supply of a turn off command signal from the controller  1  can turn off each of the light-emitting panels  2   1  to  2   n . Each of the light-emitting panels  2   1  to  2   n  generates the contact detection signal TC each time the touch sensor panel TP is made contact. The contact detection signal TC is sent to the controller  1 . 
     The front camera  3  is installed at a front portion of a vehicle exterior. The front camera  3  supplies an image signal V 1 , which is obtained by video-recording the scene forward of the vehicle, to an image recognition processor  4 . 
     The rear camera  5  is installed at a rear portion of the vehicle exterior. The rear camera  5  supplies an image signal V 2 , which is obtained by video-recording the scene backward of the vehicle, to the image recognition processor  4 . 
     The side cameras  6  are installed at lateral parts of the vehicle exterior, such as right and left side-view mirrors of the vehicle, respectively. The side cameras  6  supply image signals V 3 , which are obtained by video-recording the scene on both sides of the vehicle, to the image recognition processor  4 . 
     The image recognition processor  4  performs an image recognition process on the image signals V 1  to V 3  to detect in these images an attention-required object that the driver needs to care during driving. The attention-required object is, for example, a lighting state of a rear lamp assembly of a forward vehicle, a traffic light, and an avoidance-required obstacle which the vehicle equipped with the surrounding condition detecting system must avoid. The avoidance-required obstacle is, for example, a pedestrian, a bicycle, an emergency vehicle, an obstruction that becomes an obstacle in traveling, a wall at a road with poor visibility, and an edge stone. 
     When light emission of the rear lamp assembly of a preceding vehicle is detected in an image obtained from the image signal V 1 , the image recognition processor  4  generates rear lamp detection data RD. The rear lamp detection data RD indicates whether the emission color of the rear lamp assembly is red, white, or yellow. The image recognition processor  4  supplies the rear lamp detection data RD to the controller  1  via the control bus BUS. When the emission color of the rear lamp assembly is yellow, that is, when a turn signal lamp or a hazard warning lamp is activated, direction indication information is included in the rear lamp detect ion data RD. The direction indication information indicates whether the rear lamp assembly is blinking only on the right side, blinking only on the left side, or blinking on both right and left sides. 
     When the traffic light is detected in the image obtained from on the image signal V 1 , the image recognition processor  4  generates traffic-light detection data SD. The traffic-light detection data SD indicates a lighting color of the traffic light. The image recognition processor  4  supplies the traffic-light detection data SD to the controller  1  via the control bus BUS. In the case where a traffic light shows (indicates, displays) a direction with an arrow, the image recognition processor  4  incorporates, in the traffic-light detection data SD, information representing a fact that this is an arrow indication and also representing the pointing direction of the arrow. 
     When a pedestrian or a bicycle is found in an image or images obtained from the image signals V 1  to V 3 , the image recognition processor  4  generates pedestrian/bicycle detection data HD. The pedestrian/bicycle detection data HD indicates the direction of, distance to, and relative speed of the pedestrian or bicycle, and the data is supplied to the controller  1  via the control bus BUS. 
     When the image recognition processor  4  detects an attention-required road zone such as a road zone with poor visibility or a route in a parking area (parking lot) in the images derived from the image signals V 1  to V 3  and also detects an attention-required object, such as a wall, an edge stone, and another vehicle on the attention-required road, then the image recognition processor  4  generates attention-required zone detection data ED. The attention-required zone detection data ED includes information representing the direction of, distance to, and relative speed of the attention-required object. The image recognition processor  4  supplies the attention-required zone detection data ED to the controller  1  via the control bus BUS. The road zone with poor visibility is a zone where the vehicle equipped with the surrounding condition detecting system enters a wider road from a narrower road without effective right/left visibility due to, for example, a blockade, such as a house wall. 
     When the image recognition processor  4  detects an emergency vehicle such as a patrol car, a police car, an ambulance, and a fire engine in the images obtained from the image signals V 1  to V 3 , the image recognition processor  4  generates emergency vehicle detection data QD. The emergency vehicle detection data QD indicates the direction of, distance to, and relative speed of the emergency vehicle. The image recognition processor  4  supplies the emergency vehicle detection data QD to the controller  1  via the control bus BUS. 
     When the image recognition processor  4  detects an obstruction on the road in the images obtained from the image signals V 1  to V 3 , the image recognition processor  4  generates obstruction detection data GD. The obstruction detection data GD indicates the direction of, distance to, and a size of the obstruction. The image recognition processor  4  supplies the obstruction detection data GD to the controller  1  via the control bus BUS. 
     The controller  1  sends the turn on command (i.e., lighting command signal) or the turn off command to the illumination panel  2 , which is a delivery source of the contact detection signal TC, in response to the contact detection signal TC received from the illumination panel  2   1  to  2   n  This allows the illumination panel  2  to be lighted by simply touching the light emitting face of the illumination panel  2  with a fingertip in the case where a person in the vehicle equipped with the surrounding condition detecting system needs interior lighting. Touching the light emitting face of the illumination panel  2  with the fingertip again turns off the illumination panel  2 . 
