JP2000331298A - Device for detecting vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a leading vehicle start detection function and a parking support function and to share an interval detection means by a means detecting the starting state of the leading vehicle and a means detecting an interval between a self-vehicle and the peripheral object. SOLUTION: A vehicle detection device is provided with an interval detection means C1 detecting an interval C4 between a self-vehicle C2 and a leading vehicle C3 in front of the self-vehicle C2 or the other object, a start informing means C5 detecting the starting state of the leading vehicle C3 by a detection signal form the interval deflection means C1 and giving information, an interval warning means C6 detecting that the interval C4 between the self-vehicle C2 and the peripheral object becomes not more than a prescribed value by the detection signal from the interval detection means C1, and a control means C7 which is connected to the start informing means C5 and the interval warning means C6, operates the interval warning means C6 and operates the start informing means C5 when the self-vehicle C2 stops and the leading vehicle C3 is started.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is to execute a preceding vehicle start notification when a preceding vehicle stopped in front of the own vehicle starts, and to execute a low speed traveling of the own vehicle and a preceding vehicle or another vehicle in a parking lot. The present invention relates to a vehicle detection device that warns that the distance to an object has decreased.

[0002]

2. Description of the Related Art Conventionally, as a device for executing a preceding vehicle start notification when a preceding vehicle stopped in front of the own vehicle starts, there is, for example, a device described in JP-A-8-276806. That is, an inter-vehicle distance detecting device that detects the distance between the own vehicle and the preceding vehicle ahead of the own vehicle, and a warning unit that outputs an alarm when the start of the preceding vehicle is determined, and stops with the own vehicle when stopped. The preceding vehicle that detects the preceding vehicle is detected by the above-described inter-vehicle distance detection device, and based on the detected inter-vehicle distance, when this distance increases, it is determined that the preceding vehicle has started, and a preceding vehicle that issues an alarm output This is a start warning device.

[0003] In this conventional apparatus, the preceding vehicle start notification can be executed, but the preceding vehicle start notification function and the parking assist function (that is, when the own vehicle is traveling at a low speed or stopped in a parking lot or the like, And a function to warn that the distance between the preceding vehicle or another object such as an obstacle has become less than a predetermined value).

[0004]

SUMMARY OF THE INVENTION According to the first aspect of the present invention, there is provided an interval detecting means for detecting an interval (inter-vehicle distance) between a host vehicle and a preceding vehicle, and starting of the preceding vehicle based on a signal from the detecting means. Start alerting means for detecting and alerting the vehicle, interval warning means for detecting that the distance between the vehicle and the surrounding objects has become a predetermined value or less by a signal from the above-described detecting means, and start alerting means and interval warning means. By providing control means for operating any of the means in accordance with the connected conditions, it is possible to have both functions of a preceding vehicle start detection function and a parking assist function, and also detects the start state of the preceding vehicle It is an object of the present invention to provide a vehicle detection device that can share an interval detecting means (refer to a sensor) with a means for detecting the distance between the own vehicle and an object around the own vehicle.

According to a second aspect of the present invention, in addition to the object of the first aspect, detection of the vehicle speed of the own vehicle,
It is an object of the present invention to provide a vehicle detection device capable of reliably performing a stop determination of a host vehicle, detecting start of a preceding vehicle, and notifying start of the preceding vehicle.

According to the third aspect of the present invention, in addition to the object of the first aspect of the present invention, when the own vehicle speed is zero and the vehicle is under braking conditions (under a braking state), the starting means is notified by the control means. An object of the present invention is to provide a vehicle detection device capable of accurately confirming the stop of the vehicle at the time of start notification by configuring the means to operate.

According to a fourth aspect of the present invention, in addition to the object of the first aspect of the present invention, when the own vehicle is traveling at a low speed or lower (that is, at a stop), and the own vehicle and its surrounding objects When the distance from the vehicle (such as a preceding vehicle or an obstacle) is equal to or less than a predetermined distance, the control means activates the distance warning means so that the parking detection operation can be executed when necessary. For the purpose of providing.

