Patent Description:
PTL <NUM> discloses a technique related to a drive assist device. In PTL <NUM>, paragraph [<NUM>] includes a description of "the emergency drive detection unit <NUM> detects a danger avoidance action (emergency drive) of the vehicle driver", and paragraph [<NUM>] includes a description of "the danger history creation unit <NUM> creates, every time the emergency drive detection unit <NUM> detects a danger avoidance action, danger record information including at least the location of the own vehicle at the time when the danger avoidance action is detected, and stores the danger record information in the storage unit <NUM>". In addition, paragraph [<NUM>] includes a description of "the speaker <NUM> is controlled by the control unit <NUM> and outputs, when the own vehicle is heading toward the location included in the danger record information, voice, beep sound, or the like corresponding to a suitable one of various kinds of information such as warning information encouraging safe driving".

<CIT> discloses an adaptive driver warning method with the features in the preamble of present claims <NUM> and <NUM>. Other conventional driver warning systems are described in <CIT>, <CIT>, <CIT>, and <CIT>.

There is a technique for outputting warning when a driver looks away while driving. In this technique, however, warning is also output in response to movement of a line of sight necessary for drive operations, such as a change of direction including turning right or turning left and a lane change, in some cases, and this is burdensome. In addition, as described in PTL <NUM>, in the technique for storing history of vehicle state such as danger avoidance actions and calling driver's attention when the vehicle reaches the same location, warning is output based only on location information, and hence the warning output may not correspond to need for the driver really to pay attention.

The present invention has been made in view of the above respects, and an object of the present invention is to provide a warning output device, a warning output method, and a warning output system that make it possible to appropriately output warning.

The present invention concerns a warning output device as defined in the appended claim <NUM> and a corresponding warning output method as defined in the appended claim <NUM>. Preferred embodiments are further claimed in the dependent claims.

Examples of embodiments of the present invention will be described below with reference to the drawings. <FIG> is a diagram illustrating an example of a functional block of a warning output system <NUM>. The warning output system <NUM> in the present embodiment includes a warning output device(s) <NUM> and a drive assist device <NUM> that are installed in a vehicle (referred to as a "vehicle A" below), and a rule management device <NUM>.

The warning output device <NUM> is an on-board device that outputs information to a user. The warning output device <NUM> is an information processing device such as a navigation device, an electronic control unit (ECU), a personal computer (PC), or a smartphone, for example.

The drive assist device <NUM> is an on-board device that has a function of an advanced driving assistant system (ADAS) and a function of an automatic-drive control system, for example. The drive assist device <NUM> may be an information processing device such as an ECU. The drive assist device <NUM> measures a traveling state and surroundings of the vehicle A by using a sensor such as a camera or infrared rays and also detects objects located outside the vehicle A such as vehicles traveling in front of and around the vehicle A and pedestrians. Note that the warning output device <NUM> and the drive assist device <NUM> simply need to be communicably connected, and a communication method is not limited to any.

The rule management device <NUM> is an information processing device such as a server device or a PC, for example. The rule management device <NUM> is a device belonging to a provider that provides a service of outputting warning to a plurality of vehicles, for example. The rule management device <NUM> is a device that generates individual adaptive rule information for managing, for each driver, information related to a condition for outputting warning and is communicably connected to one or a plurality of warning output devices <NUM>.

The drive assist device <NUM> is communicably connected to an exterior-imaging camera <NUM>. The warning output device <NUM> is also communicably connected to an interior-imaging camera <NUM>, a seat vibration function <NUM>, a speaker <NUM>, a head-up display <NUM>, and a meter display <NUM>. The exterior-imaging camera <NUM> and the interior-imaging camera <NUM> are each an image pickup device using an image sensor such as a charge coupled device (CCD) and capture still images or moving images. The exterior-imaging camera <NUM> captures images of a state outside the vehicle, while the interior-imaging camera <NUM> captures images of a state inside the vehicle.

Note that the drive assist device <NUM> is capable of acquiring a vehicle state including an external state of the vehicle A, such as positional relationships between the vehicle A and vehicles other than the vehicle A and obstacles, and a traveling state of the vehicle A, such as vehicle speed and whether or not a breaking operation is performed. To obtain a vehicle state, the drive assist device <NUM> may be connected to a sensor, a radar, or a light detection and ranging (LIDAR) that can specify a distance from an object outside the vehicle, instead of the exterior-imaging camera <NUM> or in addition to the exterior-imaging camera <NUM>.

The drive assist device <NUM> may obtain vehicle states from another device, such as a vehicle speed sensor, a positioning signal receiver, a gyro sensor, a magnetic field sensor, an inclination sensor, a temperature sensor, and/or a motion detector, connected to the drive assist device <NUM> through a controller area network (CAN). Note that the exterior-imaging camera <NUM> may also be communicably connected to the warning output device <NUM>.

The seat vibration function <NUM> is installed in a driver's seat and causes the driver's seat to vibrate by using vibrators, for example. The seat vibration function <NUM> includes a plurality of vibrators provided at different positions of the driver's seat, for example. Each of the vibrators can be controlled independent of each other. The seat vibration function <NUM> can cause each of the vibrators to vibrate in a predetermined pattern corresponding to information to be reported to the driver.

The speaker <NUM> is a device that outputs voice and sounds. The head-up display <NUM> is a display provided in an upper portion of an instrument panel located below the windshield inside the vehicle. The head-up display <NUM> may be a display that exerts a function by projecting an image onto a combiner provided on an inner side of the windshield, for example, or may be a display that exerts a function by projecting an image directly onto the windshield.

The meter display <NUM> is a display, such as a liquid crystal display (LCD) provided to the instrument panel.

The warning output device <NUM> includes a control unit <NUM>, a storage unit <NUM>, an input unit <NUM>, an output unit <NUM>, an in-vehicle communication unit <NUM>, and an external communication unit <NUM>. The control unit <NUM> performs centralized control of the entire warning output device <NUM>. The storage unit <NUM> stores information necessary for processing performed by the control unit <NUM>. The input unit <NUM> acquires information input via an input device, such as a touch panel. The output unit <NUM> outputs information to an output device such as the seat vibration function <NUM>, the speaker <NUM>, the head-up display <NUM>, or the meter display <NUM>. The in-vehicle communication unit <NUM> relays transmission and reception of information to and from the drive assist device <NUM>. The external communication unit <NUM> relays transmission and reception of information to and from the rule management device <NUM> through a network (not illustrated), for example.

The control unit <NUM> includes an individual adaptive rule acquisition unit <NUM>, a vehicle state acquisition unit <NUM>, a driver's state acquisition unit <NUM>, a driver related information acquisition unit <NUM>, a vehicle warning reception unit <NUM>, and an output determination unit <NUM>. The individual adaptive rule acquisition unit <NUM> acquires, from the rule management device <NUM>, individual adaptive rule information generated for the driver of the vehicle A.