     The controller  1  forces the light-emitting panel  2  to light or blink in order to notify the person in the vehicle of the surrounding conditions by performing the following surrounding condition notification control. 
       FIG.  4    is a flowchart illustrating a main flow of the surrounding condition notification control. 
     In  FIG.  4   , first, the controller  1  executes a forward vehicle rear lamp notification subroutine to notify the occupant in the vehicle equipped with the surrounding condition detecting system of a state of a rear lamp assembly of a vehicle traveling forward (Step S 1 ). Next, the controller  1  executes a traffic light notification subroutine to notify the occupant in the vehicle equipped with the surrounding condition detecting system of a color emitted by a traffic light ahead (Step S 2 ). Next, the controller  1  executes a pedestrian/bicycle notification subroutine to notify the occupant in the vehicle equipped with the surrounding condition detecting system of presence of a pedestrian and/or a bicycle around the vehicle equipped with the surrounding condition detecting system (Step S 3 ). Next, the controller  1  executes an attention-required zone notification subroutine to notify the vehicle occupant of presence of an attention-required object, such as a wall, an edge stone, and another vehicle around the vehicle equipped with the surrounding condition detecting system (Step S 4 ). Next, the controller  1  executes an emergency vehicle notification subroutine to notify the vehicle occupant of a fact that an emergency vehicle is approaching (Step S 5 ). Next, the controller  1  executes an obstruction notification subroutine to notify the vehicle occupant of presence of an obstruction on the road (Step S 6 ). 
     After the execution of Step S 6 , the controller  1  returns to Step S 1  and repeats the processing of Steps S 1  to S 6 . 
       FIG.  5    is a flowchart showing the detail of the forward vehicle rear lamp notification subroutine executed in Step S 1 . 
     In  FIG.  5   , first, the controller  1  determines whether or not the rear lamp detection data RD has been received from the image recognition processor  4  (Step S 11 ). When Step S 11  determines that the rear lamp detection data RD is received, that is, when the rear lamp assembly of the vehicle traveling forward is lighting, then the controller  1  determines whether an emission color represented by the rear lamp detection data RD is red or not (Step S 12 ). When Step S 12  determines that the emission color of the rear lamp assembly is red, that is, when the stop lamp is lighting, then the controller  1  supplies a red lighting command signal to the illumination panel  2   1  (Step S 13 ). The red lighting command signal causes the illumination panel  2   1 , which is installed at the center of a steering wheel SW as shown in  FIG.  2 A , to light in red. On the other hand, when Step S 12  determines that the emission color of the rear lamp assembly is not red, then the controller  1  supplies the turn off command signal to the illumination panel  2   1  in order to turn off the illumination panel  2   1  (Step S 14 ). After the execution of Step S 13  or S 14 , the controller  1  determines whether the emission color represented by the rear lamp detection data RD is white or not (Step S 15 ). When it is determined in Step S 15  that the emission color of the rear lamp assembly is white, i.e., it is determined that the backup lamp is lighting, then the controller  1  supplies a white lighting command signal to the illumination panel  2   2  (Step S 16 ). The white lighting command signal causes the illumination panel  2   2 , which is installed under the illumination panel  2   1  at the center of the steering wheel SW as shown in  FIG.  2 A , to light in white. On the other hand, when Step S 15  determines that the emission color of the rear lamp assembly is not white, then the controller  1  supplies the turn off command to the illumination panel  2   2  in order to turn off the illumination panel  2   2  (Step S 17 ). After the execution of Step S 16  or S 17 , the controller  1  determines whether the emission color represented by the rear lamp detection data RD is yellow or not (Step S 18 ). When Step S 18  determines that the emission color of the rear lamp assembly is yellow, i.e., when the turn signal lamp or the hazard warning lamp is activated, then the controller  1  supplies a yellow blinking command signal to the illumination panel  2  (Step S 19 ). The yellow blinking command signal causes one of or both the illumination panels  2   3  and  2   4 , which are installed at right and left of the illumination panel  2   1  at the center of the steering wheel SW as shown in  FIG.  2 A , to blink. That is, in Step S 19 , when the direction indication information included in the rear lamp detection data RD indicates right, the controller  1  supplies the yellow blinking command signal to the illumination panel  2   4 . When the direction indication information indicates left, the controller  1  supplies the yellow blinking command signal to the illumination panel  2   3 . When the direction indication information indicates both right and left, the controller  1  supplies the yellow blinking command signal to the illumination panels  2   3  and  2   4 . When Step S 18  determines that the emission color of the rear lamp assembly is not yellow, then the controller  1  supplies the turn off command to the illumination panels  2   3  and  2   4  in order to turn off the illumination panels  2   3  and  2   4 , respectively (Step S 20 ). When Step S 11  determines that the rear lamp detection data RD is not received, then the controller  1  supplies the turn off command signal to all the illumination panels  2   1  and  2   4  in order to turn off the illumination panels  2   1  and  2   4  (Step S 21 ). 
     After the execution of Step S 19 , S 20 , or S 21 , the controller  1  exits the forward vehicle rear lamp notification subroutine shown in  FIG.  5    and returns to the main routine shown in  FIG.  4   . That is, the controller  1  proceeds to execution of the traffic light notification subroutine in Step S 2 . 
