JP7647598B2 - Attention-calling device - Google Patents

Description

This disclosure relates to a warning device that warns the driver of a vehicle.

For example, Patent Document 1 describes a device that recognizes whether the red lights and arrow lights of a traffic light ahead are on based on image information from a camera that captures the image ahead of the vehicle, and warns the driver of the vehicle depending on the lighting status of these lights.

JP 2021-047565 A

To encourage vehicles to stop when the yellow lights are on before an intersection (a so-called "yellow stop"), it is conceivable to issue a warning when the yellow lights are on before an intersection. However, after the yellow lights come on, arrow lights indicating a right turn, etc. may come on. If a warning is issued uniformly when the yellow lights come on, it will be an unnecessary warning for drivers of vehicles that are trying to turn right in response to the right turn arrow light, and the drivers will find it annoying.

For this reason, this disclosure describes an attention-warning device that can appropriately warn the driver in response to the illumination of a yellow light, while minimizing the driver's feeling of annoyance.

In one aspect of the present disclosure, an attention warning device that warns the driver of a vehicle entering an intersection according to the lighting state of a traffic light ahead of the vehicle includes a lighting state recognition unit that recognizes the lighting state of the main light and arrow light of the traffic light based on image information from a camera that captures an image ahead of the vehicle, a traveling direction estimation unit that estimates the traveling direction of the vehicle, a determination unit that determines whether or not a warning is necessary based on the recognition result of the lighting state recognition unit and the estimation result of the traveling direction estimation unit, and an attention warning unit that warns the driver when the determination unit determines that a warning is necessary.The determination unit determines that a warning is necessary when the yellow light of the main light is on and the arrow light in the estimated traveling direction of the vehicle was on immediately before the current yellow light was turned on, and determines that a warning is not necessary when the yellow light is on and the arrow light in the estimated traveling direction of the vehicle was not on immediately before the current yellow light was turned on.

In this attention warning device, if the yellow lamp of the main lamp is on and the arrow lamp in the estimated vehicle travel direction is on immediately before the current yellow lamp is turned on, the driver is warned. In other words, the current yellow lamp is turned on after the arrow lamp in the direction in which the vehicle was going to travel is turned off, and after the current yellow lamp is turned on, the red lamp in which the vehicle should stop is turned on. Therefore, the warning given in such a situation is an appropriate warning to encourage the vehicle to stop. On the other hand, in this attention warning device, if the yellow lamp is on and the arrow lamp in the estimated vehicle travel direction was not on immediately before the current yellow lamp is turned on, the driver is not warned. Here, if the arrow lamp in the estimated vehicle travel direction was not on immediately before the current yellow lamp is turned on, the arrow lamp in the direction in which the vehicle is going to travel may be turned on after the current yellow lamp is turned on (after the yellow lamp is turned on and then turned off). In this way, when an arrow light in the direction of travel lights up after the yellow light comes on, if a warning to stop is issued just before the arrow light comes on (when the yellow light is on), the driver of the vehicle will find this warning annoying. For this reason, this warning device does not issue a warning in such a situation. In this way, when issuing a warning in response to the lighting of the yellow light, this warning device can issue an appropriate warning while preventing the driver from feeling that it is annoying.

The warning device may further include a brake operation detection unit that detects the braking operation of the vehicle by the driver, and the determination unit may determine that a warning is unnecessary when the brake operation detection unit detects the braking operation of the driver. Here, when the driver performs a brake operation, it can be said that the driver is in a state where he or she recognizes that it may be necessary to stop the vehicle at an intersection. For this reason, if a warning is issued to a driver who recognizes the need to stop in this way, the driver may find the warning annoying. For this reason, the warning device does not issue a warning when a brake operation is detected, thereby preventing the driver from feeling that the warning is annoying.

This warning device further includes a vehicle speed detection unit that detects the vehicle speed of the vehicle, and the judgment unit, based on the detection result of the vehicle speed detection unit, judges whether or not a warning is necessary based on the recognition result of the lighting state recognition unit and the estimation result of the traveling direction estimation unit when the vehicle speed at a judgment point preset before the intersection is equal to or greater than a predetermined judgment speed threshold, and may judge that a warning is unnecessary when the vehicle speed at the judgment point is less than the judgment speed threshold. Here, when the vehicle speed at the judgment point is less than the judgment speed threshold, the vehicle has decelerated sufficiently and there may be cases where a warning is not necessary. For this reason, this warning device does not issue a warning when the vehicle speed at the judgment point is less than the judgment speed threshold. This allows the warning device to appropriately issue a warning while suppressing the driver's feeling of annoyance.