Note that, when individual adaptive rule information has not been generated for the driver, the rule management device <NUM> does not transmit any individual adaptive rule information, and hence the individual adaptive rule acquisition unit <NUM> does not acquire any individual adaptive rule information.

The vehicle state acquisition unit <NUM> acquires a vehicle state related to a state of the vehicle A. The vehicle state acquisition unit <NUM> periodically acquires a vehicle state acquired by the drive assist device <NUM> by using the exterior-imaging camera <NUM>, for example. As described previously, the vehicle state is an external state of the vehicle A, and a traveling state of the vehicle A and includes, for example, the relative position of another vehicle with respect to the vehicle A, the distance of the other vehicle to the vehicle A, the position of an object near the vehicle A, including a pedestrian or a bicycle, and the distance of the object to the vehicle A, the speed of the vehicle A, whether or not a breaking operation is performed, and the like.

The driver's state acquisition unit <NUM> acquires a driver's state indicating a state of the driver. More specifically, the driver's state acquisition unit <NUM> acquires inattentive driving information indicating that the driver performs inattentive driving.

Assume that the direction extending forward of the vehicle A from a driver's viewpoint is a normal line-of-sight direction and that the range within a predetermined angle (for example, <NUM> degrees) from the normal line-of-sight direction toward up, down, left, and right is a normal field of view. Inattentive driving refers to a state where a driver's line of sight is out of the normal field of view. The driver's state acquisition unit <NUM> acquires a driver's viewpoint and line-of-sight direction by using the interior-imaging camera <NUM> and determines whether the line-of-sight direction is out of the normal field of view to thereby detect inattentive driving. When the driver's state acquisition unit <NUM> detects inattentive driving, it is considered to have acquired inattentive driving information.

Note that a known technique can be used as a technique for acquiring a driver's line-of-sight direction from image data.

The driver's state acquisition unit <NUM> may acquire, as a driver's state, information related to the driver other than a state related to a driver's line of sight. For example, the driver's state acquisition unit <NUM> may acquire, as a driver's state, biological information such as a driver's pulse rate, heart rate, and breathing rate, detected by a biological sensor (not illustrated). In the following, a description will be given regarding, as a driver factor, a driver's state determined in advance as a state to be warned such as inattentive driving and inappropriate posture.

The driver related information acquisition unit <NUM> acquires driver related information to be used for identifying the driver of the vehicle A. The driver related information is, for example, driver's biological information. The driver related information acquisition unit <NUM> captures an image of a driver's face by using the interior-imaging camera, for example, and acquires position information of his/her eyes, nose, mouth, and the like, that is, driver's biological information, as the driver related information. The driver related information acquisition unit <NUM> transmits the acquired driver related information to the rule management device <NUM>.

Note that the driver related information acquisition unit <NUM> may acquire driver's biological information by using a biometric authentication device (not illustrated) or may acquire, as the driver related information, identification information, such as a driver's personal number, input via the input unit <NUM>.

The vehicle warning reception unit <NUM> receives vehicle warning transmitted from the drive assist device <NUM>. The vehicle warning is transmitted from the drive assist device <NUM> when a vehicle state is in a predetermined state. This will be described later in detail. A type of vehicle warning is specified in the received vehicle warning.

The output determination unit <NUM> determines whether or not to output warning to output devices, such as displays and the seat vibration function <NUM>, included in the warning output device <NUM> or connected to the warning output device <NUM>. Upon receipt of vehicle warning from the drive assist device <NUM>, the output determination unit <NUM> outputs information related to the vehicle warning to the driver.

The output determination unit <NUM> determines whether or not the driver's state acquired by the driver's state acquisition unit <NUM> corresponds to any driver factor. For the determination, driver factor definition information (not illustrated) stored in the storage unit <NUM> in advance may be used. When a driver factor is detected and the vehicle state satisfies a predetermined condition specified by individual adaptive rule information, the output determination unit <NUM> determines to output driver factor warning for calling attention related to the driver factor.

Note that when inattentive driving is detected as a driver factor, the output determination unit <NUM> outputs, as driver factor warning, inattentive drive warning for calling attention against inattentive driving.

The storage unit <NUM> stores individual adaptive rule information <NUM>, output warning information <NUM>, and output specification information <NUM>. The individual adaptive rule information <NUM> is information generated for the driver of the vehicle A and is acquired by transmitting the identification information of the driver to the rule management device <NUM>. The output warning information <NUM> indicates details of information to be output to the output devices. The output specification information <NUM> is information in which output identification information for identifying information to be output is associated with vehicle warning, a driver factor, or a combination of vehicle warning and a driver factor.

The drive assist device <NUM> includes a control unit <NUM> and a communication unit <NUM>. The control unit <NUM> performs centralized control of the entire drive assist device <NUM>. The communication unit <NUM> relays transmission and reception of vehicle warning to and from the warning output device <NUM>.

The control unit <NUM> includes a state detection unit <NUM> and a vehicle warning report unit <NUM>. The state detection unit <NUM> detects a vehicle state by using the exterior-imaging camera <NUM>. When the vehicle state detected by the state detection unit <NUM> is a state determined in advance as a warning factor, the vehicle warning report unit <NUM> transmits vehicle warning, a type of the vehicle warning being specified in the vehicle warning, to the warning output device <NUM>. For example, when the distance to a front vehicle is equal to or shorter than a predetermined distance, the vehicle warning report unit <NUM> reports vehicle warning. The vehicle warning report unit <NUM> reports the vehicle state detected by the state detection unit <NUM> to the warning output device <NUM>.

The rule management device <NUM> includes a control unit <NUM>, a storage unit <NUM>, and a communication unit <NUM>. The control unit <NUM> performs centralized control of the entire rule management device <NUM>. The storage unit <NUM> stores information necessary for management of individual adaptive rule information <NUM> by the rule management device <NUM>. The communication unit <NUM> relays transmission and reception of information to and from the warning output device <NUM>.

The control unit <NUM> includes an information generation unit <NUM>, an individual adaptive rule transmission unit <NUM>, and a driver identifying unit <NUM>. When the warning output device <NUM> receives vehicle warning from the drive assist device <NUM> and a driver factor including inattentive driving of the driver of the vehicle A provided with the warning output device <NUM> is detected, the information generation unit <NUM> generates individual adaptive rule information <NUM> associated with the identification information of the driver. The individual adaptive rule information <NUM> includes the type of the vehicle warning received by the warning output device <NUM>.

The information generation unit <NUM> associates, with the individual adaptive rule information <NUM>, a threshold for the vehicle state corresponding to the type of the vehicle warning, the threshold being stored in a region (not illustrated) of the storage unit <NUM>.