       FIG.  6    is a flowchart showing the detail of the traffic light notification subroutine. 
     In  FIG.  6   , first, the controller  1  determines whether or not the traffic-light detection data SD is received from the image recognition processor  4  (Step S 31 ). When Step S 31  determines that the traffic-light detection data SD is received, that is, when the traffic light exists ahead, then the controller  1  determines whether a lighting color of the traffic light represented by the traffic light detection data SD is red or not (Step S 32 ). When Step S 31  determines that the lighting color is red, the controller  1  sends the red lighting command signal to the illumination panel  2   5  (Step S 33 ). The red lighting command signal causes the illumination panel  2   5 , which is installed at the ceiling above a windshield FG of the vehicle as shown in  FIG.  2 B , to light in red. On the other hand, when Step S 32  determines that the lighting color represented by the traffic-light detection data SD is not red, the controller  1  supplies the turn off command signal to the illumination panel  2   5  in order to turn off the illumination panel  2   5  (Step S 34 ). After the execution of Step S 33  or S 34 , the controller  1  determines whether the lighting color of the traffic light represented by the traffic-light detection data SD is yellow or not (Step S 35 ). When Step S 35  determines that the lighting color is yellow, the controller  1  supplies a yellow lighting command signal to an illumination panel  2   6  (Step S 36 ). The yellow lighting command signal causes the illumination panel  2   6 , which is installed on the left of the illumination panel  2   5  above the windshield of the vehicle as shown in  FIG.  2 B , to light in yellow. On the other hand, when Step S 35  determines that the lighting color represented by the traffic-light detection data SD is not yellow, the controller  1  supplies the turn off command signal to the illumination panel  2   6  in order to turn off the illumination panel  2   6  (Step S 37 ). After the execution of Step S 36  or S 37 , the controller  1  determines whether the lighting color of the traffic light represented by the traffic-light detection data SD is blue or not (Step S 38 ). When Step S 38  determines that the lighting color is blue, then the controller  1  determines, based on the traffic-light detection data SD, whether the blue lighting indicates a direction with an arrow or not (Step S 39 ). When it is determined in Step S 39  that the blue lighting is not an arrow indication, the controller  1  supplies a blue lighting command signal to an illumination panel  2   7  (Step S 40 ). The blue lighting command signal causes the illumination panel  2   7 , which is installed above the windshield of the vehicle as shown in  FIG.  28   , to light in blue. On the other hand, when it is determined in Step S 39  that the traffic light is an arrow indication, the controller  1  detects (identifies) a pointing direction of the arrow based on the traffic-light detection data SD (Step S 41 ). Next, the controller  1  supplies the blue lighting command signal to that illumination panel, among the illumination panels  2   7 ,  2   8 , and  2   23  shown in  FIG.  2 B , which is located at a position corresponding to the direction pointed by the arrow (Step S 42 ). The blue lighting command signal causes that illumination panel to light in blue. That is, in Step S 42 , when the direction pointed by the arrow is right, the controller  1  supplies the blue lighting command signal to the illumination panel  2   8 . In Step S 42 , when the direction pointed by the arrow is left, the controller  1  supplies the blue lighting command signal to the illumination panel  2   7 . In Step S 42 , when the direction pointed by the arrow is the straight direction, the controller  1  supplies the blue lighting command signal to the illumination panel  2   23 . Next, the controller  1  supplies the red lighting command signal to the illumination panel  2   8  (Step S 43 ). The red lighting command signal causes the illumination panel  2   8  to light in red. When Step S 38  determines that the lighting color of the traffic light represented by the traffic-light detection data SD is not blue, the controller  1  supplies the turn off command signal to the illumination panel  2   1  in order to turn off the illumination panel  2   7  (Step S 44 ). When Step S 31  determines that the traffic-light detection data SD is not received, the controller  1  supplies the turn off command signal to all the illumination panels  2   5  to  2   8  and  2   23  in order to turn off the illumination panels  2   5  to  2   8  and  2   23  (Step S 45 ). 
     After the execution of Step S 40 , S 43 , S 44 , or S 45 , the controller  1  exits the traffic light notification subroutine shown in  FIG.  6    and returns to the main routine shown in  FIG.  4   . That is, the controller  1  proceeds to execution of the pedestrian/bicycle detection subroutine in Step S 3 . 
       FIG.  7    is a flowchart showing the detail of the pedestrian/bicycle detection subroutine. 