In this warning device, the determination unit may determine that a warning is necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated vehicle's traveling direction is not on, and may determine that a warning is not necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated vehicle's traveling direction is on. In this case, the warning device can issue a warning when the red lamp is on, taking into account the lighting state of the arrow lamp.

According to one aspect of the present disclosure, when issuing a warning in response to the illumination of a yellow light, it is possible to properly warn the driver while minimizing the driver's feeling of annoyance.

FIG. 1 is a block diagram illustrating an example of an attention calling device according to an embodiment. FIG. 2 is a schematic diagram showing an example of a traffic light equipped with arrow lights. FIG. 3 is a diagram illustrating changes in the lighting pattern of a traffic light equipped with an arrow light. FIG. 4 is a flowchart showing the flow of an attention calling process performed by the attention calling device.

Below, exemplary embodiments will be described with reference to the drawings. Note that in each drawing, the same or corresponding elements are given the same reference numerals, and duplicate explanations will be omitted.

The attention warning device 1 shown in FIG. 1 is mounted on a vehicle V. The attention warning device 1 warns the driver of the vehicle V entering an intersection according to the illumination state of the traffic light ahead of the vehicle V. The vehicle V is a manually driven vehicle that is driven by the driver. The intersection here is not limited to a crossroads where two roads intersect, but is a point that includes one or more branching lanes, such as a Y-junction or T-junction.

The warning device 1 includes a camera 2, a brake sensor 3, a vehicle speed sensor 4, an alarm 5, and a warning ECU [Electronic Control Unit] 10.

Camera 2 is an imaging device that captures images of the external environment in front of vehicle V. For example, camera 2 is provided behind the windshield of vehicle V and captures images in front of the vehicle. Camera 2 transmits the captured image information to attention warning ECU 10. In this embodiment, camera 2 can capture images of at least traffic lights in front of vehicle V.

The brake sensor 3 detects whether or not the driver is braking the vehicle V. For example, the brake sensor 3 may be provided near the brake pedal of the vehicle V and detect the movement of the brake pedal. The brake sensor 3 transmits the detection result of the brake operation to the attention warning ECU 10.

The vehicle speed sensor 4 is a detector that detects the vehicle speed of the vehicle V. As the vehicle speed sensor 4, a wheel speed sensor that is provided on the wheels of the vehicle V or on a drive shaft that rotates integrally with the wheels and detects the rotational speed of each wheel can be used. The vehicle speed sensor 4 transmits the detected vehicle speed information (wheel speed information) to the attention alert ECU 10.

The alarm 5 is a device that issues an alert to the driver of the vehicle V. For example, the alarm 5 may be a display or an indicator such as a meter panel, a lamp, a speaker, or other device. The alarm 5 is used when the attention warning device 1 issues an alert to the driver.

The attention warning ECU 10 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. In the attention warning ECU 10, various functions are realized, for example, by the CPU executing a program recorded in the ROM or RAM. The attention warning ECU 10 may be composed of multiple electronic units.

The warning ECU 10 functionally comprises a lighting state recognition unit 11, a traveling direction estimation unit 12, a brake operation detection unit 13, a vehicle speed detection unit 14, a judgment unit 15, and a warning unit 16.

The lighting state recognition unit 11 recognizes the lighting state of the main lights and arrow lights of the traffic lights ahead of the vehicle V based on the image information of the area ahead of the vehicle V captured by the camera 2. Here, the lighting state recognition unit 11 recognizes the lighting state of the traffic lights installed at the intersection where the vehicle V is about to enter.

Here, the main light and arrow light of the traffic light will be described. As shown in FIG. 2, traffic light 20, as an example of a traffic light, is equipped with main light 21 (three-light light) and arrow light 22. Main light 21 is the main signal, and is equipped with blue (green) light 21B, yellow light 21Y, and red light 21R. Arrow light 22 is an auxiliary signal, and in this example, is an arrow light for a right turn. Note that traffic light 20 is not limited to being equipped with only right turn arrow light 22 as shown in FIG. 2, but may be equipped with arrow light 22 other than for a right turn, and may be equipped with multiple arrow lights 22 each indicating a different direction. In this embodiment, a traffic light 20 equipped with a right turn arrow light 22 as shown in FIG. 2 will be described as an example.