The individual adaptive rule transmission unit <NUM> identifies a driver by using driver related information transmitted from the warning output device <NUM> and transmits the individual adaptive rule information <NUM> generated for the driver, to the warning output device <NUM>. The driver identifying unit <NUM> refers to driver information to be described later, by using the driver related information from the warning output device <NUM>, to thereby identify identification information of the driver. The individual adaptive rule transmission unit <NUM> identifies the individual adaptive rule information <NUM> of the driver by using the identification information of the driver.

The storage unit <NUM> stores the vehicle warning detection information <NUM>, the individual adaptive rule information <NUM>, and driver information <NUM>. The vehicle warning detection information <NUM> is information generated when the warning output device <NUM> receives vehicle warning and includes the type of the vehicle warning, the vehicle state at the time of receiving the vehicle warning, and the like.

The individual adaptive rule information <NUM> is information generated for each driver related to each warning output device <NUM> and includes types of vehicle warning. The individual adaptive rule information <NUM> stored in the storage unit <NUM> of the rule management device <NUM> is information generated for each driver of each of vehicles A including one or a plurality of warning output devices <NUM> connected to the rule management device <NUM>. In contrast, the individual adaptive rule information <NUM> stored in the storage unit <NUM> of each warning output device <NUM> is information generated for the driver of the vehicle A including the warning output device <NUM>.

The driver information <NUM> is information in which driver related information, such as biological information, received from the warning output device <NUM> and the identification information of the driver are associated with each other. By referring to the driver information <NUM> by using the driver related information received from the warning output device <NUM>, the identification information of the driver can be identified.

<FIG> is a diagram illustrating an example of a data structure of the output warning information <NUM>. The output warning information <NUM> includes output identification information 122a, a head-up display 122b, a meter display 122c, a seat vibration function 122d, and audio information 122e.

The output identification information 122a is identification information for identifying each record of the output warning information <NUM>. The head-up display 122b is identification information for specifying information to be displayed on the head-up display <NUM>. The meter display 122c is identification information for specifying information to be displayed on the meter display <NUM>. The seat vibration function 122d is identification information for specifying a vibration pattern of the seat vibration function <NUM>. The audio information 122e is information for specifying audio information to be output via the speaker <NUM>.

For example, when the warning output device <NUM> determines to output the output identification information 122a included in the top record in the output warning information <NUM> illustrated in <FIG>, information specified by the head-up display 122b and the meter display 122c included in the record is output. Moreover, the seat vibration function <NUM> vibrates in the vibration pattern specified by the seat vibration function 122d included in the same record. Furthermore, the audio information 122e producing a speech sound of "Be careful not to look away. Pay attention to the distance to the front vehicle. " is output via the speaker <NUM>.

<FIG> is a diagram illustrating an example of a data structure of the output specification information <NUM>. The output specification information <NUM> includes a warning type 123a, a driver factor 123b, and output identification information 123c. The warning type 123a is information indicating a type of vehicle warning. The driver factor 123b is information indicating a driver factor. The output identification information 123c is identification information for identifying information to be output to the output device.

<FIG> is a diagram (part <NUM>) illustrating an example of a data structure of the vehicle warning detection information <NUM>. The vehicle warning detection information <NUM> includes driver identification information 321a, detection identification information 321b, vehicle warning 321c, and a surrounding state at occurrence of vehicle warning 321d.

The driver identification information 321a is identification information for identifying the driver of the vehicle A including the warning output device <NUM> that has received vehicle warning. The detection identification information 321b is identification information for identifying a record in the vehicle warning detection information <NUM>. The vehicle warning 321c is information indicating the type of the vehicle warning received by the warning output device <NUM>.

The vehicle warning 321c includes, as types, information such as "front collision", "rear collision", "pedestrian", "bicycle", "drifting", and "lane departure". "Front collision" is a type of vehicle warning in a case of detecting a warning factor in which the vehicle distance between the vehicle A and a vehicle in front of the vehicle A is equal to or shorter than a predetermined distance; "pedestrian" is a type of vehicle warning when the distance between the vehicle A and a pedestrian is equal to or shorter than a predetermined distance.

The surrounding state at occurrence of vehicle warning 321d is information indicating the state surrounding the vehicle A at the time of receiving the vehicle warning by the warning output device <NUM>. The state surrounding the vehicle A includes information such as road type and position of own vehicle. Note that the information such as the road type and the position of the own vehicle is identifiable by the warning output device <NUM> referring to map information stored in a region (not illustrated) of the storage unit <NUM> and position information of the vehicle A obtained by using a positioning signal receiver to be described later. Note that the map information is high-definition map information in which data of positions of traffic lanes, stop lines, curbs, pedestrian crossings, and traffic signs, for example, is recorded with an accuracy having errors within several centimeters.

<FIG> is a diagram (part <NUM>) illustrating an example of a data structure of the vehicle warning detection information <NUM>. The vehicle warning detection information <NUM> illustrated in <FIG> constitutes single vehicle warning detection information <NUM> together with the vehicle warning detection information <NUM> illustrated in <FIG>. In the vehicle warning detection information <NUM> illustrated in <FIG>, each record is identified by the detection identification information 321b similarly to the vehicle warning detection information <NUM> illustrated in <FIG>.

A surrounding state at occurrence of vehicle warning 321d illustrated in <FIG> includes information indicating state of surrounding vehicles, state of own vehicle, and presence and/or absence of pedestrians and bicycles. The information indicating state of surrounding vehicles, state of own vehicle, and presence and/or absence of pedestrians and bicycles is identifiable by referring to the information indicating a vehicle state acquired from the drive assist device <NUM>, for example.

The vehicle warning detection information <NUM> includes a driver's state 321e. The driver's state 321e includes an interior-imaging camera <NUM> and biological information <NUM>. The interior-imaging camera <NUM> includes information identifiable by using the interior-imaging camera, such as detection of inattentive driving and detection of inappropriate posture. The biological information <NUM> includes information identifiable by using, for example, a biological sensor, such as a driver's pulse rate and breathing rate.

<FIG> is a diagram illustrating an example of a data structure of the individual adaptive rule information <NUM>. The individual adaptive rule information <NUM> includes driver identification information 322a, vehicle warning type 322b, rule identification information 322c, driver factor 322d, detection identification information 322e, output identification information 322f, and threshold information <NUM>.

The driver identification information 322a is identification information for identifying the driver of the vehicle A. The vehicle warning type 322b is information for identifying the type of vehicle warning transmitted from the drive assist device <NUM>. The rule identification information 322c is identification information for identifying a record in the individual adaptive rule information <NUM>. The driver factor 322d is information indicating a driver factor detected when vehicle warning is transmitted. The driver factor 322d is information indicating, for example, detection of inattentive driving, detection of inappropriate posture, and so on.