According to a fifth aspect of the present invention, in addition to the object of the first or second aspect of the present invention, a first notification that the start notification means starts detecting a start state of a preceding vehicle.
Therefore, it is an object of the present invention to provide a vehicle detection device that can make the occupant recognize the start of detection of the starting state by the first notification by configuring so as to perform the notification.

According to a sixth aspect of the present invention, in addition to the object of the fifth aspect, the first notification and the start notification of the preceding vehicle are provided by a single alarm (electronic chime or electronic chime). Buzzer or horn, etc.) and different notification modes (for example, refer to differences in the number of notifications, the notification frequency, the notification cycle, the notification volume, etc.), the first notification and the preceding vehicle start notification are accurate. It is an object of the present invention to provide a vehicle detection device that can be distinguished from a vehicle.

According to a seventh aspect of the present invention, in addition to the object of the sixth aspect of the invention, the first notification outputs a single notification sound by an alarm to start the preceding vehicle. The notification is performed by outputting two or several notification sounds with a notification device, so that the first notification and the preceding vehicle start notification are determined by the difference in the number of notifications.
It is an object of the present invention to provide a vehicle detection device capable of distinguishing more accurately.

According to an eighth aspect of the present invention, in addition to the object of the first or second aspect of the present invention, the measurement of the inter-vehicle distance measurement according to the magnitude of the inter-vehicle distance between the host vehicle and the preceding vehicle is provided. By changing the number of times, reliable measurement corresponding to the inter-vehicle distance can be performed, especially when there is a preceding vehicle at a measurable position close to the critical between the measurable inter-vehicle distance and the unmeasurable inter-vehicle distance, It is an object of the present invention to provide a vehicle detection device capable of performing appropriate measurement.

According to a ninth aspect of the present invention, in addition to the object of the first or second aspect of the present invention, the measurement of the inter-vehicle distance measurement is performed regardless of the inter-vehicle distance between the host vehicle and the preceding vehicle. An object of the present invention is to provide a vehicle detection device capable of simplifying measurement by making the number of times constant.

According to a tenth aspect of the present invention, in addition to the object of the first aspect, the interval detecting means is set at an ultrasonic sensor so that the interval detecting means is inexpensively constructed. It is an object of the present invention to provide a vehicle detection device capable of improving weather resistance.

According to an eleventh aspect of the present invention, in addition to the object of the first aspect of the present invention, the inactive time until the start of the preceding vehicle is detected and the start notification is executed is determined by stopping the own vehicle. By setting according to the operating conditions at the time, it is possible to eliminate false alarms and unreported occupants' sensations and tremors of the preceding vehicle,
It is an object of the present invention to provide a vehicle detection device that can notify an appropriate start of a preceding vehicle.

According to a twelfth aspect of the present invention, in addition to the object of the eleventh aspect of the present invention, the operating condition when the host vehicle is stopped is set to a brake operating state and a shift position state. It is an object of the present invention to provide a vehicle detection device capable of setting an appropriate invalid time.

According to a thirteenth aspect of the present invention, in addition to the object of the eleventh aspect of the present invention, a manual adjusting means for variably adjusting the above-mentioned invalid time is provided so as to meet the occupant's preference. It is an object of the present invention to provide a vehicle detection device capable of changing the invalid time.

The invention according to claim 14 of the present invention, in addition to the object of the invention described in claim 11, is that when the preceding vehicle stops again within a predetermined distance after the initial start of the preceding vehicle, the starting of the preceding vehicle starts. An object of the present invention is to provide a vehicle detection device that can prevent useless notification by waiting (regulating) notification.

According to a fifteenth aspect of the present invention, in addition to the object of the eleventh aspect, when the preceding vehicle decelerates within a predetermined distance after the initial start of the preceding vehicle, the invalid time is extended. By setting, an object of the present invention is to provide a vehicle detection device capable of performing appropriate notification by extending the invalid time.

