JPH0858503A - Rear side danger alarm device and rear side danger judging method - Google Patents

Abstract

PURPOSE: To provide a rear side danger alarm device giving a proper alarm by taking into consideration the operating result of a rear side vehicle and also the mental judgment characteristics of a human who is the driver. CONSTITUTION: A rear side danger alarm device is provided with a rear side vehicle detection means 10 for detecting the rear side vehicle, a rear side vehicle information enumerating means 20 for enumerating motive condition relative to the rear side vehicle from the output of the rear side vehicle detection means 10, a vehicle speed sensor 80 for measuring the speed of itself, and a driver simulation means 30 which makes decision on the basis of a parameter causing a driver characteristic memory means 41 to store a mentally dangerous level judged by the driver to be dangerous on the basis of the information from the rear side vehicle information enumerating means 20 and the vehicle speed sensor 80. Therefore it is composed of a collision judgment means 50 which determines a physically dangerous level of the rear side vehicle on the basis of the information from the rear side vehicle information enumerating means 20, an alarm intensity determining means 61 which determines the dangerous level of the rear side vehicle on the basis of the mentally ' dangerous level and the physically dangerous level and also alarm intensity, and an alarm means 70 which produces alarm of such intensity.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear-side danger warning device and a rear-side danger level judgment method, and particularly to a dangerous object by monitoring a rear area and a side peripheral area of a vehicle. The present invention relates to a rear-side danger alarm device for a vehicle, which can detect a danger level of the object and notify a driver of a danger such as contact or collision, and a method of determining the danger level. .

[0002]

2. Description of the Related Art In recent years, as a safety measure for vehicles and the like for the purpose of protecting passengers, other vehicles and obstacles around the vehicle are detected,
By monitoring the distance to the target object and the approaching speed and alerting the driver to avoid a dangerous situation for the own vehicle, and notifying the driver of the information of the approaching vehicle behind the vehicle, The development of alarm systems to support people is active.

As a conventional example of these, Japanese Patent Laid-Open No. 3-255 is known.
In the device disclosed in Japanese Patent No. 975, a radar device installed so as to be able to scan the left and right rear of the vehicle, and means for detecting the vehicle speed and the steering wheel angle, and a rear side vehicle when the turn signal is turned on. The driver was assisted by calculating the predicted collision position and generating a safety or danger signal to warn the driver. Further, in the device disclosed in Japanese Utility Model Laid-Open No. 63-73686, a radar device using infrared rays is installed at the end of the vehicle, and when a turn signal is operated by a turn indicator, an object existing behind the vehicle is detected, The alarm was issued when the object was present.

[0004]

However, the above-mentioned JP-A-3-255975 and Japanese Utility Model Laid-Open No. 63-
In the device disclosed in Japanese Patent No. 73686, an alarm is issued only based on the presence of an obstacle or only the motion state of the vehicle and the obstacle at the time of detecting an obstacle. There was a problem that the criteria for issuing warnings became stricter because no consideration was given. As a result, the number of useless alarms has increased, which has been troublesome for the driver.

Further, in the above-mentioned prior art, since an alarm is issued based on a physical degree of danger obtained only from the motion state of the vehicle, there is a problem that an alarm cannot be given according to a driver's sense or individual characteristics. was there. For example, the above-mentioned Japanese Patent Laid-Open No. 3-25
In the device disclosed in Japanese Patent No. 5975, there is no possibility of collision when the approaching speed is zero, and therefore no warning is given even if the inter-vehicle distance is short. However, a normal driver has a feeling of fear when the distance between vehicles is small even when the approaching speed is zero, and the conventional invention has a problem in that an alarm corresponding to this feeling of fear cannot be issued. . in this way,
When warning the driver of a vehicle existing in the rear side area, the driver's psychological risk level for the rear side vehicle is usually the same as the physical risk level determined by the running condition. However, as described above, when the approaching speed of the rear side vehicle is small, the physical contact danger level is small even if the inter-vehicle distance at that time is small,
The psychological risk level is high. On the other hand, when the approaching speed of the rear side vehicle is high, the risk of physical contact is great even if the inter-vehicle distance is large, but the driver does not recognize the danger. This situation will be described with reference to FIG. Figure 38
In the figure, the horizontal axis is the approach speed, the vertical axis is the inter-vehicle distance, and the straight line A
1 and A2 are the limit lines of the lane change that the driver judges for the large vehicle and the standard vehicle, respectively, and the curves B1, B2, B3,
B4 is a collision limit line indicating the limit of the presence or absence of a rear-end collision when it is assumed that the driver of the rear side vehicle recognizes the behavior change of the front vehicle and then decelerates to a certain degree. The collision limit line when the deceleration is set to 1 m / s ² , 2 m / s ² , 3 m / s ² , and 4 m / s ² is shown. From FIG. 38, when the approach speed is low, the limit point determined by the driver is a vehicle-interval distance that is larger than the collision limit, and conversely, when the approach speed is high, the vehicle-interval distance determined by the driver is greater than the collision limit. It can be seen that even a small distance between cars will cause a rear-end collision. In the conventional example, the warning was given by paying attention only to the physical relationship that is determined only by the inter-vehicle distance and the approaching speed, but with this, even though the approaching speed is low, it is psychologically dangerous There was the inconvenience that the alarm was not issued, and it was insufficient as an alarm device.

The present invention has been made in order to solve the above problems, and it is not only based on the position and movement relationship of the rear side vehicle, but also the operation result of the rear side vehicle and the human being who is the driver. It is an object of the present invention to provide a device that assists a driver by giving a better warning in consideration of the psychological judgment characteristics of.

Another object of the present invention is to propose a risk degree judging method for judging the risk level of the rear side vehicle in consideration of the operation result of the rear side vehicle and the psychological judgment characteristics of the driver.

[0008]

A rear-side danger warning device according to claim 1 of the present invention is a rear-side vehicle detection means for detecting a rear-side vehicle existing behind and to the side of a host vehicle. The rear side vehicle information calculating means for calculating a relative motion state with the rear side vehicle based on the output of the rear side vehicle detecting means, and the rear side vehicle information calculating means for calculating the rear side vehicle information based on the information of the rear side vehicle information calculating means. Collision determination means for determining the physical danger level of the side vehicle in accordance with the deceleration operation of the rear side vehicle, and alarm strength determination for determining the strength of the alarm based on the danger level determined by the collision determination means. And means for issuing an alarm of the above intensity.

According to a second aspect of the present invention, there is provided a rear side danger warning device, wherein a vehicle speed sensor for measuring the traveling speed of the host vehicle and a limit value of the deceleration parameter of the rear side vehicle used in the collision determination means are set as the rear side direction. The vehicle includes a rear-side vehicle characteristic storage unit that stores the vehicle in association with the traveling speed of the vehicle, and the collision determination unit uses the information from the rear-side vehicle information calculation unit and the vehicle speed sensor to determine the physical risk of the rear-side vehicle. The level is determined according to the deceleration operation of the rear side vehicle.

The rear side danger warning device according to claim 3 of the present invention uses the output of the rear side vehicle detection means to determine the vehicle type of the rear side vehicle and the rear side danger warning device to be used in the collision determination means. The vehicle includes a rear side vehicle characteristic storage unit that stores the deceleration parameter of the side vehicle for each vehicle type, and the collision determination unit determines the rear side vehicle based on the information from the rear side vehicle information calculation unit and the vehicle type determination unit. The physical danger level is determined according to the deceleration operation of the rear side vehicle.

According to a fourth aspect of the present invention, there is provided a rear side danger warning device, which is a rear side vehicle detecting means for detecting a rear side vehicle existing behind and to the side of the host vehicle, and the rear side vehicle detecting means. Based on the output of the rear side vehicle information calculating means for calculating a relative motion state with the rear side vehicle, a vehicle speed sensor for measuring the traveling speed of the host vehicle, the rear side vehicle information calculating means, and A driver simulation means for determining a psychological risk level at which the driver determines that the driver is dangerous based on the information of the vehicle speed sensor, a driver characteristic storage means for storing parameters used by the driver simulation means, and the rear side vehicle information. Based on the collision level determining means for determining the physical risk level of the rear side vehicle based on the information of the calculating means, the risk level determined by the driver simulation means, and the risk level determined by the collision determining means. On the rear side above The overall risk level of both the decision,
An alarm intensity determining means for determining the intensity of the alarm and an alarm means for issuing an alarm of the above intensity are provided.

A rear side danger warning device according to a fifth aspect of the present invention is provided with a vehicle type discriminating means for discriminating a vehicle type of a rear side vehicle using an output of the rear side vehicle detecting means, and a driver characteristic memory. The means stores the parameters used by the driver simulation means for each vehicle type, and the driver simulation means determines that the driver is dangerous based on the information from the rear side vehicle information calculation means, the vehicle speed sensor and the vehicle type determination means. It is designed to determine the psychological risk level.

According to a sixth aspect of the present invention, there is provided a rear side danger warning device, which is a vehicle-mounted sensor for detecting a driving operation operated by a driver, a rear side vehicle condition at the time of driving operation, and the driver's danger. It is provided with a judgment learning means for comparing the driver's individual psychological judgment situation with the rear side vehicle situation for judging, and correcting the driver characteristic storage means.

A rear side danger warning device according to claim 7 of the present invention is a driver sensing means for detecting a driver's condition, a rear side vehicle condition when the driver's condition is changed, and the driver's danger. It is provided with a judgment learning means for comparing the judgment of the rear side vehicle status and the psychological judgment status of each driver to correct the driver characteristic storage means.