The detection identification information 322e is information for identifying a record in the vehicle warning detection information <NUM> and corresponds to the detection identification information 321b of the vehicle warning detection information <NUM>. The output identification information is information 322f for identifying a record in the output warning information <NUM> and corresponds to the output identification information 122a of the output warning information <NUM>. The threshold information <NUM> is information indicating a threshold for a vehicle state.

Note that whether or not to output warning information due to the driver factor is determined based on the threshold information <NUM>. In other words, the threshold information <NUM> is considered as information indicating a condition for whether or not to output driver factor warning. When the vehicle state acquired by the vehicle state acquisition unit <NUM> is within a numerical range specified by the threshold information <NUM>, warning information corresponding to the driver factor is output.

Additionally, the individual adaptive rule information <NUM> stored in the warning output device <NUM> may be similar to the individual adaptive rule information <NUM> indicated in <FIG> or may not necessarily include the driver identification information 322a in the individual adaptive rule information <NUM> indicated in <FIG>. This is because the individual adaptive rule information <NUM> stored in the warning output device <NUM> is information indicating a rule related to a specific driver who drives the vehicle A.

<FIG> is a diagram illustrating an example of a hardware configuration of the warning output device <NUM>. The warning output device <NUM> includes an arithmetic device <NUM>, a memory <NUM>, an external storage device <NUM>, a positioning signal receiver <NUM>, an input interface (I/F) <NUM>, an output I/F <NUM>, a communication device 167a, a communication device 167b, and a storage medium drive device <NUM>. These components are connected to each other by a bus.

The arithmetic device <NUM> is a central arithmetic device, such as a central processing unit (CPU), and performs processing according to a program recorded in the memory <NUM> or the external storage device <NUM>. When the arithmetic device <NUM> performs the program, each processing unit included in the control unit <NUM> implements a corresponding function.

The memory <NUM> is a storage device, such as random access memory (RAM) or a flash memory, and functions as a storage area in which a program and data are temporarily read out. For example, the external storage device <NUM> is a writable and readable storage medium, such as a hard disk drive (HDD).

The positioning signal receiver <NUM> is a device that can receive positioning signals from the Global Positioning System (GPS) or the Quasi-Zenith Satellite System, which is used to calculate the present position with higher precision than that of the GPS. The positioning signal receiver <NUM> measures the present location, the traveling speed and the traveling direction of a mobile unit.

The input I/F <NUM> is an interface for connecting to an input device (not illustrated) that receives input operation from a user such as a driver. For example, the input I/F <NUM> receives an input from a touch panel, a microphone, or the like. The input I/F <NUM> receives an input of information related to a state inside the vehicle such as a driver's line of sight and information such as the position of an object outside the vehicle, from the interior-imaging camera <NUM>.

The output I/F <NUM> is an interface for outputting information to the output device. To the output I/F <NUM>, output devices including the seat vibration function <NUM>, the speaker <NUM>, the head-up display <NUM>, and the meter display <NUM> are connected. Note that other output devices (e.g., a touch panel) included in the warning output device <NUM> may be connected to the output I/F <NUM>.

The communication device 167a is a device for connecting the warning output device <NUM> to an in-vehicle network and is a communication device in conformity to a communication standard, such as a controller area network (CAN), for example. Note that the warning output device <NUM> and the drive assist device <NUM> may be directly connected through a connection interface instead of being connected through the in-vehicle network. The function of the in-vehicle communication unit <NUM> is implemented with the communication device 167a. The communication device 167b is a device for connecting the warning output device to a network outside the vehicle. The function of the external communication unit <NUM> is implemented with the communication device 167b.

The storage medium drive device <NUM> is a device that inputs and outputs information to and from a portable medium <NUM>, such as a compact disk (CD) and a digital versatile disk (DVD). The function of the storage unit <NUM> is implemented with the memory <NUM> or the external storage device <NUM>. The function of the storage unit <NUM> may be implemented with a storage device on a network.

<FIG> is a diagram illustrating an example of a hardware configuration of the drive assist device <NUM>. The drive assist device <NUM> includes an arithmetic device <NUM>, a memory <NUM>, an external storage device <NUM>, an input I/F <NUM>, an output I/F <NUM>, and a communication device <NUM>. These components are connected to each other by a bus.

The arithmetic device <NUM>, the memory <NUM>, the external storage device <NUM>, the input I/F <NUM>, the output I/F <NUM>, and the communication device <NUM> are similar to the arithmetic device <NUM>, the memory <NUM>, the external storage device <NUM>, the input I/F <NUM>, the output I/F <NUM>, and the communication device 167a included in the warning output device <NUM>, and hence descriptions thereof are omitted. Note that the drive assist device <NUM> may include a positioning signal receiver and a storage medium drive device.

<FIG> is a diagram illustrating an example of a hardware configuration of the rule management device <NUM>. The rule management device <NUM> includes an arithmetic device <NUM>, a memory <NUM>, an external storage device <NUM>, an input I/F <NUM>, an output I/F <NUM>, a communication device <NUM>, and a storage medium drive device <NUM>. These components are connected to each other by a bus.

The arithmetic device <NUM>, the memory <NUM>, the external storage device <NUM>, the input I/F <NUM>, the output I/F <NUM>, the communication device <NUM>, and the storage medium drive device <NUM> are similar to the arithmetic device <NUM>, the memory <NUM>, the external storage device <NUM>, the input I/F <NUM>, the output I/F <NUM>, the communication device 167b, and the storage medium drive device <NUM> included in the warning output device <NUM>, and hence descriptions thereof are omitted.

Note that processing of each of the components of the warning output device <NUM>, the drive assist device <NUM>, and the rule management device <NUM> may be performed by one piece of hardware, or may be performed by a plurality of pieces of hardware. Processing of each of the components of the warning output device <NUM>, the drive assist device <NUM>, and the rule management device <NUM> may be implemented by one program, or may be implemented by a plurality of programs.

<FIG> is a sequence diagram illustrating an example of processing for generating the individual adaptive rule information <NUM> stored in the storage unit <NUM> of the rule management device <NUM>.

First, the driver related information acquisition unit <NUM> of the warning output device <NUM> acquires driver related information and transmits the driver related information to the rule management device <NUM> (Step S11). The driver related information acquisition unit <NUM> acquires the driver related information, such as driver's biological information, by using the interior-imaging camera <NUM> and transmits the driver related information to the rule management device <NUM>. Note that, as described previously, the vehicle state acquisition unit <NUM> simply needs to acquire information that can identify the driver, and the information to be acquired is not limited to any.

Next, the state detection unit <NUM> of the drive assist device <NUM> detects a vehicle state (Step S12). The state detection unit <NUM> detects a vehicle state of the vehicle A by using the exterior-imaging camera <NUM>.