According to a sixteenth aspect of the present invention, in addition to the object of the second aspect, the traveling distance of the preceding vehicle is determined by the creep running characteristic (the acceleration at which the vehicle slowly advances when the brake is released in the AT vehicle). It is an object of the present invention to provide a vehicle detection device capable of eliminating a start detection error by detecting a start state of a preceding vehicle by a preceding vehicle start detecting means at a time when the traveling characteristic is equal to or more than 0.03 G).

[0020]

According to a first aspect of the present invention, there is provided a vehicle detecting apparatus for detecting a distance between a host vehicle and a preceding vehicle or another object ahead of the host vehicle. Starting notification means for detecting and notifying the starting state of the preceding vehicle based on a detection signal from the interval detecting means, and an interval between the vehicle and the surrounding objects being not more than a predetermined value based on the detection signal from the interval detecting means. The interval warning means for detecting that the vehicle has stopped is connected to the start notifying means and the distance warning means. When the own vehicle is running or stopped, the distance alarm means is operated, and the own vehicle stops and the preceding vehicle starts moving. And a control means for operating the start notifying means when the vehicle is running.

According to a second aspect of the present invention, in addition to the configuration of the first aspect of the invention, the start notifying means includes a vehicle speed detecting means for detecting a vehicle speed of the vehicle, and a stop of the vehicle. , A preceding vehicle start detecting means for detecting the start of the preceding vehicle, and a notifying means for notifying at least when the start is detected.

According to a third aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the control means operates the start notifying means when the vehicle speed is zero and the vehicle is under braking conditions. It is a detection device for a vehicle.

According to a fourth aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the control means controls the distance between the own vehicle and surrounding objects when the own vehicle runs at a low speed or less. Is a vehicle detection device that operates the interval warning means when the distance is equal to or shorter than a predetermined interval.

According to a fifth aspect of the present invention, in addition to the configuration of the first or second aspect of the present invention, the start notifying means detects a starting state by a confirming means for confirming a stop of a preceding vehicle. It is a vehicle detection device that makes a first notification to start.

According to a sixth aspect of the present invention, in addition to the configuration of the fifth aspect of the invention, the first notification and the start notification of the preceding vehicle are performed by a single notification device. It is a vehicle detection device that changes the notification mode.

According to a seventh aspect of the present invention, in addition to the configuration of the sixth aspect of the present invention, the first notification outputs a single notification sound by an alarm to start the preceding vehicle. The notification is a detection device of a vehicle that outputs a notification sound twice or several times by a notification device.

According to the invention of claim 8 of the present invention, in addition to the configuration of the invention of claim 1 or 2, the start notification is made in accordance with the inter-vehicle distance between the own vehicle and the preceding vehicle. It is a vehicle detection device that varies the number of times of measurement of the following distance.

According to a ninth aspect of the present invention, in addition to the configuration of the first or second aspect of the present invention, the start notification is made regardless of the inter-vehicle distance between the own vehicle and the preceding vehicle. It is a vehicle detection device that keeps the number of times of measurement of the distance between vehicles constant.

According to a tenth aspect of the present invention, in addition to the configuration of the first aspect, the invention is a vehicle detecting device in which the interval detecting means is set to an ultrasonic sensor.

According to an eleventh aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the inactive time until the start of the preceding vehicle is detected and the start notification is executed is determined by stopping the own vehicle. It is a vehicle detection device set according to the operating conditions at the time.

According to a twelfth aspect of the present invention, in addition to the configuration of the eleventh aspect of the present invention, the operating condition at the time of stopping the own vehicle is the operating condition of the brake and the shift position of the vehicle. It is a detection device.

According to a thirteenth aspect of the present invention, in addition to the configuration of the eleventh aspect, the present invention is a vehicle detecting device provided with a manual adjusting means for variably adjusting the invalid time. And

The invention according to claim 14 of the present invention, in conjunction with the structure of the invention according to claim 11, is that when the preceding vehicle stops again within a predetermined distance after the initial start of the preceding vehicle, the starting of the preceding vehicle starts. It is a detection device for a vehicle waiting for the notification.