The travel direction estimation unit 12 estimates the travel direction of the vehicle V. In this embodiment, the travel direction estimation unit 12 can estimate the travel direction of the vehicle V based on, for example, the image information of the camera 2. Here, arrows indicating traffic divisions such as going straight and turning right in each lane may be attached to the road surface of each lane. In addition, road signs indicating arrows indicating traffic divisions such as going straight and turning right in each lane may be installed on the side of the road or above the road. The travel direction estimation unit 12 recognizes the arrow indicating the traffic division of the lane in which the vehicle V is traveling based on the image information of the camera 2. The travel direction estimation unit 12 can estimate the direction indicated by the arrow of the traffic division of the lane in which the recognized vehicle V is traveling as the travel direction of the vehicle V at the intersection.

In addition, for example, when the driver is driving in accordance with guidance from a navigation system, the travel direction estimation unit 12 may obtain a guidance direction at an intersection from the navigation system and estimate the obtained direction as the travel direction of the vehicle V.

The brake operation detection unit 13 detects whether or not the driver has operated the brakes on the vehicle V based on the detection results of the brake sensor 3. Note that the brake operation detection unit 13 is not limited to using the detection results of the brake sensor 3, and may detect whether or not the brakes have been operated using other methods.

The vehicle speed detection unit 14 detects the vehicle speed of the vehicle V based on the detection result of the vehicle speed sensor 4. The vehicle speed detection unit 14 is not limited to using the detection result of the vehicle speed sensor 4, and may detect the vehicle speed using other methods.

The determination unit 15 determines whether or not a warning is required for the driver of the vehicle V entering the intersection based on the recognition result of the lighting state recognition unit 11 and the estimation result of the traveling direction estimation unit 12. The warning here refers to a warning to encourage the driver to stop. More specifically, if the traffic light is a traffic light with only a main light and no arrow light, the determination unit 15 determines that a warning is required when the yellow light is on and when the red light is on.

In addition, if the traffic light is equipped with an arrow light, the judgment unit 15 also takes into consideration the lighting state of the arrow light to judge whether or not a warning is required. Here, the judgment unit 15 judges that a warning is required if the yellow light of the main light is on and the arrow light in the estimated direction of travel of the vehicle V was on immediately before the current yellow light was turned on. On the other hand, the judgment unit 15 judges that a warning is not required if the yellow light of the main light is on and the arrow light in the estimated direction of travel of the vehicle V was not on immediately before the current yellow light was turned on.

Furthermore, the judgment unit 15 judges that a warning is necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle V is not on. On the other hand, the judgment unit 15 judges that a warning is not necessary when the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle V is on.

The following will specifically explain the warning issued by the warning device 1, using as an example a case where the vehicle V makes a right turn at an intersection and a traffic light 20 shown in FIG. 2 is provided before the intersection. Here, it is assumed that the lighting state of the traffic light 20 shown in FIG. 2 is switched in sequence from lighting pattern 1 to lighting pattern 5 shown in FIG. 3. It is also assumed that the traveling direction estimation unit 12 is in a state where it has been estimated that the vehicle V will make a right turn at the intersection.

In addition, lighting pattern 1 shown in FIG. 3 is a state in which only the blue light 21B is lit. Lighting pattern 2 is a state in which only the yellow light 21Y is lit. Lighting pattern 3 is a state in which the red light 21R and the right turn arrow light 22 are lit. Lighting pattern 4 is a state in which only the yellow light 21Y is lit. Lighting pattern 5 is a state in which only the red light 21R is lit.

In the example of the lighting patterns shown in FIG. 3, when switching from lighting pattern 1 to lighting pattern 5 in order, the yellow light 21Y is turned on in lighting patterns 2 and 4. When the yellow light 21Y is turned on, the determination unit 15 issues a warning according to the lighting state of the right turn arrow light 22 immediately before the lighting of the current yellow light 21Y.