Next, the vehicle warning report unit <NUM> of the drive assist device <NUM> detects a warning factor (Step S13). Specifically, the vehicle warning report unit <NUM> determines whether or not the vehicle state detected in Step S12 is a state determined in advance as a warning factor. When the vehicle warning report unit <NUM> determines that the vehicle state corresponds to a state defined as a warning factor, the vehicle warning report unit <NUM> advances the processing to the next step.

Note that, when the vehicle warning report unit <NUM> determines that the vehicle state does not correspond to any warning factor, the vehicle warning report unit <NUM> returns the processing to Step S12. In other words, the state detection unit <NUM> repeats the processing in Step S12 until it is determined that the vehicle state corresponds to a warning factor.

Next, the vehicle warning report unit <NUM> transmits vehicle warning and the vehicle state (Step S14). Specifically, the vehicle warning report unit <NUM> identifies the type of warning of the vehicle state determined to correspond to a warning factor in Step S13 and transmits vehicle warning including the type to the warning output device <NUM>. Note that the type of warning is identifiable by referring to definition information for the warning factor stored in the storage unit (not illustrated) of the drive assist device <NUM>. The vehicle warning report unit <NUM> also transmits the vehicle state detected in Step S12 to the warning output device.

Next, the vehicle state acquisition unit <NUM> of the warning output device <NUM> acquires the vehicle warning and the vehicle state of the vehicle A (Step S15). Specifically, the vehicle state acquisition unit <NUM> acquires the vehicle warning transmitted in Step S14 and the vehicle state such as a state of the outside and the traveling state of the vehicle A. The vehicle state acquisition unit <NUM> acquires, as the vehicle state, information indicating a surrounding state indicating the type of the road on which the vehicle A is traveling, the positions of lanes, and the like, by using the positioning signal receiver <NUM> included in the warning output device <NUM>, map information (not illustrated), and the like.

Note that the information related to the state of the outside and the traveling state of the vehicle A and the like may be acquired by the vehicle state acquisition unit <NUM> of the warning output device <NUM> by using the exterior-imaging camera <NUM> connected to the warning output device <NUM> and the like, instead of receiving the information from the drive assist device <NUM>.

Next, the driver's state acquisition unit <NUM> of the warning output device <NUM> acquires a driver's state (Step S16). Specifically, the driver's state acquisition unit <NUM> determines a driver's line of sight and posture by using the interior-imaging camera <NUM> to detect the presence or absence of inattentive drive and inappropriate posture. The driver's state acquisition unit <NUM> may acquire, as the driver's state, biological information such as a driver's pulse rate and breathing rate, by using a biological sensor and the like. Note that the driver's state may be that included in the information transmitted from the drive assist device <NUM> in Step S14 and indicating the vehicle state. In this case, the state detection unit <NUM> of the drive assist device <NUM> acquires the driver's state by using an interior-imaging camera and the like connected to the drive assist device <NUM>.

Next, the vehicle warning reception unit <NUM> transmits the warning type, the vehicle state, and the driver's state to the rule management device <NUM> (Step S17). Specifically, the vehicle warning reception unit <NUM> transmits, to the rule management device <NUM>, the type of the vehicle warning and the vehicle state acquired in Step S15 and the driver's state acquired in Step S16.

Next, the driver identifying unit <NUM> of the rule management device <NUM> identifies identification information of the driver (Step S18). Specifically, the driver identifying unit <NUM> refers to the driver information <NUM> by using the driver related information transmitted from the warning output device <NUM> in Step S11, to thereby identify identification information of the driver. Note that, when no identification information corresponding to the driver related information transmitted in Step S11 exists in the driver information <NUM>, the driver identifying unit <NUM> generates, by assuming that the driver related information is information of a driver which is not registered yet, new identification information and stores the generated identification information in the driver information <NUM> in association with the transmitted driver related information.

Next, the information generation unit <NUM> of the rule management device <NUM> generates the vehicle warning detection information <NUM> (Step S19). Specifically, the information generation unit <NUM> generates the vehicle warning detection information <NUM> in association with the warning type, the vehicle state, and the driver's state acquired in Step S17 and the identification information of the driver identified in Step S18, and stores the vehicle warning detection information <NUM> in the storage unit <NUM>. Specifically, the information generation unit <NUM> generates the detection identification information 321b that is new, and generates the vehicle warning detection information <NUM> by associating with each other the identification information of the driver as the driver identification information 321a, the warning type as the vehicle warning 321c, the vehicle state as the surrounding state at occurrence of vehicle warning 321d, and the driver's state as the driver's state 321e.

Next, when a driver factor is present, the information generation unit <NUM> generates the individual adaptive rule information <NUM> (Step S20). Specifically, the information generation unit <NUM> refers to the driver's state 321e in the vehicle warning detection information <NUM> generated in Step S19, to determine whether or not a driver's state that is inappropriate for driving is present. For example, when information indicating that inattentive driving is detected or information indicating that inappropriate posture is detected is included in the driver's state 321e, the information generation unit <NUM> determines that a driver factor is present. Note that a criterion, such as an upper limit value of the breathing rate, for example, defined in advance in a region (not illustrated) of the storage unit <NUM> may be used for the determination of the presence or absence of a driver factor.

When the information generation unit <NUM> determines that a driver factor is present, the information generation unit <NUM> generates the individual adaptive rule information <NUM> by using the vehicle warning detection information <NUM> generated in Step S19. More specifically, the rule management device <NUM> includes, in the storage unit <NUM>, definition information (not illustrated) in which output identification information for identifying information to be output and threshold information to serve as a condition for outputting the information are associated in advance, with each combination of a warning type and a driver factor.

The information generation unit <NUM> refers to the definition information to identify the output identification information and threshold information associated with the combination of the driver factor and the warning type included in the vehicle warning detection information <NUM> generated in Step S19. The information generation unit <NUM> associates with each other the detection identification information 321b, the vehicle warning 321c, and the driver's state 321e indicating the driver factor, which are included in the vehicle warning detection information <NUM>, the output identification information and the threshold information thus identified, and the driver identification information identified in Step S18, and adds the rule identification information 322c that is new, to thereby generate the individual adaptive rule information <NUM>. The drive assist device <NUM>, the warning output device <NUM>, and the rule management device <NUM> thereafter terminate the processing of this sequence diagram.

Note that the information generation unit <NUM> associates in advance the date and time of generation with each of the records in the individual adaptive rule information <NUM>. The information generation unit <NUM> deletes each record of the individual adaptive rule information <NUM> having the date and time of generation from which a predetermined time period has elapsed, for example.

According to the present embodiment, when warning related to a vehicle state is output from the drive assist device <NUM> and a driver factor, such as inattentive driving, is detected, a record of the detected state can be held.

<FIG> is a flowchart illustrating an example of warning output processing in the warning output device <NUM>. The processing in the flowchart is started, for example, when the warning output device <NUM> is turned on.