     In  FIG.  7   , first, the controller  1  determines whether or not the pedestrian/bicycle detection data HD is received from the image recognition processor  4  (Step S 51 ). When Step S 51  determines that the pedestrian/bicycle detection data HD is received, that is, when a pedestrian or a bicycle is present around the vehicle equipped with the surrounding condition detecting system, then the controller  1  selects that illumination panel  2  which is installed at a position corresponding to the direction that the pedestrian or the bicycle is present, as an attention-required direction indication panel (Step S 52 ). The direction of the pedestrian or bicycle i s represented by the pedestrian/bicycle detection data HD. The controller  1 , for example, selects one illumination panel installed at a position corresponding to the direction of the pedestrian or the bicycle as the attention-required direction indication panel among the illumination panels  2   9  to  2   11  installed at the door DL on a front passenger seat side and the lighting panels  2   12  to  2   14  installed at the door DR on the driver&#39;s seat side of the vehicle as shown in  FIG.  2 A . That is, in Step S 52 , the controller  1  selects an illumination panel  2   12  as the attention-required direction indication panel when the direction of the pedestrian or the bicycle is right-front, selects an illumination panel  2   13  when the direction of the pedestrian/bicycle is right-lateral, selects an illumination panel  2   14  when the direction of the pedestrian/bicycle is right-rear, selects an illumination panel  2   9  when the direction of the pedestrian/bicycle is left-front, selects an illumination panel  2   10  when the direction of the pedestrian/bicycle is left-lateral, and selects an illumination panel  2   11  when the direction of the pedestrian/bicycle is left-rear. 
     Next, the controller  1  sets emission conditions (luminance, a color, and a blinking speed) corresponding to a distance to and a speed relative to the pedestrian or the bicycle represented by the pedestrian/bicycle detection data HD (Step S 53 ). The emission condition is set, for example, as follows. The smaller the distance to the pedestrian/bicycle, the higher the luminance is. The smaller the distance, the more the emission color transitions from a cool color to a warm color (e.g., purple→indigo→blue→green→yellow→orange→red). The smaller the distance, the higher the blinking speed is. The higher the relative speed, the higher the luminance is. The higher the relative speed, the more the emission color transitions from a cool color to a warm color. The higher the relative speed, the higher the blinking speed is. It should be noted that the above-mentioned emission conditions based on the distance and relative speed may be combined. 
     Next, the controller  1  supplies the lighting or blinking command signal to the attention-required direction indication panel (Step S 54 ). The lighting or blinking command signal causes the attention-required direction indication panel selected among the illumination panels  2   9  to  2   11  and  2   12  to  2   14  ( FIG.  2 A ) in Step S 52  to light or blink under the emission conditions set in Step S 53 . 
     When Step S 51  determines that the pedestrian/bicycle detection data HD is not received, the controller  1  supplies the turn off command signal to the attention-required direction indication panel in order to turn off the attention-required direction indication panel (Step S 55 ). 
     After the execution of Step S 54  or S 55 , the controller  1  exits the pedestrian/bicycle detection subroutine shown in  FIG.  7    and returns to the main routine shown in  FIG.  4   . That is, the controller  1  proceeds to execution of the attention-required zone notification subroutine in Step S 4 . 
       FIG.  8    is a flowchart illustrating the detail of the attention-required zone notification subroutine. 
     In  FIG.  8   , first, the controller  1  determines whether or not the attention-required zone detection data ED is received from the image recognition processor  4  (Step S 61 ). When Step S 61  determines that the attention-required zone detection data ED is received, that is, when a road zone with poor visibility is detected and an attention-required object, such as a wall, an edge stone, and a vehicle, is present on the road, then the controller  1  selects that illumination panel  2  which is installed at a position corresponding to the direction that the attention-required object is present, which is represented by the attention-required zone detect ion data ED (StepS 62 ). The selected illumination panel  2  is used as an attention-required direction indication panel. The controller  1 , for example, selects one illumination panel installed at a position corresponding to the direction that the attention-required object, such as a wall, an edge stone, and a vehicle, is present as the attention-required direction indication panel among the illumination panels  2   9  to  2   11  installed at the door DL on the front passenger seat side of the vehicle and the illumination panels  2   12  to  2   14  installed at the door DR on the driver&#39;s seat side of the vehicle as shown in  FIG.  2 A .That is, in Step S 62 , the controller  1  selects the illumination panel  2   12  as the attention-required direction indication panel when the direction of the above-described attention-required object is right front, selects the illumination panel  2   13  when the direction of the attention-required object is right-lateral, selects the illumination panel  2   14  when the direction of the attention-required object is right-rear, selects the illumination panel  2   9  when the direction of the attention-required object is left-front, selects the illumination panel  2   10  when the direction of the attention-required object is left lateral, and selects the illumination panel  2   11  when the direction of the attention-required object is left-rear. 
     Next, the controller  1  sets light emission conditions (luminance, a color, and a blinking speed) corresponding to a distance to and a speed relative to the attention-required object represented by the attention-required zone detection data ED (Step S 63 ). The light emission condition is set, for example, as follows. The smaller the distance, the higher the luminance is. The smaller the distance, the more the emission color transitions from a cool color to a warm color (purple→indigo→blue→green→yellow→orange→red). The smaller the distance, the higher the blinking speed is. The higher the relative speed, the higher the luminance is. The higher the relative speed, the more the emission color transitions from a cool color to a warm color. The higher the relative speed, the higher the blinking speed is. It should be noted that the above-described light emission conditions based on the distance and relative speed may be combined. 
     Next, the controller  1  supplies the lighting or blinking command signal to the attention-required direction (cautionary direction) indication panel (Step S 64 ). The lighting or blinking command signal causes the attention-required direction indication panel, selected among the illumination panels  2   9  to  2   11  and  2   12  to  2   14  ( FIG.  2 A ) in Step S 62 , to light or blink under the light emission conditions set in Step S 63 . 