Here, when the yellow light 21Y is turned on in lighting pattern 2, the right turn arrow light 22 is not turned on immediately before the lighting of the yellow light 21Y in this lighting pattern 2. In other words, in the state of lighting pattern 1 immediately before the lighting of the yellow light 21Y in this lighting pattern, the right turn arrow light 22, which is the estimated traveling direction of the vehicle V, is not turned on. For this reason, when the lighting state of the traffic light 20 is lighting pattern 2, the judgment unit 15 judges that a warning is not necessary.

In addition, when the yellow light 21Y is turned on in lighting pattern 4, the right turn arrow light 22 was turned on immediately before the lighting of the yellow light 21Y in this lighting pattern 4. In other words, in the state of lighting pattern 3 immediately before the lighting of the yellow light 21Y in this lighting pattern, the right turn arrow light 22, which is the estimated traveling direction of the vehicle V, was turned on. For this reason, when the lighting state of the traffic light 20 is lighting pattern 4, the judgment unit 15 judges that a warning is necessary.

In the example of the lighting patterns shown in FIG. 3, when switching from lighting pattern 1 to lighting pattern 5 in sequence, the red light 21R is turned on in lighting patterns 3 and 5. When the red light 21R is turned on, the determination unit 15 issues a warning according to the lighting state of the right turn arrow light 22, which is the estimated traveling direction of the vehicle V.

Here, when the red light 21R is on in lighting pattern 3, the right turn arrow light 22, which is the estimated direction of travel of the vehicle V, is on. Therefore, when the lighting state of the traffic light 20 is lighting pattern 3, the judgment unit 15 judges that a warning is not necessary. Also, when the red light 21R is on in lighting pattern 5, the right turn arrow light 22, which is the estimated direction of travel of the vehicle V, is not on. Therefore, when the lighting state of the traffic light 20 is lighting pattern 5, the judgment unit 15 judges that a warning is necessary.

Furthermore, as described above, the determination unit 15 can determine that a warning is unnecessary when the brake operation detection unit 13 detects a brake operation by the driver even if the lighting pattern of the traffic light is a lighting pattern that is determined to require a warning. The brake operation here refers to a brake operation performed when entering an intersection. In other words, the determination unit 15 determines that a warning is unnecessary when the yellow light of the main light is on, the arrow light in the estimated traveling direction of the vehicle V was on immediately before the current lighting of the yellow light, and a brake operation is detected by the brake operation detection unit 13.

Furthermore, as described above, even if the lighting pattern of the traffic light is one that is determined to require a warning, the determination unit 15 can determine that a warning is unnecessary based on the vehicle speed detected by the vehicle speed detection unit 14. Here, the determination unit 15 determines that a warning is unnecessary if the vehicle speed at a predetermined judgment point before the intersection is less than a judgment speed threshold. This judgment speed threshold may be set, for example, based on the speed at which the vehicle V can stop at a stop line set before the intersection. In other words, a case in which the vehicle speed at the judgment point is equal to or greater than the judgment speed threshold can be a case in which braking is slow (for example, a case in which the vehicle enters the intersection (crosses the stop line) without braking in time).

Note that multiple judgment points may be set toward the intersection. A judgment speed threshold may be set for each judgment point. In this case, for example, the judgment speed threshold may be set so that the value is larger for judgment points farther from the intersection than for judgment points closer to the intersection. The judgment unit 15 can compare the judgment speed threshold with the vehicle speed at each judgment point and determine whether or not a warning is necessary.

When the vehicle speed at the judgment point is equal to or greater than a predetermined judgment speed threshold, the judgment unit 15 judges whether or not a warning is required based on the recognition result of the lighting state recognition unit 11 and the estimation result of the traveling direction estimation unit 12, as described above.

In addition, the presence or absence of a warning (Yes/No) in Figure 3 indicates a state in which the driver's braking operation is not detected and the vehicle speed at the judgment point is equal to or greater than the judgment speed threshold. Depending on the presence or absence of braking operation and the vehicle speed at the judgment point, it may be determined that a warning is not necessary in illumination patterns 4 and 5.

The attention drawing unit 16 draws the attention of the driver of the vehicle V when the determination unit 15 determines that a warning is necessary. Here, the attention drawing unit 16 draws the attention of the driver of the vehicle V through the alarm 5 by issuing an instruction to the alarm 5. For example, the attention drawing unit 16 can draw the attention of the driver by displaying a display or illuminating a lamp as the alarm 5, and/or by outputting a sound from a speaker.

