Vehicle alarm output apparatus

A vehicle alarm output apparatus configured to output an alarm at an intersection of roads, the alarm output apparatus comprising:

• a waiting state determining unit configured to determine whether an own vehicle is in a waiting state, wherein the waiting state is a state where the own vehicle within an intersection area including the intersection is waiting for a timing to turn left or right to travel across an opposite lane, or the own vehicle before the intersection area is waiting for a timing to enter the intersection area;
• a start determining unit configured to determine whether the own vehicle starts to travel;
• an other vehicle information acquiring unit configured to acquire other vehicle information related to another vehicle travelling toward the intersection;
• an arrival time calculating unit configured to calculate, based on the other vehicle information acquired by the other vehicle information acquiring unit, a time taken for the other vehicle to reach a position corresponding to a front end of the own vehicle in a travelling direction of the other vehicle upon the waiting state determining unit determining the own vehicle to be in the waiting state;
• and
• an output unit configured to output a certain alarm upon the waiting state determining unit determining the own vehicle to be in the waiting state, the start determining unit determining the own vehicle to start to travel, and the time calculated by the arrival time calculating unit to be equal to or less than a first threshold value;
• wherein
• the output unit is prevented from outputting the certain alarm upon detecting the time calculated by the arrival time calculating unit to be equal to or less than a second threshold value which is less than the first threshold value.