According to a fifteenth aspect of the present invention, in addition to the configuration of the eleventh aspect, when the preceding vehicle decelerates within a predetermined distance after the initial start of the preceding vehicle, the invalid time is extended. It is a detection device for a vehicle to be set.

According to a sixteenth aspect of the present invention, in addition to the configuration of the second aspect, the preceding vehicle start detecting means starts the preceding vehicle when the moving distance of the preceding vehicle is equal to or greater than the creep running characteristic. It is a vehicle detecting device for detecting a state.

[0036]

According to the first aspect of the present invention, as shown in the claim correspondence diagram of FIG. 20, the distance detecting means C1 is provided between the own vehicle C2 and the preceding vehicle C3 in front of the own vehicle or another vehicle. The distance C4 (corresponding to the inter-vehicle distance) from the object is detected, the start notifying means C5 detects and notifies the starting state of the preceding vehicle C3 based on the detection signal from the distance detecting means C1, and the distance warning means C6 is the distance detecting means. Own vehicle C2 based on the detection signal from C1
The control means C7 connected to the start notifying means C5 and the distance warning means C6 detects that the distance C4 between the vehicle C2 and the surrounding object has become a predetermined value or less. While the interval warning means C6 is operated, the start notifying means C5 is operated when the own vehicle C2 stops and the preceding vehicle C3 starts.

As described above, the preceding vehicle departure detection function and the parking assist function (when the vehicle is running or stopped in a parking lot or the like, if the distance between the vehicle and surrounding objects becomes less than a predetermined value, an alarm is issued. And a function that emits both). Moreover, a means for detecting the starting state of the preceding vehicle and a means for detecting the distance between the own vehicle and the surrounding objects are distance detecting means (see ultrasonic sensors and other sensors).
There is an effect that can be shared.

According to the second aspect of the present invention,
In addition to the effect of the first aspect of the present invention, the above-mentioned start notifying means includes the own vehicle speed detecting means, the own vehicle stop determining means, the preceding vehicle start detecting means, and the notifying means. There is an effect that the stop determination, the detection of the start of the preceding vehicle, and the notification of the start of the preceding vehicle can be reliably performed.

According to the third aspect of the present invention,
In addition to the effect of the first aspect of the present invention, the control means operates the start notifying means when the own vehicle speed is zero and the vehicle is under braking conditions. As a result, there is an effect that the confirmation of the stop of the own vehicle at the time of the start notification can be accurately executed by both the vehicle speed (V = 0) and the braking.

According to the invention described in claim 4 of the present invention,
In addition to the effect of the first aspect of the present invention, the above-mentioned control means is provided when the vehicle is running at a low speed or less and the distance between the vehicle and surrounding objects (including the preceding vehicle) is less than a predetermined distance. ,
Activate the interval warning means. For this reason, there is an effect that the parking assist operation can be executed when necessary.

According to the fifth aspect of the present invention,
In addition to the effect of the first or second aspect of the present invention, the above-mentioned start notifying means performs the first notification to start detecting the start state by the confirmation means for confirming the stop of the preceding vehicle. Can be confirmed by the first notification that the operation has been started, and there is an effect that the operation is reliably performed.

According to the invention described in claim 6 of the present invention,
In addition to the effect of the fifth aspect of the present invention, the first notification and the start notification of the preceding vehicle are performed by a single notification device, so that the notification modes are different from each other. There is an effect that the vehicle start notification can be accurately distinguished from the vehicle start notification, and the occupant can recognize and recognize which notification sound it is.

According to the seventh aspect of the present invention,
In addition to the effect of the sixth aspect of the present invention, the first notification outputs a single notification sound by the alarm, and the start notification of the preceding vehicle is performed twice or several times by the alarm. Since the sound is output, there is an effect that the first notification and the preceding vehicle start notification can be more accurately distinguished by the difference in the number of times of notification.

