Proximity notification device, proximity notification program and method for notifying proximity of vehicle

A proximity notification device for a vehicle to notify proximity of a self-vehicle to a pedestrian, the proximity notification device comprising:

• a distance acquisition unit configured to obtain a detection result of a position of a pedestrian around the self-vehicle;
• a probability acquisition unit configured to read a collision probability from a data map with reference to the obtained position of the pedestrian, the collision probability being a probability that a pedestrian collides against the self-vehicle, the data map including positions of a pedestrian beforehand associated with collision probabilities;
• a function control unit configured to activate an alarm unit to cause an alarm when the read collision probability is higher than a predetermined threshold;
• an obstacle acquisition unit configured to obtain a detection result of an obstacle, which obstructs movement of a pedestrian;
• and
• a traveling path estimation unit configured to estimate a traveling path of the self-vehicle on the data map, wherein
• the probability acquisition unit is further configured to decrease a collision probability in a region of the data map, the region being beyond the detected obstacle when viewed from the traveling path.