According to the eighth aspect of the present invention, there is provided a rear side risk determining method for detecting a rear side vehicle existing behind and to the side of the host vehicle, and determining a relative motion state with the rear side vehicle. And a step of determining the physical danger level of the rear side vehicle from the relative motion state with the rear side vehicle according to the deceleration operation of the rear side vehicle. It is a thing.

According to a ninth aspect of the present invention, there is provided a rear side risk determining method for detecting a rear side vehicle existing behind and to the side of the host vehicle and determining a relative motion state with the rear side vehicle. A step of calculating, a psychological risk level determining step of determining a psychological risk level that the driver determines to be dangerous, based on the relative motion state of the rear side vehicle and the traveling speed of the own vehicle, From a relative motion state with the rear side vehicle, a physical risk level determining step of determining a physical risk level of the rear side vehicle, and a risk level determined in the psychological risk level determining step, Based on the risk level determined in the physical risk level determination step, a risk level determination step of determining a comprehensive risk level with the rear side vehicle is executed.

[0017]

In the rear-side danger warning device according to claim 1 of the present invention, the rear-side vehicle detection means such as a laser radar, which is mounted on the vehicle and detects the vehicles behind and to the side of the vehicle, is, for example, a red vehicle. A vehicle existing on the rear side by irradiating the area behind and on the side of the vehicle with a laser beam such as outside light, receiving the reflected light from the vehicle existing on the rear side, measuring the time interval between light emission and light reception. The distance to is detected and output to the rear side vehicle information calculation means. The rear side vehicle information calculation means calculates the approach speed between the own vehicle and the rear side vehicle from the distance change amount per unit time, and outputs both to the collision determination means.
In the collision determination means, the approaching speed and the inter-vehicle distance at that time, the delay time until the driver of the rear-side vehicle recognizes the motion change of the front vehicle and performs the avoidance operation, and the brake amount which is a typical example of the avoidance operation are described. Predicting the movement of the rear side vehicle in consideration, calculate the area where the danger of collision exists according to the deceleration operation of the rear side vehicle, and determine whether the rear side vehicle exists in these areas. The risk level is determined by the judgment. The warning strength determination means determines the strength of the warning based on the danger level determined by the collision determination means, and the warning means issues a warning of the required strength when the condition to be warned is satisfied.
By doing so, it is possible to determine the risk level in consideration of the operation of the approaching vehicle from the front, and reduce unnecessary alarms.

In the rear-side danger warning device according to claim 2 of the present invention, the collision determination means determines the vehicle speed of the host vehicle measured by the vehicle speed sensor and the approach speed calculated by the rear-side vehicle information calculation means. Using the vehicle speed of the rear side vehicle determined by using the limit value of the deceleration parameter for each speed stored in the rear side vehicle characteristic storage means. Furthermore, based on this input data,
Similar to the first aspect, the movement of the rear side vehicle is predicted and the physical danger level is determined. By doing so, for example, the difference between the limit of the deceleration operation during high-speed traveling and the limit of the deceleration operation during low-speed traveling can be taken into consideration, and a more appropriate alarm can be given, and safety is increased.

In the rear side danger warning device according to claim 3 of the present invention, the vehicle type discriminating means determines the size of the rear side vehicle from the relationship between the signal strength of the reception signal of the rear side vehicle detecting means and the detection distance. Using a scanning laser radar that can make judgments and measure the distance and azimuth to the reflective surface of the object,
The vehicle type information is output at the same time as the distance to the rear side vehicle by using a method such as sweeping the laser beam to determine the vehicle width of the rear side vehicle. The collision determination means inputs the deceleration parameter for each vehicle type stored in the rear side vehicle characteristic storage means. Further, based on this input data, the movement of the rear side vehicle is predicted and the physical danger level is determined. By doing so, for example, the difference in deceleration operation seen between a large truck and a passenger car can be taken into consideration, a more appropriate alarm can be given, and safety is increased.

In the rear side danger warning device according to claim 4 of the present invention, the driver simulating means drives the vehicle at each speed stored in the driver characteristic storage means based on the speed of the vehicle detected by the vehicle speed sensor. Input the parameters of the psychological risk judgment characteristics of the person. Furthermore, based on this input data, the driver's psychological risk judgment is simulated by calculating the driver's psychologically dangerous area and determining whether or not the rear vehicle is present in this area. Determine the risk level you have done. Further, the collision determination means determines the physical risk level of the rear side vehicle based on the information of the rear side vehicle information calculation means. The warning strength determination means determines a comprehensive risk level that balances both psychological and physical danger levels based on the risk levels calculated by the driver simulation means and the collision determination means, and the warning strength is determined. To decide. The warning means issues a warning of the required strength when the condition to be warned is satisfied according to the strength determined by the warning strength determination means. By doing this, it is possible to give an alarm even when the vehicle is approaching in a similar manner, for example, when the approach speed is zero, which is physically not dangerous, but psychologically dangerous. It is possible to issue an alarm that matches the characteristics of the driver, and the driver can safely change lanes and other routes.

Further, in the rear side danger warning device according to claim 5 of the present invention, the driver simulating means determines the driver from the vehicle type determined by the vehicle type determining means and the speed of the host vehicle detected by the vehicle speed sensor. The parameter of the psychological risk judgment characteristic of the driver for each vehicle type and each speed stored in the characteristic storage means is input. Further, based on these input data, the psychological risk area of the driver is calculated, and the risk level simulating the risk judgment of the driver is determined. By doing this,
For example, even in the same physical condition as a passenger car, such as a large truck, it is possible to issue an alarm that suits the driver's psychology even for an object that gives the driver a feeling of pressure and fear, and the driver can It is possible to safely change lanes and change routes, and to drive without feeling psychologically scared.

Further, in the rear-side danger warning device according to claim 6 of the present invention, in addition to the above-mentioned inventions, the operation amount added to various vehicle-mounted devices operated by the driver, such as an accelerator, a brake, and a steering wheel. Judgment learning means for correcting the driver characteristic storage means by comparing the situation of the rear side vehicle at the time of operation with the situation of the rear side vehicle which the driver judges to be dangerous is added. That is, the judgment learning means calculates from the information of the vehicle-mounted sensor how the driver reacts and behaves with respect to the vehicle detected by the rear side vehicle detection means, and the rear side side at the time of operation is calculated. If the vehicle condition is a rear-side vehicle condition that the driver judges to be dangerous, this is learned as a psychological judgment condition for each driver, and the driver characteristic storage means corrected as a prescribed value is corrected. Then, an alarm is issued by the same action. With this configuration, the psychological risk level for the rear-side vehicle can be changed according to individual differences due to differences in driving experience, driving environment, individual feelings, etc. It is possible to change the course such as changing lanes and drive without feeling psychologically scared.

Further, in the rear-side danger warning device according to claim 7 of the present invention, driver sensing means for measuring the physiological condition and gaze condition of the driver is provided. That is, by installing an image sensor in the vicinity of the driver's seat, the driver's line-of-sight direction and the driver's arousal state, or the sensor is attached to the driver's body. By measuring the tension, etc. The judgment learning means calculates from the driver state detected by the driver sensing means what kind of reaction / action the driver has performed on the vehicle detected by the rear side vehicle detection means, The driver's characteristic memory given as the specified value is learned by comparing the driver's individual psychological judgment status with the driver's judgment of the driver's danger. The means will be modified as appropriate, and a warning will be issued by the same action. For example, when a certain alarm condition is met, whether the driver is nervous, has a sudden movement of the line of sight,
The driver's sensing means detects the driver's state, such as whether or not the driver has rushed to recover and the driver's state is detected. The driver characteristic storage means is modified so that it is a vehicle condition. With this configuration, the psychological risk level for the rear-side vehicle can be changed according to individual differences due to differences in driving experience, driving environment, individual feelings, etc. It is possible to change the course such as changing lanes and drive without feeling psychologically scared.

Further, according to the eighth aspect of the present invention, the rear-side risk determining method determines the physical risk level of the rear-side vehicle according to the deceleration operation of the rear-side vehicle. Therefore, the danger level can be determined according to the operation of the approaching vehicle from behind.

According to a ninth aspect of the present invention, there is provided a method for determining a rear side risk degree, wherein a psychological danger level judged by a driver to be dangerous and a physical danger level of a rear side vehicle are determined. Based on these danger levels, the danger level with rear side vehicles is determined. By doing so, not only the physical danger level but also the danger level of the rear side can be determined considering the judgment characteristics of the driver, and the driver can change the course more safely such as changing lanes. It becomes possible to do.

[0026]

【Example】

Example 1. Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a rear side danger warning device according to an embodiment of the present invention. In the figure, reference numeral 10 denotes a rear side vehicle detecting means for detecting a vehicle behind and a side of the vehicle and an obstacle, and measures a positional relationship with another vehicle as shown in FIG. In FIG. 2, reference numeral 1 denotes the own vehicle, 2 denotes the rear side vehicle, and the rear side vehicle detection means 10 is the own vehicle 1 and the rear side vehicle 2.
The inter-vehicle distance Dn of is measured. Reference numeral 20 denotes a rear side vehicle information calculating means for determining the approaching speed of the rear side vehicle based on the inter-vehicle distance Dn measured by the rear side vehicle detecting means 10, which is realized by a microprocessor or the like. Reference numeral 50 denotes a collision determination means, which is a physical danger level, that is, a physical danger level based on the relationship between the approach speed calculated by the rear side vehicle information calculation means 20 and the inter-vehicle distance.
Whether or not a physical collision such as a rear-end collision will occur is determined according to the deceleration set in multiple stages, which is required for the rear-side vehicle, and the risk at each stage is determined based on this. The judgment is made to determine the physical danger level, which is realized by a microprocessor or the like. Reference numeral 60 denotes an alarm strength determination means, which determines the strength of the alarm based on the danger level determined by the collision determination means 50. Reference numeral 70 denotes an alarm means, which issues an alarm to the driver by means such as a buzzer, a voice, or a display according to the alarm strength output from the alarm strength determination means 60 to notify the presence of danger.