According to the eighth aspect of the present invention,
In addition to the effect of the first or second aspect of the present invention, the above-mentioned start notification varies the number of times of measurement of the following distance according to the size of the following distance between the own vehicle and the preceding vehicle. As a result,
Reliable measurement corresponding to the inter-vehicle distance can be performed, especially when there is a preceding vehicle at a measurable position close to the critical between the measurable inter-vehicle distance and the unmeasurable inter-vehicle distance,
There is an effect that an appropriate measurement can be performed.

According to the ninth aspect of the present invention,
In addition to the effect of the first or second aspect of the present invention, the above-described start notification makes the number of times of the inter-vehicle distance measurement constant regardless of the inter-vehicle distance between the own vehicle and the preceding vehicle.
There is an effect that measurement can be simplified.

According to the tenth aspect of the present invention, in addition to the effect of the first aspect, the above-mentioned interval detecting means is set in the ultrasonic sensor, so that the means is inexpensively constructed. In addition to this, there is an effect that high weather resistance can be ensured.

According to the eleventh aspect of the present invention, in addition to the effect of the first aspect, the invalid time (the start of the preceding vehicle is detected in response to the operating condition when the host vehicle is stopped). (Dead time until the start notification is executed), it is possible to eliminate false and unreported occupants' sensations and slight movements of the preceding vehicle, and to provide an appropriate notification of the start of the preceding vehicle. .

According to the twelfth aspect of the present invention, in addition to the effect of the eleventh aspect, the above-described operating condition when the host vehicle is stopped is set to the brake operating state and the shift position state. Therefore, there is an effect that an appropriate invalid time can be set in accordance with these states.

According to the thirteenth aspect of the present invention, in addition to the effect of the eleventh aspect of the present invention, the manual adjusting means for variably adjusting the invalid time is provided. The invalid time can be changed according to the difference, and there is an effect that is convenient for use.

According to the fourteenth aspect of the present invention, in addition to the effect of the eleventh aspect, the preceding vehicle stops again within a predetermined distance (within a predetermined inter-vehicle distance) after the initial start of the preceding vehicle. In this case, the start notification of the preceding vehicle is waited (regulated), so that there is an effect that useless start notification can be prevented.

According to the fifteenth aspect of the present invention, in addition to the effect of the eleventh aspect, the preceding vehicle decelerates within a predetermined distance (within a predetermined inter-vehicle distance) after the initial start of the preceding vehicle. When this is done, the above-mentioned invalid time is set to be extended, so that there is an effect that proper notification can be performed by extending this invalid time.

According to the invention of claim 16 of the present invention, in addition to the effect of the invention of claim 2, the preceding vehicle start detecting means determines that the moving distance of the preceding vehicle is equal to or greater than the creep running characteristic (acceleration 0). Since the start state of the preceding vehicle is detected at the time of (equivalent to or more than .03G), the start detection error can be eliminated.

[0053]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. [First Embodiment] The drawing shows a vehicle detecting device. This vehicle detecting device detects an interval on a front bumper 1 of a self-vehicle A in FIG. 1 so as not to erroneously detect a foreign substance such as a stone or dust on the ground. An ultrasonic sensor 2 as a means is embedded, and the ultrasonic sensor 2 detects an interval R between the own vehicle A and a preceding vehicle B or another object (obstacle) ahead of the own vehicle as shown in FIG. The parking assistance mode m1, the proximity notification mode m2, and the start notification mode m3 (see FIG. 3) are selected based on the interval R, the own vehicle speed V, the operation state of the own vehicle A, and the behavior of the preceding vehicle B. Make up.