     When Step S 61  determines that the attention-required zone detection data ED is not received, the controller  1  supplies the turn off command signal to the attention-required direction indication panel in order to turn off the attention-required direction indication panel (Step S 65 ). 
     After the execution of Step S 64  or S 65 , the controller  1  exits the attention-required zone notification subroutine shown in  FIG.  8    and returns to the main routine shown in  FIG.  4   . Thus, the controller  1  proceeds to execution of the emergency vehicle notification subroutine in Step S 5 . 
       FIG.  9    is a flowchart illustrating the detail of the emergency vehicle notification subroutine. 
     In  FIG.  9   , first, the controller  1  determines whether or not the emergency vehicle detection data QD is received from the image recognition processor  4  (Step S 71 ). When Step S 71  determines that the emergency vehicle detection data QD is received, that is, when an emergency vehicle is present near the vehicle equipped with the surrounding condition detecting system, then the controller  1  selects that illumination panel  2  which is disposed at a position corresponding to the direction that the emergency vehicle is present, as the attention-required direction indication panel (Step S 72 ). The presence of the emergency vehicle is represented by the emergency vehicle detection data QD. The controller  1 , for example, selects one illumination panel disposed at a position corresponding to the direction that the emergency vehicle is present as the attention-required direction indication panel among the illumination panels  2   9  to  2   11  disposed at the door DL on the front passenger seat side and the illumination panels  2   12  to  2   14  disposed at the door DR on the driver&#39;s seat side of the vehicle as shown in  FIG.  2 A . That is, in Step S 72 , the controller  1  selects the illumination panel  2   12  as the attention-required direction indication panel when the direction of the emergency vehicle is right-front, selects the illumination panel  2   13  when the direction of the emergency vehicle is right-lateral, selects the illumination panel  2   14  when the direction of the emergency vehicle is right-rear, selects the illumination panel  2   9  when the direction of the emergency vehicle is left-front, selects the illumination panel  2   10  when the direction of the emergency vehicle is left-lateral, and selects the illumination panel  2   11  when the direction of the emergency vehicle is left-rear. 
     Next, the controller  1  sets light emission conditions (luminance, a color, and a blinking speed) corresponding to a distance to and a speed relative to the emergency vehicle represented by the emergency vehicle detection data QD (Step S 73 ). The light emission condition is set, for example, as follows. The smaller the distance, the higher the luminance is. The smaller the distance, the more the emission color transitions from a cool color to a warm color (purple→indigo→blue→green→yellow→orange→red). The smaller the distance, the higher the blinking speed is. The higher the relative speed, the higher the luminance is. The higher the relative speed, the more the emission color transitions from a cool color to a warm color. The higher the relative speed, the higher the blinking speed is. It should be noted that the light emission conditions based on the distance and relative speed may be combined. 
     Next, the controller  1  supplies the lighting or blinking command signal to the attention-required direction indication panel (Step S 74 ). The lighting or blinking command signal causes the attention-required direction indication panel, selected among the light emission panels  2   9  to  2   11  and  2   12  to  2   14  ( FIG.  2 A ) in Step S 72 , to light or blink under the light emission conditions set in Step S 73 . 
     When Step S 71  determines that the emergency vehicle detection data QD is not received, the controller  1  supplies the turn off command signal to the attention-required direction indication panel in order to turn off the attention-required direction indication panel (Step S 75 ). 
     After the execution of Step S 74  or S 75 , the controller  1  exits the emergency vehicle notification subroutine shown in  FIG.  9    and returns to the main routine shown in  FIG.  4   . That is, the controller  1  proceeds to execution of the obstruction notification subroutine in Step S 6 . 
       FIG.  10    is a flowchart illustrating the detail of the obstruction notification subroutine. 
     In  FIG.  10   , first, the controller  1  determines whether or not the obstruction detection data GD is received from the image recognition processor  4  (Step S 81 ). When Step S 81  determines that the obstruction detection data GD is received, i.e., when an obstruction is present around the vehicle equipped with the surrounding condition detecting system, the controller  1  selects that illumination panel  2  which is disposed at a position corresponding to the direction that the obstruction is present, as the attention-required direction indication panel (Step S 82 ). The presence of the obstruction is represented by the obstruction detection data GD. The controller  1 , for example, selects one illumination panel disposed at a position corresponding to the direction that the obstruction is present as the attention-required direction indication panel among the illumination panels  2   9  to  2   11  disposed at the door DL on the front passenger seat side and the illumination panels  2   12  to  2   14  disposed at the door DR on the driver&#39;s seat side of the vehicle as shown in  FIG.  2 A . That is, in Step S 82 , the controller  1  selects, as the attention-required direction indication panel, the illumination panel  2   12  when the direction of the obstruction is right-front, selects the illumination panel  2   13  when the direction of the obstruction is right-lateral, selects the illumination panel  2   14  when the direction of the obstruction is right-rear, selects the illumination panel  2   9  when the direction of the obstruction is left-front, selects the illumination panel  2   10  when the direction of the obstruction is left-lateral, and selects the illumination panel  2   11  when the direction of the obstruction is left-rear. 