Next, the structure and operation of each block shown in FIG. 1 will be described. FIG. 3 shows an embodiment of the rear side vehicle detection means 10. In the figure, 11 is a light emitting element for irradiating a laser beam toward the rear side of the own vehicle, and 12 is present on the rear side of the vehicle. It is a light receiving element that receives reflected light from a vehicle or an obstacle. Reference numeral 13 manages the light emission timing of the light emitting element 11 and performs signal processing of the reflected light received by the light receiving element 12, and the inter-vehicle distance Dn from the time interval of light emission-light reception, and the light reception intensity pattern from the temporal change of the light reception signal. It is a signal processing circuit for calculating Md.

FIG. 4 is a flow chart showing the operation of the rear side vehicle information calculating means 20. In the figure, step S21
Then, in order to determine the unit time for calculating the approaching speed, a certain time Δt is waited. That is, it is determined whether or not a certain time Δt has passed since the previous operation,
If it has not elapsed, this step S21 is repeatedly executed, and if it has elapsed, the next step S22 is executed. In step S22, the inter-vehicle distance Dn output by the rear side vehicle detection means 10 is input. In step S23, the approaching speed ΔVn of the rear side vehicle is calculated from the amount of change in inter-vehicle distance per unit time. The calculation formula is as follows. ΔVn = (Dn−Dn−1) / Δt (1) Dn: Current inter-vehicle distance value Dn−1: Previous inter-vehicle distance value In step S24, the previous inter-vehicle distance value Dn is prepared in preparation for the next speed calculation. -1 is updated with this value. In step S25, the approach speed ΔVn and the inter-vehicle distance Dn calculated as the rear side vehicle information are output.

FIG. 5 is an explanatory diagram for explaining the operation of the collision determination means 50. Using this figure, the braking deceleration αB required for the approaching rear side vehicle to avoid a rear-end collision
A process of determining the physical danger level Wpn in consideration of (hereinafter, referred to as required deceleration) will be described. 5 shows a solid line, dashed line, respectively two-dot chain line, the collision limit line if required deceleration αB performed by the rear lateral vehicle of ^{1m / s 2, 2m / s} 2, 3m / s 2. If the current approach speed and inter-vehicle distance of the rear side vehicle are above the respective curves, the rear side vehicle will not collide with the own vehicle, and conversely if it is below the rear side vehicle. Indicates. In each curve in the figure, when the reaction time of the driver of the rear side vehicle is td, the inter-vehicle distance of a point on the limit line is D, and the approach speed is ΔV,
The limit line is expressed by the following formula. D = ΔV (td−ΔV / 2αB) (2) Therefore, if a three-stage alarm is issued according to the three-stage deceleration required for the rear side vehicle, the actual vehicle approach speed Δ
Physical alarm distances Dwp1, Dwp2 determined according to Vn
, Dwp3 and the actual inter-vehicle distance Dn, the physical danger level is determined by the following logic. First alarm: Dwp2 <Dn ≤ Dwp1 Second alarm: Dwp3 <Dn ≤ Dwp2 Third alarm: Dn ≤ Dwp3 Dwp1 = ΔVn (td-ΔVn / 2αB)
However, αB = 1 m / s ² Dwp2 = ΔVn (td−ΔVn / 2αB) where αB
= 2 m / s ² Dwp3 = ΔVn (td−ΔVn / 2αB) where αB
= 3 m / s ² FIG. 6 is a flowchart of the operation of the collision determination means 50. In the figure, in step S51, the inter-vehicle distance Dn and the approach speed ΔVn are input from the rear side vehicle information calculation means 20,
In step S52, the required deceleration αBn for the rear side vehicle for making an alarm determination is set. In step S53,
The collision limit line is set according to the equation (2) and the physical alarm distance Dwpn is determined. In step S54, the current inter-vehicle distance Dn is compared with the physical warning distance Dwpn, and the collision warning flag Wpn indicating the physical danger level is set and reset according to the magnitude relationship. That is, step S5
In 5, when Dn is smaller than Dwpn, there is a danger of physical collision, so the collision warning flag Wpn is set to 1. Conversely, if Dn is greater than Dwpn,
The collision warning flag Wpn is reset to 0 because there is no danger of collision. In step S56, it is determined whether or not the risk levels of all the stages have been calculated. If the risk level of the stage to be determined remains, the required deceleration αBn of the remaining new stage is determined in step S52. Set and calculate again. After the risk levels of all the stages are calculated, the warning flags Wp1 to Wp3 are output in step S57, and the process ends.

The operation of the alarm strength determination means 60 will be described with reference to FIG. In the figure, in step S61, the collision determination means 5
The collision warning flags Wp1 to Wp3 set at 0 are input. In step S62, the alarm strength variable AL is initialized in preparation for the subsequent processing. Steps S63, S65, S6
In 7, the flags are judged in order of increasing alarm intensity,
If the third warning flag Wp3 is set in step S63, the warning strength variable AL is set to 3 in step S64, and if the second warning flag Wp2 is set in step S65, the warning strength is set in step S66. The variable AL is set to 2, and it is further determined in step S67 whether the first warning flag Wp1 is set. If it is set,
In step S68, the alarm strength variable AL is set to 1.
In step S69, the alarm strength variable AL determined by the above process is output.

FIG. 8 shows an embodiment of the alarm means 70. In the figure, 71 is an alarm discrimination signal generator for generating an alarm signal in accordance with the alarm intensity variable AL determined by the alarm intensity determining means 60, and 72 Is an amplifier, and 73 is a speaker or a buzzer for generating an alarm sound. Figure 9
The operation of the alarm discrimination signal generator 71 will be described below. In FIG. 9, the alarm strength variable AL determined by the alarm strength determination means 60 is input in step S71, and in step S72,
Determine whether the conditions for issuing an alarm have been met. here,
The condition for issuing the alarm is, for example, that the operation signal of the winker lever (not shown) is input, or the third condition.
It is assumed that the alarm strength is input. By operating the winker lever, it is possible to issue an alarm in response to a driver error such as an erroneous determination of a dangerous state or an oversight. In addition, for example, when the third warning strength is satisfied, the approaching state of the vehicle on the rear side is in a very dangerous condition, and therefore the driver takes action even when he / she does not notice it or does not intend to change lanes. The driver can be made aware of the dangerous situation before. In step S73, the branch condition is set according to the value of the alarm strength variable AL, and in step S7
In 4, the signal of the alarm strength corresponding to the value of the alarm strength variable is generated, and the signal for sounding the alarm is sent to the amplifier 72.

By doing so, the danger level can be determined according to the operation of the approaching vehicle from the rear, and unnecessary alarms can be reduced.

In the above embodiment, the deceleration αB required for the rear side vehicle is set to 1 m / s ² , 2 m / s ² and 3 m / s ² .
Although the number of stages is set, another number of stages may be used. Also,
The physical danger level Wpn may be determined by continuously changing the deceleration rate α B.

Embodiment 2 FIG. Hereinafter, another embodiment of the present invention will be described with reference to the drawings. FIG. 10 is a block diagram showing a rear side danger warning device according to a second embodiment of the present invention. In the figure, reference numerals 10, 20, 50, 60 and 70 are the same as those in the first embodiment. Reference numeral 80 denotes a vehicle speed sensor for measuring the traveling speed Vel of the own vehicle, and 40 denotes a rear side vehicle characteristic storage means (for example, configured by using a data base method) of the rear side vehicle used by the collision determination means 50. A limit value (an upper limit value in the case of deceleration) of the deceleration parameter (for example, deceleration) is stored for each traveling speed (vehicle speed) of the rear side vehicle.

Next, the operation of each component will be described. The collision determination means 50 inputs the speed Vel of the own vehicle from the vehicle speed sensor 80 and the approaching speed of the rear side vehicle calculated by the rear side vehicle information calculating means 20, calculates the speed of the rear side vehicle, and calculates the speed. Based on the above, the upper limit of the deceleration of the rear side vehicle stored in the rear side vehicle characteristic storage means 40 is input, and the above-mentioned deceleration is calculated from the inter-vehicle distance and the approach speed calculated by the rear side vehicle information calculation means 20. Based on the upper limit of the speed, the physical danger level of the rear side vehicle is determined according to the deceleration operation of the rear side vehicle, as in the first embodiment.

FIG. 11 shows the upper limit value of the deceleration stored in the rear side vehicle characteristic storage means 40 and the rear side vehicle speed (Vel + Δ).
FIG. 6 is a characteristic diagram showing a relationship with Vn). As the vehicle speed (Vel + ΔVn) of the rear-side vehicle increases, the deceleration αB of the rear-side vehicle increases.
Is limited, and the upper limit is reduced. After that, the operations of the warning intensity determination means 60 and the warning means 70 are the same as those in the first embodiment.

With this configuration, in addition to the effects of the first embodiment, further, for example, when traveling at high speed, sudden deceleration cannot be performed or extremely dangerous due to the possibility of a secondary accident and the stability of the vehicle. Therefore, the limit of deceleration operation can be taken into consideration, a more appropriate alarm can be given, and safety is increased.