As shown in FIG. 3, the parking support mode m1 is
In a parking lot, etc., the vehicle speed of the vehicle A, that is, the hourly vehicle speed V is 10 km.
/ h or less (including V = 0 km / h when own vehicle A is stopped)
In this mode, a warning is issued when the distance R between the host vehicle A and the surrounding object (including the preceding vehicle B) becomes equal to or less than a predetermined value, for example, 1 m.

The proximity notification mode m2 is a mode for performing notification in accordance with the headway time (the value obtained by dividing the inter-vehicle distance R by the relative speed, and the time until the host vehicle A hits a surrounding object). The condition of (a) is not satisfied, the vehicle speed V
Is not zero, the stoplight switch is OFF, that is, the vehicle is under non-braking conditions, and the headway time is smaller than the sum of the reflection time, the change time, and the stepping time. The proximity notification mode m2 is set.

The start notification mode m3 is a mode in which the start state of the preceding vehicle B is detected based on the detection signal from the ultrasonic sensor 2 and is notified, and all the conditions (c) to (f) in FIG. Is established, the start notification mode m3 is set.

That is, the conditions (a) and (b) of FIG. 3 are not satisfied, the own vehicle speed V is 0 km / h, the own vehicle A is stopped, and the reverse position switch is OFF. 3, the stop light switch is ON, the parking position switch is ON, or the parking brake switch is ON, and the shift position is the neutral position. E) When (f) is satisfied, the start notification mode m3 is set.

If neither the parking assistance mode m1, the proximity notification mode m2, or the start notification mode m3 is used, the mode is the waiting mode (not shown). The priority of these processing modes is set in the order of the parking assistance mode m1, the proximity notification mode m2, the start notification mode m3, and the waiting mode from the higher order.

FIG. 4 shows a control circuit of the vehicle detecting device.
The CPU 10 as control means includes an ultrasonic sensor 2, a vehicle speed sensor 3, a parking brake switch 4, a foot brake switch 5, a shift position switch 6 such as a gear position switch, a manual adjustment unit 7,
ROM based on various signal inputs from power switch 8
9 according to the program stored in the ultrasonic sensor 2,
Invalid time setting unit 11, buzzer 12 as an example of an alarm
The RAM 13 is a storage unit that stores conditions and priorities corresponding to the respective modes m1, m2, and m3 shown in FIG. 3 as a table and stores other necessary data. In the first embodiment, the manual adjustment unit 7 and the invalid time setting unit 11 are not used.

Therefore, the parking support mode m1 shown in FIG.
Operates as interval warning means for detecting that the distance R between the vehicle A and the surrounding object has become equal to or less than a predetermined value based on a detection signal from the ultrasonic sensor 2, and the start notification mode m shown in FIG.
Reference numeral 3 functions as a start notifying means for detecting and notifying the start state of the preceding vehicle B based on the detection signal from the ultrasonic sensor 2.

Further, the above-mentioned CPU 10 is connected to the start notifying means and the interval warning means so that the own vehicle A has its own vehicle speed V = 1.
When the vehicle is traveling at a low speed or stopping at 0 km / h (V = 0 km / h), the interval warning means (see the parking assist mode m1 in FIG. 3) is operated preferentially, and the own vehicle A stops (V = 0 km / h). When the preceding vehicle B starts, it is control means for operating the start notifying means (see the start notifying mode m3 in FIG. 3). Here, the above-mentioned vehicle speed sensor 3 is a vehicle speed detecting means for detecting the vehicle speed of the vehicle A, that is, the vehicle speed V.