First, the vehicle state acquisition unit <NUM> acquires driver related information and transmits the driver related information to the rule management device <NUM> (Step S31). The processing performed in this step is similar to the processing performed in Step S11 illustrated in <FIG>, and hence description of the processing is omitted.

Note that, as described previously, the driver identifying unit <NUM> of the rule management device <NUM> identifies identification information of the driver by using received driver related information (similar to Step S18 described above). The individual adaptive rule transmission unit <NUM> thereafter identifies the individual adaptive rule information <NUM> including the identification information and transmits the individual adaptive rule information <NUM> to the warning output device <NUM>.

Next, the individual adaptive rule acquisition unit <NUM> acquires the individual adaptive rule information <NUM> (Step S32). Specifically, the individual adaptive rule acquisition unit <NUM> receives the individual adaptive rule information <NUM> generated for the driver identifiable based on the driver related information transmitted in Step S31 and stores the individual adaptive rule information <NUM> as the individual adaptive rule information <NUM> in the storage unit <NUM>. Note that, when the individual adaptive rule information <NUM> for the driver of the vehicle A has not been generated in the rule management device <NUM>, the individual adaptive rule information <NUM> is not acquired in this step.

The processing in Step S31 and Step S32 may be performed periodically in the warning output device <NUM>.

Next, the vehicle state acquisition unit <NUM> acquires a vehicle state (Step S33). Specifically, the vehicle state acquisition unit <NUM> acquires a vehicle state transmitted from the vehicle warning report unit <NUM> of the drive assist device <NUM>. The vehicle state acquisition unit <NUM> may acquire a vehicle state by using the positioning signal receiver <NUM> included in the vehicle state acquisition unit <NUM>, map information (not illustrated), and the like, similarly to Step S15 illustrated in <FIG> described above.

Next, the vehicle state acquisition unit <NUM> acquires a driver's state (Step S34). The processing performed in Step S34 is similar to the processing performed in Step S16 illustrated in <FIG>, and hence description of the processing is omitted. Note that the processing in Step S33 and Step S34 may be, for example, performed periodically in the warning output device <NUM>.

Next, the vehicle warning reception unit <NUM> determines whether or not vehicle warning is received (Step S35). The vehicle warning reception unit <NUM> determines whether or not vehicle warning transmitted from the drive assist device <NUM> upon detection of a warning factor is received. Note that, when the vehicle warning reception unit <NUM> determines that vehicle warning is received, the vehicle warning detection information <NUM> is generated in the rule management device <NUM> as described previously (Step S19 in <FIG>).

When the vehicle warning reception unit <NUM> determines that vehicle warning is received ("YES" in Step S35), the output determination unit <NUM> determines whether or not a driver factor is present (Step S36). Specifically, the output determination unit <NUM> refers to the driver's state acquired in Step S34 and determines whether or not a driver's state corresponding to a driver factor is detected, for example, inattentive driving is detected or inappropriate posture is detected.

When the output determination unit <NUM> determines that no driver factor is present (in a case of "NO" in Step S36), the output unit <NUM> outputs vehicle warning (Step S37). Specifically, when the output determination unit <NUM> determines that no driver factor is present, the output determination unit <NUM> refers to the output specification information <NUM> by using the information indicating the type of warning included in the vehicle warning acquired in Step S35, to identify the record including the type in the warning type 123a and including the driver factor 123b indicating that no driver factor is present. The output determination unit <NUM> identifies the output identification information 123c included in the record.

The output determination unit <NUM> causes the output unit <NUM> to output warning information indicating the vehicle warning, by using output information corresponding to the identified output identification information 123c in the output warning information <NUM>. The control unit <NUM> thereafter returns the processing to Step S33.

Note that the state detection unit <NUM> of the drive assist device <NUM> monitors the vehicle state to be a factor of the vehicle warning transmitted to the warning output device <NUM>, to detect whether or not the warning factor is eliminated. When it is detected that the warning factor is eliminated, the vehicle warning reception unit <NUM> receives information indicating that the warning factor is eliminated. When the vehicle warning reception unit <NUM> receives the information, the output determination unit <NUM> stops the output of the warning information.

<FIG> is a diagram (part <NUM>) illustrating an example of the output information. <FIG> illustrates an example of output information in a case where vehicle warning is transmitted from the drive assist device <NUM> and no driver factor is present. <FIG> illustrates a vehicle state of this example. Since the vehicle A is approaching a front vehicle to consequently have a distance to the front vehicle of a predetermined distance or shorter, the drive assist device <NUM> transmits vehicle warning with a type "front collision" to the warning output device <NUM>.

<FIG> is an example of display on the head-up display <NUM> in this example. A display screen <NUM> of the head-up display <NUM> includes a display area <NUM>. Warning information indicating what is to be warned is displayed in the display area <NUM>. In this example, the output determination unit <NUM> refers to the storage unit <NUM>, to identify a character string representing "Pay attention to vehicle distance" as the vehicle warning and thereby display the character string in the display area <NUM>.

<FIG> is an example of display of the meter display <NUM> in this example. A display screen <NUM> of the meter display <NUM> includes a display area <NUM>. For example, information describing a state being a factor of the warning is displayed in the display area <NUM>. In this example, since the vehicle warning reception unit <NUM> has received the vehicle warning with the type of "front collision", the output determination unit <NUM> refers to the storage unit <NUM> to thereby identify the output information indicating a state being a factor of "front collision" and display the output information in the display area <NUM>. A state where the vehicle A is approaching the front vehicle is displayed in the display area <NUM> in <FIG>.

<FIG> is a diagram (part <NUM>) illustrating an example of the output information. <FIG> illustrates a different example of the output information in a case where vehicle warning is transmitted from the drive assist device <NUM> and no driver factor is present. <FIG> illustrates a vehicle state of this example. Since the vehicle A is approaching a pedestrian to consequently have a distance to the pedestrian of a predetermined distance or shorter, the drive assist device <NUM> transmits vehicle warning with a type "pedestrian" to the warning output device <NUM>.

<FIG> is an example of display on the head-up display <NUM> in this example. A character string representing "Pay attention to pedestrian" is displayed in the display area <NUM> of the head-up display <NUM> as vehicle warning. <FIG> is an example of display of the meter display <NUM> in this example. A state in which the vehicle A is approaching the pedestrian is displayed in the display area <NUM> as information for describing a state being a warning factor.

Turn the description back to <FIG>. In Step S36, when the output determination unit <NUM> determines that a driver factor is present (in a case of "YES" in Step S36), the output unit <NUM> outputs vehicle warning and driver factor warning (Step S38). Specifically, the output determination unit <NUM> refers to the individual adaptive rule information <NUM> acquired in Step S32 by using the information indicating the driver factor and the type of the vehicle warning. The output determination unit <NUM> identifies output identification information corresponding to the identified combination of the vehicle warning type and the driver factor.