     Next, the controller  1  sets light emission conditions (luminance, a color, and a blinking speed) corresponding to a distance to and a size of the obstruction represented by the obstruction detection data GD (Step S 83 ). The light emission condition is set, for example, as follows. The smaller the distance, the higher the luminance is. The smaller the distance, the more the emission color transitions from a cool color to a warm color (purple→indigo→blue→green→yellow→orange→red). The smaller the distance, the higher the blinking speed is. The larger the obstruction size, the higher the luminance is. The larger the obstruction size, the more the emission color is inclined toward a warm color. The larger the obstruction size, the higher the blinking speed is. It should be noted that the light emission conditions based on the distance and size may be combined. 
     Next, the controller  1  supplies the lighting or blinking command signal to the attention-required direction indication panel (Step S 84 ). The lighting or blinking command signal causes the attention-required direction indication panel, selected among the illumination panels  2   9  to  2   11  and  2   12  to  2   14  ( FIG.  2 A ) in Step  82 , to light or blink under the light emission conditions set in Step S 83 . 
     When it is determined in Step S 81  that the obstruction detection data GD is not received, then the controller  1  supplies the turn off command signal to the attention-required direction indication panel in order to turn off the attention-required direction indication panel (Step S 85 ). 
     After the execution of Step S 84  or S 85 , the controller  1  exits the obstruction notification subroutine shown in  FIG.  10    and returns to the main routine shown in  FIG.  4   . That is, the controller  1  proceeds to execution of the forward vehicle rear lamp notification subroutine in Step S 1  and repeatedly executes the above-described processing. 
     Operations and advantages obtained upon execution of the processing shown in  FIG.  4    to  FIG.  10    will be described. 
     When a stop lamp of a vehicle traveling forward of the vehicle equipped with the surrounding condition detecting system emits a red light, the illumination panel  2   1  emits a red light in accordance with the lighting stop lamp. The illumination panel  2   1  is installed at the center of the steering wheel SW, which is a shaded portion in  FIG.  11 A . When a backup lamp of a vehicle in front of the vehicle equipped with the surrounding condition detecting system emits a white light, the illumination panel  2   2  emits a white light in accordance with the lighting backup lamp. The illumination panel  2   2  is installed under the illumination panel  2   1  of the steering wheel SW, which is a shaded portion in  FIG.  11 B . When a right turn signal lamp of a vehicle traveling ahead is blinking in yellow, the illumination panel  2   4  blinks in yellow in accordance with the blinking turn signal lamp. The illumination panel  2   4  is installed at right lateral to the illumination panel  2   1  of the steering wheel SW, which is a shaded portion in  FIG.  11 C . When a left turn signal lamp of the vehicle traveling forward is blinking in yellow, the illumination panel  2   3  blinks in yellow in accordance with the blinking turn signal lamp. The light-emitting panel  2   3  is installed at left-lateral to the light-emitting panel  2   1  of the steering wheel SW, which is a shaded portion in  FIG.  11 D . When a hazard warning lamp of the vehicle traveling forward is blinking in yellow, the illumination panels  2   3  and  2   4  blink in yellow in accordance with the flashing hazard warning lamp. The illumination panels  2   3  and  2   4  are installed at left-lateral and right-lateral of the illumination panel  2   1  of the steering wheel SW, which are shaded portions in  FIG.  11 E , respectively. Each emission color of the illumination panels  2   1  to  2   4  (when the illumination panels  2   1  to  2   4  lights or blinks) only needs to be a color similar to the emission color of the lighting rear lamp of the forward vehicle. In other words, the colors of the light emitted from the illumination panels  2   1  to  2   4  need not to be completely the same color as the rear lamp assembly of the forward vehicle. 
     That is, when an image captured by the front camera  3  includes a lighting rear lamp of the forward vehicle, the illumination panels  2   1  to  2   4 , which are installed at the steering wheel SW, reproduce the lighting or blinking state with a color corresponding to the emission color of the rear lamp assembly of the forward vehicle. Accordingly, even if the driver&#39;s visual line is out of the forward vehicle, the lighting/blinking state of the illumination panels  2   1  to  2   4  installed at the steering wheel SW enters the driver&#39;s field of vision. Thus, even if the driver does not look at the forward vehicle, the driver can recognize a state of the rear lamp assembly of the forward vehicle (the backup lamp, the stop lamp, the turn signal lamp, or the hazard warning lamp) without moving the direction of his visual line. Accordingly, in the case where heavy braking is applied to the forward vehicle while the driver of the vehicle equipped with the surrounding condition detecting system is checking, for example, a traffic sign, the driver of the vehicle equipped with the surrounding condition detecting system can immediately take avoidance behavior. 