The distance R between the own vehicle A and the preceding vehicle B or another object ahead of the own vehicle can be obtained by the following [Equation 1] using the ultrasonic sensor 2. [Equation 1] R = Va × t ÷ 2 where Va is a sound speed (340 m / sec) t is an ultrasonic wave, and this ultrasonic wave is reflected by the preceding vehicle B or another object until the reflected wave is received. Time needed

Further, the above-mentioned CPU 10 detects own vehicle speed V based on the input from the vehicle speed sensor 3 (refer to the first step S1 in the flowchart shown in FIG. 5), and stops the own vehicle A (see FIG. 5). Vehicle stop determination means for determining V = 0) (eleventh step S1 in the flowchart shown in FIG. 5)
1) and confirmation means for confirming the stop of the vehicle A and the preceding vehicle B (the twelfth step 1 in the flowchart shown in FIG. 5).
2) and preceding vehicle start detecting means for detecting the start of the preceding vehicle B (the 14th step S1 in the flowchart shown in FIG. 5).
4) and at least a notifying unit that drives the buzzer 12 to detect at the time of start detection (refer to the sixteenth step S16 in the flowchart shown in FIG. 5).

In this embodiment, when the own vehicle speed V is zero and the vehicle is under braking conditions (braking conditions), the CPU 10 operates the start notifying means (see the start notification mode m3) while the own vehicle A Is running at a low speed of 10 km / h or less or the vehicle stops, and the distance R between the vehicle A and the surrounding objects is less than a predetermined distance.
At the time of (for example, 1 m or less), the interval warning means (refer to the parking support mode m1) is preferentially operated.
The operation of the thus configured vehicle detection device will be described in detail below with reference to the flowchart shown in FIG.

In a first step S 1, the CPU 10 measures the own vehicle speed V based on the input from the vehicle speed sensor 3. Next, in a second step S2, the CPU 10 determines whether or not it is a predetermined timing, for example, a timing of 100 msec. When the determination is NO, the process returns to the first step S1, while when the determination is YES, the process proceeds to the next third step S3.

In the third step S3, the CPU 10 measures the inter-vehicle distance R. This inter-vehicle distance R can be obtained by the above [Equation 1]. Next, a fourth step S4
In order to eliminate an error or the like, the CPU 10
And smoothing is performed.

Next, in a fifth step S5, the CPU 10 calculates the relative speed Vb based on the following [Equation 2]. [Equation 2] Vb = (R _n−1 −R _n ) / Δt [m / s] where R _n−1 is the previously measured inter-vehicle distance R _n is the currently measured inter-vehicle distance Δt is an example of a predetermined timing. Of 100msec

Next, in a sixth step S6, the CPU 10 executes a filtering process of the relative speed Vb for the purpose of eliminating an error and the like, and smoothes it.

Next, in a seventh step S7, the CPU 10 calculates the headway time (time until collision) based on the following [Equation 3]. [Equation 3] Headway time = inter-vehicle distance R ÷ relative speed Vb

Next, in an eighth step S8, the CPU 10 sets the parking support mode m1 and the proximity notification mode m in FIG. 3 based on various inputs from the parking brake switch 4, the foot brake switch 5, and the shift position switch 6.
2. It is determined whether the processing mode is the start notification mode m3 or the waiting mode. The processing from the first step S1 to the eighth step S8 is a measurement routine for obtaining the own vehicle speed V, the following distance R, the relative speed Vb, and the headway time.

From the ninth step S9 to the fourteenth step S14, a start notification routine is performed. In the ninth step S9, the CPU 10 determines both the inter-vehicle distance R and the shift position such as the gear position. If both A and B are approaching or the reverse gear position, the CPU 10 does not need to perform start notification. The process proceeds to step S10, in which the CPU 10 initializes the start notification (so-called shuffle).

In the ninth step S9, when it is determined that both vehicles A and B are stopped or both vehicles A and B are in the expanded and non-reverse gear positions, it is necessary to notify the start. The process moves to the eleventh step S11.

At the eleventh step S11, the CPU 10
Performs the determination of the own vehicle speed V. If the own vehicle speed V is not zero and the own vehicle A is moving, the above-described tenth step S10
, And the start notification is initialized (cleared to zero),
When the own vehicle speed V is zero and the own vehicle A is stopped, the process proceeds to the next twelfth step S12.

In the twelfth step S12, the CPU 1
If 0, it is determined whether or not the stop of both the own vehicle A and the preceding vehicle B has already been confirmed. When the determination is NO, it is necessary to perform the stop determination of both the vehicles A, B. On the other hand, when the determination is YES, another 14th step S
Go to 14.