Note that, when the combination of the vehicle warning type and the driver factor is not included in the individual adaptive rule information <NUM>, the output determination unit <NUM> refers to the output specification information <NUM>, to identify the output identification information 123c corresponding to the combination of the warning type 123a and the driver factor 123b.

The output determination unit <NUM> identifies, in the output warning information <NUM>, the head-up display 122b, the meter display 122c, the seat vibration function 122d, and the audio information 122e corresponding to the identified output identification information 122a, and output the identified elements via the output unit <NUM>. The control unit <NUM> thereafter returns the processing to Step S33.

In Step S35, when the vehicle warning reception unit <NUM> determines that vehicle warning is not received ("NO" in Step S35), the driver's state acquisition unit <NUM> determines whether or not a driver factor is present (Step S39). Processing performed in this step is similar to the processing performed in Step S36. Therefore, description of the processing is omitted.

When the vehicle warning reception unit <NUM> determines that no driver factor is present (in a case of "NO" in Step S39), the vehicle warning reception unit <NUM> returns the processing to Step S33.

When the vehicle warning reception unit <NUM> determines that driver factor is present ("YES" in Step S39), the output determination unit <NUM> determines whether or not the individual adaptive rule information <NUM> is present (Step S40). Specifically, the output determination unit <NUM> refers to the storage unit <NUM> to determine whether or not the individual adaptive rule information <NUM> of the driver is acquired, in Step S32.

When the output determination unit <NUM> determines that no individual adaptive rule information <NUM> is present (in a case of "NO" in Step S40), the output determination unit <NUM> outputs driver factor warning (Step S41). Note that, in the warning output device <NUM>, a case where no individual adaptive rule information <NUM> of the driver is present is treated as a "normal mode", while a case where the individual adaptive rule information <NUM> is present is treated as an "individual adaption mode".

When the output determination unit <NUM> determines that no individual adaptive rule information <NUM> is present, in other words, in a case of the "normal mode", the output determination unit <NUM> refers to the output specification information <NUM> by using the driver's state to be a driver factor in the driver's state acquired in Step S34. The output determination unit <NUM> identifies a record including the driver factor in the driver factor 123b and not including any warning type in the warning type 123a. The output determination unit <NUM> refers to the output warning information <NUM> by using the output identification information 123c included in the record, to identify output information indicating warning against the driver factor. The output determination unit <NUM> outputs the identified output information via the output unit <NUM>. The output determination unit <NUM> thereafter returns the processing to Step S33.

In this way, when a driver factor is detected in the case of the "normal mode", warning corresponding to the driver factor is output. This makes it possible to appropriately perform warning at an occurrence of a driver factor.

When the vehicle warning reception unit <NUM> determines that the individual adaptive rule information <NUM> is present ("YES" in Step S40), the output determination unit <NUM> extracts threshold information corresponding to the individual adaptive rule information <NUM> (Step S42). Specifically, when the individual adaptive rule information <NUM> is present, in other words, in the case of the "individual adaption mode", the output determination unit <NUM> refers to the individual adaptive rule information <NUM> by using the driver factor determined to be present in Step S39. The output determination unit <NUM> extracts threshold information corresponding to the driver factor.

Note that, when the driver factor in Step S39 is not included in the individual adaptive rule information <NUM>, the output determination unit <NUM> outputs driver factor warning similarly to the case of the "normal mode".

Next, the output determination unit <NUM> determines whether or not the vehicle state is within a threshold range (Step S43). As described above, by referring to the threshold information included in one record, a numeric range to serve as a condition for outputting warning information related to the driver factor is identified. The output determination unit <NUM> compares the threshold information in the individual adaptive rule information <NUM> extracted in Step S42 and the vehicle state acquired in Step S33, to thereby determine whether or not the vehicle state of the vehicle A is a state for which driver factor warning is to be output.

This will be described in more detail by using the individual adaptive rule information <NUM> illustrated in <FIG>. When "inattentive driving" is detected as a driver factor, each record including "inattentive driving" as the driver factor 322d is extracted in Step S42. For example, the top record in <FIG> includes a record including "front collision detection" as the vehicle warning type 322b and "inattentive driving" as the driver factor 322d. It is assumed that the threshold information <NUM> in this record stores information indicating that the "distance to a front vehicle is <NUM> or shorter", for example. In this case, the numeric range for outputting warning information related to the driver factor being "inattentive driving" is the "distance to a front vehicle is <NUM> or longer and <NUM> or shorter".

Similarly, the threshold information <NUM> of the individual adaptive rule information including "rear collision detection" as the vehicle warning type 322b and "inattentive driving" as the driver factor 322d stores information indicating that the "distance to a rear vehicle is <NUM> or shorter". The threshold information <NUM> of the individual adaptive rule information <NUM> including "pedestrian detection" as the vehicle warning type 322b and "inattentive driving" as the driver factor 322d stores information indicating that the "distance to a pedestrian is <NUM> or shorter". When the distance between the vehicle A and another vehicle or a pedestrian is within the numeric range identified based on the threshold information <NUM>, the output determination unit <NUM> outputs warning information.

For example, assume that "inattentive driving" is detected as a driver factor in Step S39 and a vehicle distance satisfying the "distance to a front vehicle is <NUM> or shorter" is acquired as a vehicle state in Step S33. The output determination unit <NUM> determines that the vehicle state is within the numeric range identified by the threshold information included in the top record in the individual adaptive rule information <NUM>, out of the threshold information extracted in Step S42.

Turn the description back to <FIG>. When the output determination unit <NUM> determines that the vehicle state is within the threshold range (in a case of "YES" in Step S43), the output determination unit <NUM> outputs driver factor warning (Step S44). Specifically, the output determination unit <NUM> refers to the individual adaptive rule information <NUM> and identifies the record including the vehicle state determined to be within the threshold range in Step S43 among the records extracted in Step S42. The output determination unit <NUM> identifies the output identification information in the identified record.

The output determination unit <NUM> refers to the output warning information <NUM> by using the identified output identification information, to identify output information to output to each output device. The output determination unit <NUM> outputs warning information related to the driver factor via the output unit <NUM> by using the identified output information. The output determination unit <NUM> thereafter returns the processing to Step S33.

In contrast, when the output determination unit <NUM> determines that the vehicle state is not within the threshold range (in a case of "NO" in Step S43), the output determination unit <NUM> returns the processing to Step S33. In other words, even when the driver's state acquisition unit <NUM> determines that a driver factor, such as inattentive driving, is present in Step S39, the output determination unit <NUM> prevents driver factor warning from being output when the vehicle state does not satisfy the condition specified by the individual adaptive rule information <NUM>.