Example 3. Embodiment 3 of the present invention will be described below with reference to the drawings. Generally, the motion characteristics of large vehicles, especially the acceleration / deceleration performance are lower than those of ordinary vehicles, and the physical danger level is higher. The present embodiment takes into consideration the motion characteristics of the target vehicle according to the type of the target vehicle, that is, whether the target vehicle is a normal vehicle or a large truck. FIG. 12 is a block diagram showing a rear side danger warning device according to the third embodiment. In the figure, 10, 20, 50, 60, 70, 8
0 is the same as that of the second embodiment. Reference numeral 90 denotes a vehicle type discriminating means, based on the output of the rear side vehicle detecting means 10, the vehicle type of the rear side vehicle, for example, whether the rear side vehicle is a large truck or an ordinary passenger car. , Determine the car model. A rear side 40 stores the deceleration parameter (for example, deceleration) of the rear side vehicle used in the collision determination means 50 in a plurality of stages according to the vehicle type, and stores the limit value of the deceleration parameter of the rear side vehicle according to the vehicle speed. One-way vehicle characteristic storage means (for example, configured by using a database method). The collision determination means 50 inputs the vehicle type from the vehicle type determination means 90 and the speed of the own vehicle from the vehicle speed sensor 80, and has a predetermined upper limit value from the rear side vehicle characteristic storage means 40. By inputting the deceleration of the rear-side vehicle, the physical danger level of the rear-side vehicle is calculated from the inter-vehicle distance and the approaching speed calculated by the rear-side vehicle information calculating means 20 in the same manner as in the first embodiment. decide.

Next, the operation of each component will be described. FIG.
FIG. 4 is an explanatory diagram of vehicle parameters for determining a vehicle type. In the figure, (a) is an example of a normal passenger car, and (b) is an example of a large truck detected from the front. As shown in the figure,
For normal passenger cars and heavy-duty trucks, the height Hc, H of the front of the vehicle
Since the t and the widths Wc and Wt are different, the height and the width are useful information as information for determining the vehicle type. FIG. 13 (c)
13D shows the front surface areas Sc and St calculated by processing the front image of FIGS. 13A and 13B, which can be used as information for determining the vehicle type as well as the width and height. FIG. 14 is an explanatory view showing the principle of determination of still another vehicle type by the rear side vehicle detection means 10, (a) is a temporal change of the emission intensity Me, and (b) is light reflected by the object. Is a temporal change of the received light intensity Md of. Since the area of the front surface varies depending on the target vehicle type, the light receiving intensity varies depending on the vehicle type even if the distance is the same, and as shown in FIG. 14B, the same distance, that is, the light emission-light receiving time interval Δted is Even if they are the same, the received light intensity distributions are different. Therefore, by providing the determination threshold value Mdc according to the distance, the target vehicle type can be discriminated.

The vehicle type discriminating means 90 is realized by a computer means such as a microprocessor, and the operation of the vehicle type discriminating means 90 is shown in FIG. In the figure, in step S91,
The inter-vehicle distance Dn is input from the rear side vehicle detection means 10, and similarly, in step S92, the peak value Mdp of the received light intensity is input. In step S93, a threshold Mdc for vehicle type determination that decreases in accordance with the distance Dn of the object is set, and step S9
At 4, the threshold Mdc is compared with the received light peak value Mdp. In step S95, according to the determination in step S94, when the received light intensity is larger than the threshold value, it is estimated that the front area of the target vehicle type is large, that is, for example, a large truck, and the vehicle type information Ot is set to the large truck. On the contrary, when the received light intensity is smaller than the threshold value, the target vehicle type is estimated to be, for example, an ordinary passenger vehicle, and the vehicle type information Ot is set to the passenger vehicle. In step S96, vehicle type information Ot is output in preparation for the subsequent processing, and the operation ends.

FIG. 16 is a flow chart showing the operation of the collision determination means 50. The operation will be described below. In step S51, the inter-vehicle distance Dn and the approaching speed ΔVn of the target vehicle are input from the rear side vehicle information calculating means 20, and in step S511, the vehicle type information Ot determined by the vehicle type determining means 90 and the vehicle speed sensor 80 are measured. Enter the vehicle speed Vel. In step S512, the deceleration parameter for determining the physical warning distance Dwpn according to the input vehicle type information is stored in the rear side vehicle characteristic storage means 40 within a limit value obtained from the rear side vehicle speed (Vel + ΔVn). Then, the vehicle-specific deceleration parameters are set in multiple stages according to the deceleration operation of the rear side vehicle. As the deceleration parameters, the reaction time td and the deceleration αB described in the first embodiment are used.
For example, in case of a large truck, the reaction time is set longer than that of the passenger car and the deceleration is set shorter than that of the passenger car. Since step S52 and subsequent steps are the same as the operation of the first embodiment, description thereof will be omitted. After that, the operations of the warning intensity determination means 60 and the warning means 70 are the same as those in the first embodiment. By configuring as described above, it becomes possible to carry out an alarm that can be changed according to the type of the alarm target vehicle type. For example, for large vehicles, consider that the operation of the target vehicle is slow. The safety can be increased because the alarm can be issued.

In the above embodiment, the vehicle speed sensor 80 is provided and the vehicle speed and the vehicle type are taken into consideration. However, the vehicle speed sensor 80 is not provided and only the vehicle type discriminating means 90 is provided to consider the difference in the deceleration operation depending on the vehicle type. It may be one. Also,
The deceleration may be continuously changed.

Example 4. Embodiment 4 of the present invention will be described below with reference to the drawings. FIG. 17 is a block diagram showing a rear side danger warning device according to a fourth embodiment of the present invention. In the figure,
10, 20, 50, 70, and 80 are Example 1 and Example 2.
It is composed of the same. Reference numeral 30 denotes a driver simulation means realized by a microprocessor or the like, and the inter-vehicle distance and the approaching speed calculated by the rear side vehicle information calculation means 20 and the judgment of the driver stored in the driver characteristic storage means 41. Based on the characteristic parameters and the speed of the vehicle measured by the vehicle speed sensor 80, a judgment simulation that is influenced by the presence of a rear-side vehicle such as a lane change made by the driver is performed, and based on the driver's psychology. The dangerous level is determined. Reference numeral 41 is a driver characteristic storage means (for example, configured by using a database method), which stores Gd and Ad which are determination characteristic parameters for determining the psychological risk level of the driver, and is a non-volatile memory. Alternatively, it is composed of a semiconductor memory such as an IC card. Here, Gd is the sensitivity to the approaching speed of the inter-vehicle distance that determines the psychological risk level, and A
d indicates an inviolable space (personal space). 6
Reference numeral 1 is an alarm strength determination means, and based on the psychological and physical risk levels determined by the driver simulation means 30 and the collision determination means 50, whether or not to issue the alarm, and in the case of issuing the alarm. The alarm intensity of is determined by a microprocessor or the like. Reference numeral 70 denotes an alarm means, which informs the driver of the presence of danger by means such as a buzzer, voice, or display according to the level of the alarm determined by the alarm intensity determination means 61.

Further, an embodiment and operation of each block shown in FIG. 17 will be described. FIG. 18 is a flowchart showing the operation of the driver simulation means 30. 18, in step S31, the traveling speed Vel of the host vehicle is calculated based on the signal from the vehicle speed sensor 80. In step S32, the judgment characteristic parameters Gd (Vel) and Ad (Vel) corresponding to the speed Vel of the vehicle are input from the judgment characteristic parameters of the driver stored in the driver characteristic storage means 41. In step S33, the inter-vehicle distance Dn and the approaching speed ΔVn calculated by the rear side vehicle information calculating means 20 are input, and step S33
At 34, the psychological warning distance Ddr that the driver judges to be dangerous is calculated based on the following formula. Ddr = Gd (Vel) × ΔVn + Ad (Vel) [m] (3) For example, when the speed Vel of the vehicle is 80 km / h, G
d (Vel) = 0.65 [m / Km / h], Ad (Vel) = 1
It was 0.01 [m]. Therefore, the approach speed ΔVn is 20
The driver's psychological warning distance Ddr in the case of Km / h is calculated as Ddr = 23.01 [m]. In step S35, the current inter-vehicle distance Dn is compared with the driver's psychological warning distance Ddr calculated in step S34, and in step S36, a driver warning flag Wdr representing the driver's psychological danger level according to the magnitude relationship. Set and reset. That is, when Dn is smaller than Ddr, there is a dangerous object closer than the psychological warning distance judged by the driver to be dangerous, so the driver warning flag is prepared for the processing of the warning strength determination means 61. Set 1 to. On the other hand, when Dn is larger than Ddr, a dangerous object exists at a distance longer than the psychological warning distance judged by the driver to be dangerous. Therefore, it is not necessary to issue a warning for the driver's judgment. Person alarm flag is reset to 0. In step S37, the driver warning flag Wdr determined as described above is output, and the process ends.

FIG. 19 shows an example of the configuration of the driver characteristic storage means 41. As an example, the driver characteristic storage unit 41 stores Gd and Ad for each vehicle speed Vel in a semiconductor memory. In FIG. 19A, data is stored for each 10 km / h of Vel, and the driver parameter is determined by interpolation calculation during this period. FIG. 19B shows an example of a change in the psychological warning distance Ddr with respect to the approach speed ΔVn, and shows the state of Ddr determined by the linear form of the expression (3).