Next, the flow of the attention warning process performed by the attention warning ECU 10 of the attention warning device 1 will be described with reference to the flowchart in FIG. 4. Note that when the process shown in FIG. 4 reaches an end, the process is restarted from the start after a predetermined time. This process may also be executed only when approaching an intersection.

As shown in FIG. 4, the brake operation detection unit 13 determines whether or not a brake operation by the driver has been detected (S101). If a brake operation is detected (S101: YES), the judgment unit 15 determines that a warning is unnecessary (S107). On the other hand, if a brake operation is not detected (S101: NO), the vehicle speed detection unit 14 determines whether or not the vehicle speed at the judgment point is less than the judgment speed threshold (S102). Note that if the vehicle V has not reached the judgment point, it is determined that the vehicle speed at the judgment point is not less than the judgment speed threshold. If the vehicle speed at the judgment point is less than the judgment speed threshold (S102: YES), the judgment unit 15 determines that a warning is unnecessary (S107).

If the vehicle speed at the judgment point is not less than the judgment speed threshold (S102: NO), the judgment unit 15 judges whether the light state of the traffic light recognized by the light state recognition unit 11 is a state in which only the red light is on (S103). If only the red light is on (S103: YES), the judgment unit 15 judges that a warning is necessary (S108). On the other hand, if only the red light is not on (S103: NO), the judgment unit 15 judges whether the light state of the traffic light recognized by the light state recognition unit 11 is a state in which the yellow light is on (S104).

If the yellow light is not on (S104: NO), the determination unit 15 determines that a warning is not necessary (S107). On the other hand, if the yellow light is on (S104: YES), the determination unit 15 determines whether the traffic light ahead recognized by the lighting state recognition unit 11 is a traffic light equipped with an arrow light (S105).

If the traffic light does not have an arrow light (S105: NO), the judgment unit 15 judges that a warning is necessary (S108). On the other hand, if the traffic light has an arrow light (S105: YES), the judgment unit 15 judges whether or not the arrow light in the travel direction of the vehicle V estimated by the travel direction estimation unit 12 was lit immediately before the current yellow light was lit (S106). If the arrow light in the estimated travel direction of the vehicle V was not lit immediately before the current yellow light was lit (S106: NO), the judgment unit 15 judges that a warning is unnecessary (S107).

If the arrow light in the estimated traveling direction of vehicle V was on immediately before the current lighting of the yellow light (S106: YES), the determination unit 15 determines that a warning is necessary (S108). After it is determined in S108 that a warning is necessary, the warning unit 16 uses the alarm 5 to warn the driver of vehicle V (S109).

As described above, the attention warning device 1 issues a warning to the driver when the yellow lamp of the main lamp is on and the arrow lamp in the estimated direction of travel of the vehicle V is on immediately before the current yellow lamp is turned on. In other words, the current yellow lamp is turned on after the arrow lamp in the direction in which the vehicle V was planning to travel has been turned off, and after the current yellow lamp is turned on, the red lamp indicating that the vehicle should stop is turned on. Therefore, a warning issued in such a situation is an appropriate warning to encourage the vehicle V to stop.

On the other hand, the attention warning device 1 does not issue a warning when the yellow light is on and the arrow light in the estimated traveling direction of the vehicle V is not on immediately before the current yellow light is turned on. Here, if the arrow light in the estimated traveling direction of the vehicle V is not on immediately before the current yellow light is turned on, the arrow light in the direction in which the vehicle V is going to travel may be turned on after the current yellow light is turned on (after the yellow light is turned on and then turned off). In this case where the arrow light in the direction in which the vehicle V is going to travel turns on after the yellow light is turned on, if a warning to stop is issued immediately before the arrow light is turned on (when the yellow light is turned on), the driver of the vehicle V will find this warning annoying. For this reason, the attention warning device 1 does not issue a warning in such a situation. In this way, when issuing a warning in response to the lighting of the yellow light, the attention warning device 1 can appropriately issue a warning while suppressing the driver from feeling that it is annoying.

In the attention warning device 1, the judgment unit 15 judges that a warning is unnecessary when a braking operation by the driver is detected. Here, when the driver performs a braking operation, it can be said that the driver is aware that it may be necessary to stop the vehicle V at an intersection. For this reason, if a warning is issued to a driver who is aware of the need to stop in this way, the driver may find the warning annoying. For this reason, the attention warning device 1 does not issue a warning when a braking operation is detected, thereby preventing the driver from feeling that the warning is annoying.