     When a traffic light appears forward while the vehicle equipped with the surrounding condition detecting system is traveling, and the emission color of the traffic light is red, then the illumination panel  2   5  lights in red. The illumination panel  2   5  is installed above the windshield FG, which is a shaded portion in  FIG.  12 A . When the emission color of the traffic light is yellow, the illumination panel  2   6  lights in yellow. The illumination panel  2   6  is installed above the windshield FG, which is a shaded portion in  FIG.  12 B . When the emission color of the traffic light is blue (green), the illumination panel  2   7  lights in blue (green). The illumination panel  2   7  is installed above the windshield FG, which is a shaded portion in  FIG.  12 C . When the traffic light displays an arrow pointing leftward, the illumination panel  2   7  lights in blue and the illumination panel  2   5  lights in red. The illumination panel  2   7  is installed above the windshield FG, which is one of shaded portions in  FIG.  12 D . The illumination panel  2   5  is installed next to next to the illumination panel  2   7 . The illumination panel  2   5  is also installed above the windshield FG, which is the other of the shaded portions in  FIG.  12 D . When the traffic light displays an arrow pointing rightward, the illumination panel  2   8  lights in blue and the illumination panel  2   5  lights in red. The illumination panel  2   7  is installed above the windshield FG, and the illumination panel  2   5  is laterally next to the illumination panel  2   8 . Both the illumination panels  2   5  and  2   8  are shaded portions in  FIG.  12 E . When the traffic light displays an arrow pointing a straight direction, the illumination panel  2   23  lights in blue and the illumination panel  2   5  lights in red. The illumination panel  2   23  is installed above the windshield FG, and the illumination panel  2   5  is disposed below the illumination panel  2   23 . The illumination panels  2   5  and  2   23  are shaded portions in  FIG.  12 F . That is, combination of blue light from one illumination panel  2  and red light from another illumination panel  2  indicates that a turn arrow display is made by the traffic light. An installation position of the illumination panel  2  that lights in blue indicates a direction to which the vehicle is allowed to move. It should be noted that each emission color of the illumination panels  2   5  to  2   8  and  2   23  only needs to be a color corresponding (similar) to the emission color of the traffic light. The emission colors of the illumination panels  2   5  to  2   8  and  2   23  need not to be completely the same color as the traffic light. 
     Thus, when an image captured by the front camera  3  includes the traffic light, the illumination panels  2   5  to  2   8  and  2   23 , which are installed above the windshield FG in front of the driver&#39;s seat, reproduce the lighting state of the traffic light with a color corresponding to the lighting color of the traffic light. Accordingly, even if the driver cannot visually observe a color of the traffic light due to sunlight, the lighting color of the traffic light can be checked. Even if the driver&#39;s visual line is out of the traffic light, lighting states of the illumination panels  2   5  to  2   8  and  2   23  installed above the windshield FG enters the driver&#39;s field of vision. This allows the driver to recognize the color of the traffic light without moving an eye direction of the driver. When the traffic light displays a turn-arrow, the direction of the turn arrow displayed can be recognized by the relationship between a position of one illumination panel  2  that emits a red light and a position of another illumination panel  2  that emits a blue light. 
     When the avoidance-required obstacle such as a pedestrian, a bicycle, a wall, an edge stone, an obstruction, and an emergency vehicle is present around the vehicle equipped with the surrounding condition detecting system, that illumination panel  2  which is installed at a position corresponding to a direction of the avoidance-required obstacle lights or blinks. For example, when the avoidance-required obstacle is present right front of the vehicle equipped with the surrounding condition detecting system, then the illumination panel  2   12 , which is a shaded portion in  FIG.  13 A , installed on the vehicle front side among the illumination panels  2   12  to  2   14  lights or blinks. The illumination panels  2   12  to  2   14  are situated at the door DR on the driver&#39;s seat side. When the avoidance-required obstacle is present right-lateral to the vehicle equipped with the surrounding condition detecting system, then the illumination panel  2   13 , which is a shaded portion in  FIG.  13 B , installed at the center among the illumination panels  2   12  to  2   14  lights or blinks. The illumination panels  2   12  to  2   14  are mounted on the door DR on the driver&#39;s seat side. When the avoidance-required obstacle is present left-rear of the vehicle equipped with the surrounding condition detecting system, the illumination panel  2   11 , which is a shaded portion in  FIG.  13 C , installed on the vehicle rear side among the illumination panels  2   9  to  2   11  lights or blinks. The illumination panels  2   9  to  2   11  are installed at the door DL on the front passenger seat side. The illumination panel lights or blinks in the following manner. The smaller the distance from the vehicle to the avoidance required obstacle, the higher luminance of the lighting or blinking illumination panel  2  is. The larger the relative speed between the avoidance-required obstacle and the vehicle, the higher luminance of the lighting or blinking illumination panel  2  is. The smaller the distance from the vehicle to the avoidance-required obstacle, the more the emission color transitions from a cool color to a warm color (for example, purple→indigo→blue→green→yellow→orange→red). The larger the relative speed between the avoidance-required obstacle and the vehicle, the more the emission color transitions from a cool color to a warm color. The smaller the distance from the vehicle to the avoidance-required obstacle, the higher the blinking speed of the blinking illumination panel  2  is. The greater the relative speed between the avoidance-required obstacle and the vehicle, the higher the blinking speed of the blinking illumination panel  2  is. When an obstruction is present on the road, the larger the obstruction size, the higher the luminance of the lighting or blinking illumination panel  2  is. The larger the obstruction size, the emission color of the lighting or blinking illumination panel  2  is inclined toward a warm color. The larger the obstruction size, the higher the blinking speed is. 