FIG. 20 is a flow chart for explaining the operation of the alarm strength determination means 61. In the figure, step S
At 60, the driver warning flag Wdr set by the driver simulation means 30 is input, and at step S61, the collision warning flags Wp1 to Wp3 set by the collision determination means 50 are input as in the first embodiment. Hereinafter, as in Example 1,
In step S62, the alarm strength variable AL is initialized, and in steps S63, S65, and S67, flags are sequentially determined in descending order of alarm strength. However, in the present embodiment, it is determined in step S67 whether the first warning flag Wp1 or the driver warning flag Wdr is set, and if set, the warning strength variable AL is set to 1 in step S68.

With this configuration, the warning intensity variable can be set according to either the psychological risk judgment of the driver or the physical risk judgment of the driver, that is, the judgment criterion having a high danger level. Generally, when the approach speed is low, the psychological danger level of the driver is higher than the physical danger level, and conversely, when the approach speed is high, the physical danger level is high. In step S69, the alarm strength variable AL determined by the above process is output.
After that, the operation of the alarm means 70 is the same as that of the first embodiment.

In the above embodiment, the collision determining means 50
Shows that the physical danger level is determined according to a plurality of stages of deceleration operation as in the first embodiment. However, as in the second embodiment, the vehicle speed sensor 80 and the rear side vehicle information calculation are performed. Based on the information from the means 20, the degree of danger may be determined by determining the limit value of the deceleration parameter according to the vehicle speed of the rear side vehicle. Further, the collision determination means 50 may determine the physical danger level as in the conventional case without considering the deceleration operation of the rear side vehicle.

Further, in the above embodiment, it is determined in step S67 of FIG. 20 whether the first warning flag Wp1 or the driver warning flag Wdr is set, but the operation is performed in other steps such as step S63 or step S65. The setting of the person alarm flag Wdr may be determined.

Further, the psychological danger level Wdr may be set in a plurality of stages, like the physical danger level Wpn. A plurality of psychological warning distances Ddrn corresponding to a plurality of stages of psychological warning levels Wdrn are, for example, with respect to the psychological warning distances Ddr (= Ddr2) obtained from the equation (3) in the same manner as in the above embodiment. , The distances Ddr1 and Ddr3 of ± 10% are calculated,
These distances Ddr1, Ddr2, Ddr3 and the current inter-vehicle distance D
n is compared, and the driver warning flag Wdrn representing the driver's psychological danger level is set or reset according to the magnitude relation. FIG. 21 is a flow chart for explaining the operation of the warning strength determination means 61 for the danger level set in this way. In the figure, the driver warning flags Wdr1 to Wdr3 are input in step S601, and it is determined in step S630 whether the third warning flag Wp3 or the driver warning flag Wdr3 is set. In step S650, the second warning Determine whether the flag Wp2 or the driver warning flag Wdr2 is set,
In step S670, it is determined whether the first warning flag Wp1 or the driver warning flag Wdr1 is set. The other steps operate in the same manner as in FIG. By doing so, the judgment characteristics of the driver can be widened, and a better alarm can be issued.

In the above embodiment, the driver characteristic storage means 41 discretely stores the driver parameters in the form of a table using the vehicle speed as an index, using an element such as a semiconductor memory. . However, since the actual vehicle speed is a continuous value, an attempt to improve the accuracy increases the amount of data to be stored and requires a large memory.
Further, it is possible to perform interpolation from discrete values, but there is a drawback that a separate computer is required. FIG. 22 shows another embodiment of the driver characteristic storage means 41. The driver determination characteristic parameters Gd and Ad can be set as a function of the vehicle speed Vel instead of the table format. In FIG. 22, the straight line C is the function of Gd, and the curve D is the function of Ad.
In this case, the driver characteristic storage means 41 is composed of an element having a calculation function such as a microprocessor, calculates the required driver judgment characteristic parameter according to the speed of the host vehicle, and the driver simulation means. The parameter is output to 30.

Example 5. Next, a fifth embodiment will be described. In general, a psychological sense of danger of a large vehicle approaching is larger than that of a standard vehicle, and FIG. 38 also shows that the psychological criterion for a large vehicle is larger than that of a standard vehicle. In this actual situation, the fifth embodiment
Is a value that takes into consideration the type of the target vehicle, that is, the degree of psychological pressure depending on whether the target vehicle is a normal vehicle or a large truck, and the motion characteristics of the target vehicle. 23 is a block diagram showing a rear side danger warning device according to a fifth embodiment of the present invention. In the figure, 90 is a vehicle type discrimination means similar to that of the third embodiment, and based on the output of the rear side vehicle detection means 10, the vehicle type of the rear side vehicle, for example, the rear side vehicle is a large truck. Determine the vehicle type, such as whether it is a normal passenger car or not. Similar to the driver simulating means 30 of the fourth embodiment, 30 determines the danger level simulating the characteristics of the driver, but in the present embodiment, the vehicle type information determined by the vehicle type determining means 90 is also input to the driver. The determination characteristic of is configured to be variable according to the vehicle type. Reference numeral 41 denotes a driver characteristic storage means, which stores the driver determination characteristic parameter in the same manner as the driver characteristic storage means 41 of the fourth embodiment, but the driver characteristic storage means of the present embodiment stores the driver determination characteristic. Parameters are set and stored for each vehicle type. Reference numeral 50 denotes a collision determination means, which determines the physical danger level such as the possibility of a collision based on the deceleration operation of the rear side vehicle like the collision determination means 50 of the fourth embodiment. In the collision determination means of the example, the deceleration parameter is made variable according to the type of the rear side vehicle based on the information of the vehicle type determination means 90. That is, the rear side vehicle characteristic storage means 40 having the same configuration as that of the third embodiment and storing the deceleration parameters of the rear side vehicle used by the collision determination means 50 in a plurality of stages according to the vehicle type is provided.

Next, the operation of each component will be described. FIG.
9 is a flowchart showing an operation of the driver simulation means 30 in the fifth embodiment. In the figure, the own vehicle speed is calculated in step S31, and the vehicle type discrimination means 90 is calculated in step S311.
The vehicle type information Ot determined in step S4 is input. Step S31
In 2, the driver's judgment characteristic parameter set stored in the driver characteristic storage means 41 is selected according to the vehicle type information Ot, and in step S313, the psychological warning distance D is selected.
Driver parameters Gd (Vel), Ad for calculating dr
Enter (Vel). Hereinafter, since step S33 and subsequent steps are the same as the driver simulation means 30 of the fourth embodiment, description thereof will be omitted.

FIG. 25 is an explanatory view of the driver characteristic storage means 41 in the fifth embodiment, and FIG. 25 (a) shows the driver determination characteristic parameter in the driver characteristic storage means 41 in the fourth embodiment as a data set for each vehicle type. It shows the concept prepared as. FIG. 25B is an explanatory diagram for the case where the psychological warning distance Ddr corresponding to the vehicle type is determined in the same manner as in FIG. 19B. As shown in the figure, by setting a data set for each vehicle type, the psychological warning distance can be made variable even at the same own vehicle speed and approaching speed.

FIG. 26 is a flow chart showing the operation of the collision determination means 50 in the fifth embodiment. The operation will be described below. In step S51,
The inter-vehicle distance Dn and the approaching speed ΔVn of the target vehicle are input from the rear side vehicle information calculating means 20, and step S51 is performed.
In 1, the vehicle type information Ot determined by the vehicle type determining means 90 is input. In step S512, a vehicle-type deceleration parameter, which is a deceleration parameter for determining the physical warning distance Dwpn, is set according to the input vehicle type information. As the vehicle-type deceleration parameter, the reaction time td described in the third embodiment,
If there is a deceleration αB, for example, a large truck, the reaction time is set to be longer than that of a passenger car, and the deceleration is set to be shorter than that of a passenger car. Since step S52 and subsequent steps are similar to those of the third embodiment, description thereof will be omitted. After that, the alarm strength determination means 6
1. The operation of the alarm means 70 is the same as that of the fourth embodiment.

With the above-mentioned configuration, it becomes possible to give a variable warning depending on the type of the vehicle type as the warning target. For example, even for a large vehicle, an early warning can be given and driving can be performed. It is possible to satisfy both the psychological characteristics of the driver and the avoidance of physical danger at the same time, and issue a good warning that matches the driver's sensitivity.

In the above embodiment, the output of the vehicle type discrimination means 90 is input to the driver simulation means 30 and the collision determination means 50, and the vehicle type information is considered for both the psychological risk level and the physical risk level. However, it is also possible to input only the psychological risk level.

Next, another embodiment of the rear side vehicle detection means 10 and the vehicle type discrimination means 90 will be described. FIG. 27 shows the fifth embodiment.
Is another embodiment of the rear side vehicle detection means 10 in
In the figure, 11 is a light emitting element, 12 is a light receiving element, 13 is a light emitting element 11 for controlling the light emission timing, and the signal processing of the reflected light received by the light receiving element 12 is performed. The distance Dn is a signal processing circuit that calculates the received light intensity pattern Md from the temporal change of the received light signal. Reference numeral 14 is a mirror for changing the direction of the emitted light beam, and 15 is a mirror driving device for controlling the direction of the mirror and an angle sensor for detecting the light sending direction. FIG. 28 is an explanatory diagram of the operation of the rear side vehicle detection means 10. The rear side vehicle detection means 10 sends laser light while sequentially changing the direction θ to the rear side area of the own vehicle, and receives the beam reflected by the rear side vehicle 2 and returning. , Measure the inter-vehicle distance for each direction of light transmission. In this case, the rear side vehicle detection means 1
When viewed from 0, the reflected light reflected from the vehicle can be received in the range of θn1 to θn2 where the rear side vehicle 2 exists, and cannot be received in the other directions. Therefore, the vehicle width W of the rear side vehicle 2 can be determined by W = Dn1.sin.theta.n1-Dn2.sin.theta.n2 (4) from the relationship between the light-transmitting direction capable of receiving light and the inter-vehicle distance.