In the attention warning device 1, the judgment unit 15 judges that a warning is unnecessary if the vehicle speed at the judgment point is less than the judgment speed threshold. Here, if the vehicle speed at the judgment point is less than the judgment speed threshold, the vehicle V has decelerated sufficiently and there may be cases where a warning is not necessary. For this reason, the attention warning device 1 does not issue a warning if the vehicle speed at the judgment point is less than the judgment speed threshold. In this way, the attention warning device 1 can appropriately issue a warning while suppressing the driver's feeling of annoyance.

The attention warning device 1 issues a warning when the red lamp of the main lamp is on and the arrow lamp in the estimated direction of travel of the vehicle is not on. The attention warning device 1 does not issue a warning when the red lamp of the main lamp is on and the arrow lamp in the estimated direction of travel of the vehicle V is on. In this case, when the red lamp is on, the attention warning device 1 can issue a warning taking into account the lighting status of the arrow lamp.

Although the embodiments of the present disclosure have been described above, the present invention is not limited to the above embodiments.

In addition, the determination unit 15 may determine not to issue a warning when the traveling direction estimation unit 12 cannot estimate the traveling direction of the vehicle V. In this case, the warning device 1 does not issue an unnecessary warning, which can prevent the driver from feeling that the warning is annoying.

1...attention warning device, 2...camera, 11...lighting state recognition unit, 12...traveling direction estimation unit, 13...brake operation detection unit, 14...vehicle speed detection unit, 15...judgment unit, 16...attention warning unit, 20...traffic light, 21...main light unit, 21B...blue light unit, 21R...red light unit, 21Y...yellow light unit, 22...arrow light unit. V...vehicle.

Claims (4)

An attention warning device that warns a driver of a vehicle entering an intersection according to a lighting state of a traffic light ahead of the vehicle,
a lighting state recognition unit that recognizes lighting states of main lamps and arrow lamps of the traffic signal based on image information from a camera that captures an image of the area ahead of the vehicle;
a traveling direction estimating unit that estimates a traveling direction of the vehicle;
a determination unit that determines whether or not the warning is required based on a recognition result of the lighting state recognition unit and an estimation result of the traveling direction estimation unit;
an attention calling unit that issues the attention to the driver when the determination unit determines that the attention is necessary;
a brake operation detection unit that detects a brake operation of the vehicle by the driver;
a vehicle speed detection unit for detecting a vehicle speed of the vehicle;
Equipped with
The determination unit is
When the yellow lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle was on immediately before the current lighting of the yellow lamp, it is determined that the warning is necessary,
When the yellow light is on and the arrow light in the estimated traveling direction of the vehicle was on immediately before the current lighting of the yellow light, and further when the brake operation detection unit detects the brake operation by the driver and the vehicle speed at a predetermined judgment point before the intersection is less than a predetermined judgment speed threshold, it is determined that the warning is unnecessary,
When the yellow light is on and the arrow light in the estimated traveling direction of the vehicle was on immediately before the current lighting of the yellow light, and further when the brake operation detection unit detects the brake operation by the driver and the vehicle speed at the judgment point is equal to or greater than the judgment speed threshold, it is determined that the warning is necessary;
The attention warning device determines that the warning is unnecessary when the yellow light is on and, immediately before the current lighting of the yellow light, the arrow light in the estimated direction of travel of the vehicle was not on. A plurality of the judgment points are set before the intersection,
The attention warning device according to claim 1 , wherein the determination speed threshold is set for each of the determination points, and a larger value is set for the determination points farther from the intersection than for the determination points closer to the intersection. The attention-attracting device according to claim 1 , wherein the traveling direction estimating unit acquires a guidance direction at the intersection from a navigation system that guides the vehicle, and estimates the acquired direction as the traveling direction of the vehicle. The determination unit is
When the red lamp of the main lamp is on and the arrow lamp in the estimated traveling direction of the vehicle is not on, it is determined that the warning is necessary;
The warning device according to any one of claims 1 to 3, wherein when the red lamp of the main lamp is on and the arrow lamp in the estimated direction of travel of the vehicle is on, it is determined that the warning is unnecessary.

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