Note that, after the output of the driver factor warning, the output determination unit <NUM> determines whether or not the driver factor is eliminated by using the driver's state acquired by the driver's state acquisition unit <NUM> in Step S34. When the output determination unit <NUM> determines that the driver factor is eliminated, the output determination unit <NUM> stops display of the driver factor warning.

In other words, even when the driver looks away and immediately turns his/her line of sight back to the traveling direction, inattentive driving warning is output upon detection of a driver factor indicating inattentive driving in Step S36 or Step S39. When it is detected thereafter that the driver factor is eliminated, the output determination unit <NUM> stops the output of the inattentive driving warning.

<FIG> is a diagram (part <NUM>) illustrating an example of the output information. <FIG> is used to describe a state after the vehicle warning (having a type "front collision") based on the vehicle state illustrated in <FIG> is output from the drive assist device <NUM> and the individual adaptive rule information <NUM> is generated. <FIG> illustrates a vehicle state where the vehicle A is about to approach the front vehicle but vehicle warning is not output yet. A description will be given of a case where inattentive driving is detected in this vehicle state.

When the individual adaptive rule information <NUM> for front collision detection in relation to the driver of the vehicle A is generated and inattentive driving is detected, the output determination unit <NUM> determines whether or not the value representing the vehicle state is within the numeric range identified based on the threshold information <NUM> in the individual adaptive rule information <NUM>. In the case of this example, since the individual adaptive rule information <NUM> based on the vehicle warning in relation to front collision detection is generated, a generated record includes threshold information indicating a threshold for the vehicle distance to the front vehicle. Specifically, when the vehicle distance to the front vehicle is within the numeric range identified by the threshold, the output determination unit <NUM> determines to output inattentive driving warning, which is driver factor warning against inattentive driving.

<FIG> illustrates a display example of the head-up display <NUM> to output inattentive driving warning. A character string calling attention not to look away is displayed, as warning information, in the display area <NUM> of the head-up display <NUM>. <FIG> illustrates a display example of the meter display <NUM> to output inattentive driving warning. Information describing a state being a factor of the inattentive driving warning is output in the display area <NUM> of the meter display <NUM>. A state where the vehicle A is about to approach the front vehicle is displayed in the display area <NUM> in <FIG>.

<FIG> is a diagram (part <NUM>) illustrating an example of the output information. <FIG> is used to describe a state after the vehicle warning (having the type "pedestrian") based on the vehicle state illustrated in <FIG> is output and the individual adaptive rule information <NUM> is generated. <FIG> illustrates a vehicle state where the vehicle A is about to approach a pedestrian but vehicle warning is not output yet. A description will be given of a case where inattentive driving is detected in this vehicle state.

When the individual adaptive rule information <NUM> in relation to pedestrian detection for the driver of the vehicle A is generated and inattentive driving is detected, the output determination unit <NUM> determines whether or not the value representing the vehicle state is within the numeric range identified based on the threshold information <NUM> in the individual adaptive rule information <NUM>. In the case of this example, since the individual adaptive rule information <NUM> based on the vehicle warning in relation to pedestrian detection is generated, a generated record includes threshold information indicating a threshold for the distance between the vehicle A and the pedestrian. Specifically, when the distance to the pedestrian is within the numeric range identified by the threshold, the output determination unit <NUM> determines to output inattentive driving warning.

<FIG> illustrates a display example of the head-up display <NUM> to output inattentive driving warning. A character string calling attention not to look away is displayed, as warning information, in the display area <NUM> of the head-up display <NUM>. <FIG> illustrates a display example of the meter display <NUM> to output inattentive driving warning. Information describing a state being a factor of the inattentive driving warning is output in the display area <NUM> of the meter display <NUM>. A state where the vehicle A is about to approach the pedestrian is displayed in the display area <NUM> in <FIG>.

In the present embodiment, which does not fall within the scope of the claims, the rule management device <NUM> generates and manages, for each driver, the individual adaptive rule information <NUM> corresponding to an operation by the driver. When a driver is identified at the time of driving, the individual adaptive rule information <NUM> is transmitted from the rule management device <NUM> to the warning output device <NUM>, and warning is displayed based on the individual adaptive rule information <NUM> in the warning output device <NUM>. With this, it is possible to perform appropriate display for each driver even in a case of, for example, car rental, car sharing, and the like where different drivers drive a shared vehicle.

Note that generation and management of the individual adaptive rule information <NUM> may be performed by the warning output device <NUM>. In this case, for example, the warning output device <NUM> may identify a driver, generate the individual adaptive rule information <NUM> for each driver, and perform display of warning information by using the generated individual adaptive rule information <NUM>. With this, it is possible to perform appropriate display for each driver without communicating with external devices.

In the present embodiment, which does not fall within the scope of the claims, it is determined, also when a driver factor such as inattentive driving is detected, whether vehicle warning has been output in the past in a state where the driver factor is present, and determined whether or not to output driver factor warning, based on a comparison between the current vehicle state and the vehicle state upon the output of the vehicle warning. With this, it is possible to avoid any complexity due to unnecessary output of warning compared with an embodiment in which warning is output every time a driver factor is detected.

A part or all of each configuration, function, processing unit, processing means, and the like described above may be designed in an integrated circuit to be implemented as hardware, for example. Control lines and information lines illustrated in the drawings are those considered necessary for the sake of description, and do not represent all control lines and information lines. It may be considered that almost all of the configurations are connected to each other.

Claim 1:
A warning output device (<NUM>) comprising:
a driver's state acquisition unit (<NUM>) configured to acquire inattentive driving information indicating that a driver performs inattentive driving;
a vehicle state acquisition unit (<NUM>) configured to acquire a vehicle state;
a vehicle warning reception unit (<NUM>) configured to receive vehicle warning which is warning corresponding to the vehicle state;
an adaptive rule acquisition unit (<NUM>) configured to acquire adaptive rule information (<NUM>) generated when the driver performs inattentive driving and the warning is received; and
an output unit (<NUM>) configured to output inattentive driving warning which is warning related to inattentive driving when the driver's state acquisition unit (<NUM>) acquires the inattentive driving information and the vehicle state satisfies a predetermined condition specified by the adaptive rule information (<NUM>),
characterised in that
the warning output device (<NUM>) comprises a driver related information acquisition unit (<NUM>) configured to acquire driver related information to be used to identify a driver,
the adaptive rule acquisition unit (<NUM>) is configured to acquire the adaptive rule information (<NUM>) generated for the driver identified by using the driver related information,
the output unit (<NUM>) is configured to output the inattentive driving warning when the vehicle state in driving by the driver identified by using the driver related information satisfies the predetermined condition specified by the adaptive rule information (<NUM>) related to the driver, and
the output unit (<NUM>) is configured to prevent the inattentive driving warning from being output when the vehicle state does not satisfy the predetermined condition even if the driver's state acquisition unit (<NUM>) acquires the inattentive driving information.