FIG. 29 is a flow chart for explaining the operation of the vehicle type discriminating means 90 corresponding to the rear side vehicle detecting means 10. The operation will be described below with reference to the drawings. In step S901, the inter-vehicle distances Dn1 and Dn2 at the vehicle existence region edge detected by the rear side vehicle detection means 10 are input, and in step S902, the angles θn1 and θn2 are input. Further, in step S903, the vehicle width W of the rear side vehicle is calculated according to the equation (4), and in step S904, it is compared with the threshold value Wt for vehicle determination. The vehicle determination threshold value Wt is, for example,
By setting an intermediate value between the widths of a large truck and an ordinary passenger car, it is possible to make a discrimination by comparing with the detected W.
In step S95, when the detected width W is smaller than the threshold value Wt, it is determined that the vehicle is a normal passenger vehicle, and the vehicle type information Ot is set to the passenger vehicle. On the contrary, when it is large, the vehicle type information Ot is set to the large truck. In step S96, the vehicle type information Ot is output and the process ends, in preparation for subsequent processing.

Example 6. Next, a sixth embodiment will be described. Although the general tendency of the driver to be sensitive to the psychological risk level is the same, the strength of the driver varies greatly among individuals. Furthermore, the psychological criteria change according to the driving skill and experience. Against this fact, Example 4 and Example 5 described above
However, there is an inconvenience that it only gives a standard psychological characteristic as the judgment characteristic of the driver, does not match the sensitivity of each individual, and causes a problem in the timing of the alarm. In the present embodiment, the operating conditions of the driver, which are performed according to the states of the rear-side vehicle and the own vehicle, are measured using various sensor signals mounted on the vehicle, and the characteristic feature is determined according to the detection of the danger level. The driver characteristic storage means for learning the characteristic of each individual from various driving operations and determining the psychological risk level is changed. 30 is a block diagram showing a rear side danger warning device according to a sixth embodiment of the present invention. In the figure, 10, 20, 30, 41, 50, 61, 70, 80
Has a function equivalent to that of the rear side danger warning device of the fourth embodiment.
Reference numeral 100 denotes various sensors attached to various operating devices of the vehicle, a vehicle-mounted sensor for detecting a driving operation operated by a driver, and 110 denotes information of the rear side vehicle information calculation means 20 and the vehicle-mounted sensor 100. First, the driver characteristic storage means 4 is set so as to match the psychological judgment characteristic of each driver.
It is a judgment learning means for making correction 1 and is realized by using a calculation means such as a microprocessor. FIG. 31 is a detailed explanatory diagram of the vehicle-mounted sensor 100. In FIG.
Is a driver of the vehicle, 101 is a steering wheel angle sensor that measures the steering angle of the steering wheel, 102 is an accelerator opening sensor that measures the operation amount of the accelerator, and 103 is a brake pedal force sensor that detects the operation amount of the brake. The acceleration sensor 104 is a sensor group that directly measures the operation amounts of various devices operated by the driver to operate the vehicle, and further directly measures the motion state of the vehicle as a result of the operation.
Equip. By using the signals from these sensor groups, it is possible to estimate the driver's driving intention and reaction.

The operation of the judgment learning means 110 will be described with reference to FIG. In step S110, the measurement amounts of various sensors of the vehicle-mounted sensor 100 are input, and in step S111, the measurement amount of the previous vehicle-mounted sensor 100 and the measurement amount of this time are compared, and driving represented by a driving operation amount and a traveling state is performed. It is determined whether or not there is a sudden change in state. In this step, if it is determined that there is no sudden change in the driving state, the driver pays sufficient attention to the surrounding state of the vehicle, and the individual judgment situation and the judgment situation of the rear side danger warning device match. If it is, the driver characteristic storage unit 41 is not modified and the process ends. On the other hand, if it is determined that there is a sudden change in the driving state, the driver has made a mistake in the judgment of the surrounding conditions, or the risk judgment of the rear side danger warning device matches the characteristics of the individual driver. If not, the following steps are executed to correct the driver characteristic storage means 41. That is, in step S112, the driver simulation means 30
The judgment characteristic parameter selected in step S11 is input from the driver characteristic storage means 41, and in step S113, the vehicle-to-vehicle distance Dn and the approach speed ΔVn of the current rear side vehicle are input from the rear side vehicle information calculation means 20. In step S114, the current psychological warning distance Ddr is calculated, and in step S115, the psychological warning distance Ddr is compared with the current inter-vehicle distance Dn. The current inter-vehicle distance Dn is the driver's psychological warning distance Ddr
If it is smaller, it is considered that the rear side danger warning device is performing the output on the safe side according to the driver's judgment, so the process ends without making any correction. If the current inter-vehicle distance Dn is larger than the driver's psychological warning distance Ddr, it is considered that the driver has performed the avoidance operation for the presence of the rear side vehicle earlier than the judgment made by the rear side danger warning device. To be Therefore, step S
At 116, the driver characteristic storage means 41 is arranged so that the judgment characteristic of the individual and the judgment of the rear side danger warning device match.
The judgment characteristic parameter stored in is corrected.

By doing so, it becomes possible to deal with the judgment characteristic peculiar to each individual, and it becomes possible to give a better warning that matches the driver's sensitivity.

Example 7. Next, a seventh embodiment will be described. In the present embodiment, when the judgment characteristic parameter of the driver is changed, the judgment characteristic parameter is changed according to the type of the target vehicle in addition to the conditions shown in the sixth embodiment. 33 is a block diagram showing a rear side danger warning device according to a seventh embodiment of the present invention. In FIG. 33, the operation of each component is the same as that of the rear side danger warning device of each of the above-mentioned embodiments, but the judgment learning means 110 includes the rear side vehicle information calculating means 20, the vehicle type discriminating means 90, and the vehicle. The three types of information of the on-board sensor 100 are input to correct the driver's judgment corresponding to the difference of the vehicle type, and the driver characteristic storage means 41.
It is configured to correct the driver judgment characteristic parameter for each vehicle type.

FIG. 34 shows the judgment learning means 1 in this embodiment.
The operation of 10 will be described with a flowchart. In step S110, the measurement amounts of various sensors of the vehicle-mounted sensor 100 are input, and in step S111, the measurement amount of the previous vehicle-mounted sensor 100 and the measurement amount of this time are compared, and driving represented by a driving operation amount and a traveling state is performed. It is determined whether or not there is a sudden change in state. In this step, if it is determined that there is no sudden change in the driving state, the driver pays sufficient attention to the surrounding state of the vehicle, and the individual judgment situation and the judgment situation of the rear side danger warning device match. However, the driver characteristic storage means 41 is not modified and the process ends. On the other hand, if it is determined that there is a sudden change in the driving state, the driver made a mistake in determining the surrounding conditions, or
It is judged that the risk judgment of the rear side danger warning device does not match the characteristics of the individual driver, and the following steps are executed to correct the driver characteristic storage means 41. First, in step S117, the vehicle type information Ot output from the vehicle type determining means 90 is input, and then in step S112, the determination characteristic selected by the driver simulation means 30 from the determination characteristic parameter set for each vehicle type. Parameters are input, and in step S113, the vehicle distance Dn of the current rear side vehicle and the approaching speed ΔVn are input from the rear side vehicle information calculating means 20. In step S114, the current psychological warning distance Ddr
Is calculated and the psychological warning distance Ddr is compared with the current inter-vehicle distance Dn in step S115. If the current inter-vehicle distance Dn is smaller than the driver's psychological warning distance Ddr, it is considered that the rear side danger warning device is performing the output on the safe side according to the judgment of the driver, and the process is ended without making any correction. . If the current inter-vehicle distance Dn is larger than the driver's psychological warning distance Ddr, it is considered that the driver has performed the avoidance operation for the presence of the rear side vehicle earlier than the judgment made by the rear side danger warning device. To be Therefore, in step S116, the judgment characteristic parameter for each vehicle type stored in the driver characteristic storage means 40 is corrected so that the judgment characteristic of the individual and the judgment of the rear side danger warning device match.

By doing so, it becomes possible to cope with the judgment characteristic peculiar to each individual and the sensitivity to the vehicle type, and it becomes possible to carry out a better warning in conformity with the driver's sensitivity.

In the sixth and seventh embodiments described above, in steps S113 and S114 in FIGS. 32 and 34, the vehicle-to-vehicle distance Dn of the current rear side vehicle is approached by the rear side vehicle information calculating means 20. Although the current psychological alert distance Ddr is calculated by inputting the speed ΔVn, the current psychological alert distance Ddr calculated in the driver simulation means 30 is input and the same operation is performed thereafter. Good. Also, FIG.
In the seventh embodiment shown in FIG. 3, the vehicle type information output from the vehicle type determining unit 90 is also input to the collision determination device 50, but it may not be input.