     That is, when an image captured by the front camera  3 , the rear camera  5 , or the side camera  6  includes the avoidance-required obstacle, i.e., when the avoidance-required obstacle is present near the vehicle equipped with the surrounding condition detecting system, then a state of at least one of the light emitting panels  2  provided in the vehicle cabin is forcibly changed (change from unlit state to lighting or blinking state, changes in emission color or change in luminance). Accordingly, even if the driver of the vehicle equipped with the surrounding condition detecting system does not visually observe the attention-required object around the vehicle equipped with the surrounding condition detecting system, the change in the state of the light emitting panel(s)  2  enters the driver&#39;s field of vision. This allows the driver to recognize that the attention required object approaches his vehicle or his vehicle approaches the attention-required object. The light emitting panel  2  installed at a position corresponding to a direction that the attention-required object is present is caused to light or blink (flash). This allows the driver to recognize the direction where the attention-required object (cautionary object) is present without moving the driver&#39;s visual line. 
     Accordingly, even if the avoidance-required obstacle present near the vehicle is out of the driver&#39;s field of vision during backward driving, entering a road zone with poor visibility, or exiting a parking area or lot, light (blinking or no blinking) of the luminescence panel  2  located at a position corresponding to a direction of the avoidance-required obstacle enters the driver&#39;s field of vision. This enables the driver to recognize the direction where the avoidance-required obstacle is present without moving the driver&#39;s visual line. Because the emission color, the luminance, and the blinking speed of the luminescence panel  2  change in accordance with the distance and the relative speed between the vehicle and the avoidance-required obstacle, the driver is able to intuitively recognize danger or hazard associated with the approaching avoidance-required obstacle. 
     Steps S 73  and S 74  in the emergency vehicle notification subroutine shown in  FIG.  9    are executed with an emergency vehicle as the obstacle. It should be noted, however, that processing similar to Steps S 73  and S 74  may be carried out with a preceding vehicle as the avoidance-required object. For example, if a distance to the preceding vehicle becomes smaller than a predetermined distance, all of the luminescence lamps  2   1  to  2   4  mounted on the steering wheel SW ( FIG.  2 A ) may be used as the attention-required direction indication panels. Then, the processing similar to Steps S 73  and S 74  are carried out. Accordingly, the smaller the distance to the preceding vehicle, the higher the luminance of each of the luminescence panels  2   1  to  2   4  is. The higher the relative speed to the preceding vehicle, the higher the luminance of each of the luminescence panels  2   1  to  2   4  is. The smaller the distance to the preceding vehicle, the more the emission color transitions from a cool color to a warm color (for example, purple→indigo→blue→green→yellow→orange→red). The higher the relative speed to the preceding vehicle, the more the emission color transitions from a cool color to a warm color. The smaller the distance to the preceding vehicle, the higher the blinking speed of each of the luminescence panels  2   1  to  2   4  is. The higher the relative speed to the preceding vehicle, the higher the blinking speed of each of the luminescence panels  2   1  to  2   4  is. 
     Although in the above-described embodiment, as shown in  FIG.  13 A  to  FIG.  13 C , the direction of the avoidance-required object is indicated by lighting or blinking of the luminescence panels  2   9  to  2   14  mounted on the door DR on the driver&#39;s seat side and the door DL on the front passenger seat side, the direction of the avoidance required object may be indicated by another luminescence panel(s)  2 . 
     In the case where, for example, an avoidance-required object approaches from rightward of the vehicle equipped with the surrounding condition detecting system at an intersection with poor visibility where entry is from a narrow road without effective right/left visibility into a wide road, a luminescence panel  2   15  mounted on a dashboard on the driver&#39;s seat side shown in  FIG.  14 A  is caused to light or blink. When the avoidance-required object approaches from leftward of the vehicle equipped with the surrounding condition detecting system, the luminescence panel  2   16  mounted on the dashboard on the front passenger seat side shown in  FIG.  14 B  may be caused to light or blink. When the avoidance-required object is present right-lateral to the vehicle equipped with the surrounding condition detecting system, the luminescence panel  2   12  mounted on the door DR on the driver&#39;s seat side ( FIG.  2 A ) may be caused to light or blink. When the avoidance-required object is present left-lateral to the vehicle, the luminescence panel  2   9  mounted on the door DL on the front passenger seat side ( FIG.  2 A ) may be caused to light or blink. Similarly, the luminescence panels  2   17  to  2   22  mounted on the ceiling in the vehicle cabin ( FIG.  2 B ) may be caused to light or blink corresponding to a direction of the avoidance-required object. For example, when the avoidance-required object is present at right front of the vehicle equipped with the surrounding condition detecting system, the luminescence panel  2   17  mounted on the ceiling may be caused to light or blink. When the avoidance-required object is present at left-rear of the vehicle, the luminescence panel  2   22  mounted on the ceiling may be caused to light or blink. 
     DESCRIPTION OF REFERENCE SIGNS 
     
         
           1  controller 
           2   1  to  2   n  light emitting panels 
           3  front camera 
           4  image recognition processor 
           5  rear camera 
           6  side cameras