Example 8. Next, Example 8 will be described. In the sixth and seventh embodiments described above, since the indirect driving operation is used to detect the characteristics of each individual, there is a problem that the psychological condition detection accuracy is low. In the present embodiment, in order to clearly detect the psychological state of the driver, driver sensing means for measuring the state of the driver is added, and the driver's gaze target changes according to the states of the rear side vehicle and the own vehicle. , And, by calculating the degree of tension and anxiety from the heart rate, respiratory rate, skin potential, sweat rate, etc., learn the characteristics of each individual and memorize the driver characteristics to determine the psychological risk level. It is configured to change the means. FIG. 35 is a block diagram showing a rear side danger warning device according to the eighth embodiment of the present invention. In FIG. 35, the operation of each block from 10 to 100 is the same as that of the rear side danger warning device of the above-described embodiment. Reference numeral 120 is a driver sensing means for detecting the physiological state, visual recognition state, and awake state of the driver. Reference numeral 110 denotes a judgment learning means, which integrates information of the rear side vehicle information calculation means 20, the driver characteristic storage means 41, the vehicle type discrimination means 90, the vehicle-mounted sensor 100, and the driver sensing means 120,
The driver's judgment characteristic parameters are modified to construct a rear-side danger warning device that matches the judgment characteristics of each individual.

FIG. 36 shows an embodiment of the driver sensing means, 3 is a driver, 121 is a CCD camera embedded in, for example, an instrumental panel or the like to take a face image of the driver. Also, 122 is attached to the body of the driver, measures the pulse, skin potential, perspiration, etc.,
It is a physiological index sensor that detects the degree of psychological anxiety and tension of the driver. FIG. 37 is a flowchart showing the operation of the judgment learning means 110. In step S110, the measurement amounts of various sensors of the vehicle-mounted sensor 100 are input, and in step S118, the driver sensing means 120.
Enter the driver's physiological condition measured in. Step S
At 119, the previous measured amount of the vehicle-mounted sensor 100 and the measured amount of the driver sensing means 120 are compared with the measured amount of this time, and the driving state represented by the driving operation amount and the running state or the driver sensing means detects the driving state. It is determined whether there is a sudden change in the driver's physiological condition. In this step, if it is determined that there is no sudden change in the driving condition or the physiological condition of the driver, the driver pays sufficient attention to the surrounding conditions of the vehicle, and the judgment situation of the individual and the rear side danger warning device. If it is determined that the judgment conditions of No. 1 are matched, the driver characteristic storage unit 41 is not corrected and the process ends. On the other hand, if it is determined that there is a sudden change in the driving state or the driver's physiological state, the driver may have misjudged the surrounding conditions, or the risk determination of the rear-side danger warning device may indicate the individual driver. It is determined that the driver characteristic storage means 41 does not match the characteristic of
Implement the correction of. First, in step S117, the vehicle type information Ot output from the vehicle type determining means 90 is input, and then,
In step S112, the driver determination characteristic parameter is input from the driver characteristic storage means 41 from the data set for each vehicle type selected by the driver simulation means 30, and in step S113 the rear side vehicle information calculation means 20. The current inter-vehicle distance Dn and the approaching speed ΔVn of the rear side vehicle are input.
In step S114, the current psychological warning distance Ddr is calculated, and in step S115, the psychological warning distance Ddr is compared with the current inter-vehicle distance Dn. If the current inter-vehicle distance Dn is smaller than the driver's psychological warning distance Ddr, it is considered that the rear side danger warning device is performing the output on the safe side according to the judgment of the driver, and the process is ended without making any correction. . If the current inter-vehicle distance Dn is larger than the driver's psychological warning distance Ddr, it is considered that the driver has performed the avoidance operation for the presence of the rear side vehicle earlier than the judgment made by the rear side danger warning device. To be Therefore, in step S116, the driver determination characteristic parameter for each vehicle type stored in the driver characteristic storage unit 41 is corrected so that the determination characteristic of the individual and the determination of the rear side danger warning device match.

By doing so, the accuracy corresponding to the judgment characteristic peculiar to each individual is improved, and it becomes possible to give a good warning that matches the driver's sensitivity.

In the eighth embodiment, the vehicle type discriminating means 90 is provided, and the vehicle type information output from the vehicle type discriminating means 90 is input to the judgment learning means 110, the driver simulation device 30, and the collision determination device 50. , Input to either of these may be eliminated. Further, the vehicle type discriminating means 90 may not be provided.

[0071]

As described above, according to the first aspect of the present invention, the rear side vehicle warning means for detecting the rear side vehicle existing behind and to the side of the own vehicle by the rear side danger warning device, Based on the information of the rear side vehicle information calculation means, the rear side vehicle information calculation means for calculating the relative motion state with the rear side vehicle based on the output of the rear side vehicle detection means, Collision determining means for determining the physical danger level of the rear side vehicle according to the deceleration operation of the rear side vehicle, and alarm strength for determining the strength of the alarm based on the danger level determined by the collision determining means. Since the determination means and the warning means for issuing the warning of the above-mentioned intensity are included, it is possible to judge the danger level in which the operation of the approaching vehicle from the rear is predicted in advance, and reduce unnecessary warnings.

According to claim 2 of the present invention, the rear side danger warning device according to claim 1 further includes a vehicle speed sensor for measuring the traveling speed of the own vehicle, and a rear side vehicle used in the collision determination means. The vehicle includes a rear-side vehicle characteristic storage unit that stores the limit value of the deceleration parameter for each traveling speed of the rear-side vehicle, and the collision determination unit includes the rear-side vehicle information calculation unit and the rear-side vehicle information calculation unit based on the information from the vehicle speed sensor. Since the physical danger level of the side vehicle is determined by predicting the deceleration operation of the rear side vehicle in advance, it is more appropriate in consideration of the limit of the driving operation according to the vehicle speed of the rear side vehicle. It can give an alarm and increase safety.

According to claim 3 of the present invention, the vehicle type discriminating means for discriminating the vehicle type of the rear side vehicle by using the output of the rear side vehicle detecting means in each of the rear side danger warning devices.
And rear side vehicle characteristic storage means for storing the deceleration parameter of the rear side vehicle used by the collision determination means for each vehicle type, and the collision determination means is based on the information from the rear side vehicle information calculation means and the vehicle type determination means. In addition, since the physical danger level of the rear side vehicle is determined by predicting the deceleration operation of the rear side vehicle according to the vehicle type in advance, it is possible to consider the difference in the deceleration operation depending on the vehicle type, and it is more appropriate. It is possible to give various warnings and increase safety.

According to a fourth aspect of the present invention, the rear-side danger warning device detects the rear-side vehicle existing behind and to the side of the host vehicle, the rear-side vehicle detecting means, and the rear-side vehicle. Rear side vehicle information calculation means for calculating a relative motion state with the rear side vehicle based on the output of the vehicle detection means, a vehicle speed sensor for measuring the traveling speed of the own vehicle, and rear side vehicle information calculation A driver simulation means for determining a psychological risk level that the driver judges to be dangerous based on the information of the means and the vehicle speed sensor,
Driver characteristic storage means for storing parameters used in the driver simulation means, collision determination means for determining a physical danger level of the rear side vehicle based on information of the rear side vehicle information calculation means, and the driving Based on the risk level determined by the person simulating means and the risk level determined by the collision determining means, the risk level of the rear side vehicle is determined,
Since the alarm intensity determining means for determining the intensity of the alarm and the alarm means for generating the alarm of the above intensity are included, a more appropriate alarm can be performed in consideration of the characteristics of the psychological risk judgment of the driver. Increases safety.

According to a fifth aspect of the present invention, the rear side danger warning device is further provided with a vehicle type discrimination means, and the driver characteristic storage means stores the parameters used by the driver simulation means for each vehicle type. The driver simulation means determines the psychological risk level that the driver determines to be dangerous, based on the information from the rear side vehicle information calculation means, the vehicle speed sensor, and the vehicle type determination means. Depending on the driver's psychology, a more appropriate alarm can be issued and safety is increased.

According to claim 6 of the present invention, each of the rear side danger warning devices further includes a vehicle-mounted sensor for detecting a driving operation operated by the driver, and a rear side vehicle during the driving operation. Since the situation and the rear side vehicle situation that the driver judges as dangerous are compared to learn the psychological judgment situation of each driver, the judgment learning means for correcting the driver characteristic storage means is provided. A more appropriate warning can be given according to the individual difference of the driver, and safety is increased.

According to claim 7 of the present invention, each of the rear side danger warning devices further includes driver sensing means for detecting the state of the driver, and the state of the rear side vehicle when the state of the driver changes. And the rear side vehicle situation that the driver judges as dangerous are compared with each other to learn the psychological judgment situation of each driver and the judgment learning means for correcting the driver characteristic storage means is provided. More appropriate warning can be given according to the individual difference of the person, and the safety increases.

According to claim 8 of the present invention, a step of detecting a rear side vehicle existing behind and to the side of the own vehicle and calculating a relative motion state with the rear side vehicle,
And a step of determining the physical danger level of the rear side vehicle by predicting the deceleration operation of the rear side vehicle in advance from the relative motion state with the rear side vehicle. The danger level can be determined according to the operation of the oncoming vehicle from.

Further, according to claim 9 of the present invention, a step of detecting a rear side vehicle existing behind and to the side of the own vehicle and calculating a relative motion state with the rear side vehicle,
Psychological risk level determining step of determining a psychological risk level that the driver determines to be dangerous based on the relative motion state of the rear side vehicle and the traveling speed of the own vehicle, the rear side vehicle The physical risk level determining step for determining the physical risk level of the rear side vehicle from the relative motion state with the risk level determined in the psychological risk level determining step, and the physical risk. Based on the risk level determined in the level determination step, the risk level determination step for determining the risk level of the rear side vehicle is executed, so not only the physical risk level but also the psychological risk level of the driver The risk level of the rear side can be determined in consideration of the above.

[Brief description of drawings]

FIG. 1 is a block diagram showing a rear side danger warning device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the operation of the rear side vehicle detection means according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a configuration of a rear side vehicle detection means according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing an operation of a rear side vehicle information calculation means according to the first embodiment of the present invention.

FIG. 5 is an explanatory diagram illustrating the operation of the collision determination means according to the first embodiment of the present invention.

FIG. 6 is a flowchart showing the operation of the collision determination means according to the first embodiment of the present invention.

FIG. 7 is a flowchart showing the operation of the alarm strength determination means according to the first embodiment of the present invention.

FIG. 8 is a configuration diagram showing an alarm means according to the first embodiment of the present invention.

FIG. 9 is a flowchart showing the operation of the alarm discrimination signal generator according to the first embodiment of the present invention.

FIG. 10 is a block diagram showing a rear side danger warning device according to a second embodiment of the present invention.

FIG. 11 is a characteristic diagram showing the relationship between the upper limit value of deceleration stored in the rear side vehicle characteristic storage means and the speed of the host vehicle according to the second embodiment of the present invention.

FIG. 12 is a block diagram showing a rear side danger warning device according to a third embodiment of the present invention.

FIG. 13 is an explanatory diagram illustrating vehicle parameters according to the third embodiment of the present invention.

FIG. 14 is an explanatory diagram illustrating another vehicle parameter according to the third embodiment of the present invention.

FIG. 15 is a flowchart showing the operation of the vehicle type identification means according to the third embodiment of the present invention.

FIG. 16 is a flowchart showing the operation of the collision determination means according to the third embodiment of the present invention.

FIG. 17 is a block diagram showing a rear side danger warning device according to a fourth embodiment of the present invention.

FIG. 18 is a flowchart showing the operation of the driver simulation means according to the fourth embodiment of the present invention.

FIG. 19 is an explanatory diagram illustrating a driver characteristic storage unit according to the fourth embodiment of the present invention.

FIG. 20 is a flow chart showing the operation of the alarm strength determination means according to the fourth embodiment of the present invention.

FIG. 21 is a flowchart showing the operation of another alarm strength determination means according to the fourth embodiment of the present invention.

FIG. 22 is an explanatory diagram showing another driver characteristic storage means according to the fourth embodiment of the present invention.

FIG. 23 is a block diagram showing a rear side danger warning device according to a fifth embodiment of the present invention.

FIG. 24 is a flowchart showing the operation of the driver simulation means according to the fifth embodiment of the present invention.

FIG. 25 is an explanatory diagram illustrating a driver characteristic storage unit according to the fifth embodiment of the present invention.

FIG. 26 is a flowchart showing the operation of the collision determination means according to the fifth embodiment of the present invention.

FIG. 27 is a configuration diagram showing another rear side vehicle detection means according to the fifth embodiment of the present invention.

FIG. 28 is an explanatory view showing the operation of the rear side vehicle detection means according to the fifth embodiment of the present invention.

FIG. 29 is a flowchart for explaining the operation of the vehicle type discriminating means corresponding to the rear side vehicle detecting means according to the fifth embodiment of the present invention.

FIG. 30 is a block diagram showing a rear side danger warning device according to a sixth embodiment of the present invention.

FIG. 31 is an explanatory diagram showing a vehicle-mounted sensor according to a sixth embodiment of the present invention.

FIG. 32 is a flowchart showing the operation of the judgment learning means according to the sixth embodiment of the present invention.

FIG. 33 is a block diagram showing a rear side danger warning device according to a seventh embodiment of the present invention.

FIG. 34 is a flowchart showing the operation of the judgment learning means according to the seventh embodiment of the present invention.

FIG. 35 is a block diagram showing a rear side danger warning device according to an eighth embodiment of the present invention.

FIG. 36 is an explanatory diagram showing driver sensing means according to Embodiment 8 of the present invention.

FIG. 37 is a flowchart showing the operation of the judgment learning means according to the eighth embodiment of the present invention.

FIG. 38 is an explanatory diagram showing a collision limit line and a lane change possible limit line judged by a driver by a relationship between an approaching speed and an inter-vehicle distance.

[Explanation of symbols]

2 rear side vehicle, 3 driver, 10 rear side vehicle detecting means, 20 rear side vehicle information calculating means, 30
Driving vehicle simulation means, 40 rear side vehicle characteristic storage means,
41 driver characteristic storage means, 50 collision determination means,
60 warning intensity determining means, 61 warning intensity determining means, 70 warning means, 80 vehicle speed sensor,
90 vehicle type discrimination means, 100 vehicle-mounted sensor, 1
10 judgment learning means, 120 driver sensing means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number FI Technical display location G08B 21/00 H G08G 1/16 A (72) Inventor Kunihito Takeuchi 2-3-3 Miwa, Mita City No. Mitsubishi Electric Corporation Mita Manufacturing Co., Ltd.

Claims (9)

[Claims] 1. A rear side vehicle detection means for detecting a rear side vehicle existing behind and to the side of the own vehicle, and a relative to the rear side vehicle based on an output of the rear side vehicle detection means. The rear-side vehicle information calculating means for calculating various motion states, and the physical danger level of the rear-side vehicle to the deceleration operation of the rear-side vehicle based on the information of the rear-side vehicle information calculating means. A collision determination means for determining the strength of the warning based on the risk level determined by the collision determination means, and an alarm for issuing an alarm of the strength determined by the warning strength determination means. Rear side hazard warning device with means. 2. A rear side vehicle characteristic in which a vehicle speed sensor for measuring the traveling speed of the own vehicle and a limit value of a deceleration parameter of the rear side vehicle used in the collision determination means are stored in association with the traveling speed of the rear side vehicle. The collision determination means includes a storage means, and the physical danger level of the rear side vehicle is determined according to the deceleration operation of the rear side vehicle based on the information from the rear side vehicle information calculation means and the vehicle speed sensor. Claim 1 adapted to be determined by
Rear side warning device described. 3. A vehicle type discriminating means for discriminating the vehicle type of the rear side vehicle by using the output of the rear side vehicle detecting means, and a rear side for storing the deceleration parameter of the rear side vehicle used by the collision discriminating means for each vehicle type. The collision determination means includes the rear vehicle characteristic storage means, and the collision determination means determines the physical danger level of the rear side vehicle based on the information from the rear side vehicle information calculation means and the vehicle type determination means. The rear side danger alarm device according to claim 1 or 2, wherein the rear side danger alarm device is determined according to an operation. 4. A rear side vehicle detection means for detecting a rear side vehicle existing behind and to the side of the own vehicle, and a relative to the rear side vehicle based on an output of the rear side vehicle detection means. Side vehicle information calculating means for calculating various motion states, a vehicle speed sensor for measuring the traveling speed of the own vehicle, the rear side vehicle information calculating means and the information of the vehicle speed sensor, and the driver is judged to be dangerous. Based on the information of the driver simulation means for deciding the psychological risk level, the driver characteristic storage means for storing the parameters used in the driver simulation means, and the rear side vehicle information calculation means, the rear side vehicle Of the rear side vehicle based on the risk level determined by the driver simulation means and the risk level determined by the collision determination means. Determine level and alert A rear-side danger warning device comprising a warning strength determination means for determining strength and a warning means for generating a warning of the strength determined by the warning strength determination means. 5. A vehicle type discriminating means for discriminating the vehicle type of the rear side vehicle by using the output of the rear side vehicle detecting means,
The driver characteristic storage means stores the parameters used by the driver simulation means for each vehicle type, and the driver simulation means determines the driver based on the information from the rear side vehicle information calculation means, the vehicle speed sensor and the vehicle type determination means. The rear side danger alarm device according to claim 4, wherein a psychological risk level to be judged as dangerous is determined. 6. A vehicle-mounted sensor for detecting a driving operation operated by a driver, and driving by comparing a state of a rear side vehicle at the time of a driving operation with a state of a rear side vehicle judged by the driver to be dangerous. The rear side danger warning device according to claim 4 or 5, further comprising: a judgment learning means for learning a psychological judgment situation of each person and correcting the driver characteristic storage means. 7. A driver sensing means for detecting the driver's condition, and a driver comparing the condition of the driver's rear vehicle when the driver's condition changes with the condition of the driver's rear driver's condition. 7. The rear-side danger warning device according to claim 4, further comprising a judgment learning unit that learns an individual psychological judgment situation and corrects the driver characteristic storage unit. 8. A step of detecting a rear side vehicle existing behind and to the side of the host vehicle and calculating a relative motion state with the rear side vehicle, and a relative step with the rear side vehicle. Rear-side risk determination method for executing a step of determining a physical risk level of the rear-side vehicle in accordance with a deceleration operation of the rear-side vehicle from various motion states. 9. A step of detecting a rear side vehicle existing behind and to the side of the own vehicle and calculating a relative motion state with the rear side vehicle, a step of calculating a relative motion state with the rear side vehicle. Based on the exercise state and the traveling speed of the own vehicle, a psychological risk level determination step of determining a psychological risk level that the driver judges to be dangerous, from the relative motion state with the rear side vehicle, The physical risk level determination step for determining the physical risk level of the rear side vehicle, and the risk level determined in the psychological risk level determination step and the risk level determined in the physical risk level determination step Based on the above, a rear-side risk determination method for executing a risk-level determining step for determining a comprehensive risk level with the rear-side vehicle.