In the above-described thirteenth step S13, the CPU 1
0 indicates that the vehicle A and the preceding vehicle B are to be stopped, and that the process proceeds to the next fourteenth step S14 after YES is determined in the twelfth step S12 by repeating the flowchart. In the fourteenth step S14
Then, the CPU 10 executes the start determination of the preceding vehicle B.

Next, in a fifteenth step S15, the CPU 10
Corresponds to each processing mode of the parking assistance mode m1, the proximity notification mode m2, the start notification mode m3, or the waiting mode (however, in the case of this waiting mode, there is no alarm).
(Processing of notification sound generation by buzzer 12) is selected.

Next, in a sixteenth step S16, the CPU 10
Controls the buzzer 12 based on the buzzer processing content selected according to the mode, and generates a notification sound (FIG. 11).
To FIG. 15).

As described above, according to the vehicle detecting device of the above embodiment, the interval detecting means (see the ultrasonic sensor 2)
And the distance R (equivalent to the inter-vehicle distance) between the vehicle and the preceding vehicle B or another object ahead of the own vehicle, and the start notifying means (see the start notifying mode m3) is detected by the distance detecting means (see the ultrasonic sensor 2). The start condition of the preceding vehicle B is detected and notified by the signal,
Interval warning means (see parking support mode m1) is interval detection means
The detection signal from the ultrasonic sensor 2 detects that the distance R between the vehicle A and the surrounding objects has become equal to or less than a predetermined value (for example, 1 m or less), and the start notification means (start notification mode m
The control means (see CPU 10) connected to the interval warning means (see parking assistance mode m1) and the interval warning means (see parking assistance mode m1) activates the interval warning means (see parking assistance mode m1) when the vehicle A is running or stopped. On the other hand, when the host vehicle A stops and the preceding vehicle B starts, the start notifying means (see the start notifying mode m3) is operated.

As described above, the preceding vehicle departure detection function and the parking assist function (when the vehicle A is running or stopped in a parking lot or the like, the distance R between the vehicle A and the surrounding objects becomes smaller than a predetermined value. In this case, there is an effect that both of the functions can be provided. Moreover, means for detecting the starting state of the preceding vehicle B, and the distance R between the own vehicle A and the surrounding objects
Detecting means and interval detecting means (see ultrasonic sensor 2)
There is an effect that can be shared. That is, the detection of the start of the preceding vehicle and the detection of the distance between the surrounding objects can be performed using one ultrasonic sensor 2.

In addition, the above-described start notification means (see start notification mode m3) includes own vehicle speed detection means (see vehicle speed sensor 3 and first step S1), own vehicle stop determination means (see eleventh step S11), and preceding vehicle Start detection means (14th step S
14) and the notifying means (refer to the sixteenth step S16), so that the detection of the own vehicle speed V, the determination of the stop of the own vehicle A, the detection of the start of the preceding vehicle B, and the notification of the start of the preceding vehicle can be reliably performed. is there.

The control means (see CPU 10) operates the start notifying means (see start notification mode m3) when the vehicle speed V is zero and the vehicle is under braking conditions. As a result, there is an effect that the stop confirmation of the own vehicle A at the time of the start notification can be accurately executed based on both the own vehicle speed (V = 0) and the braking.

Further, the above-mentioned control means (see CPU 10)
When the vehicle A is traveling at a low speed (for example, 10 km / h or less) and stopped, and the distance R between the vehicle A and its surrounding objects (including the preceding vehicle) is less than a predetermined distance (for example, 1 m or less), the interval The alarm means (see parking assist mode m1) is operated. For this reason,
There is an effect that the parking assist operation can be executed when necessary.

Further, since the above-mentioned interval detecting means is set in the ultrasonic sensor 2, the interval detecting means can be constructed at a low cost, and high weather resistance can be ensured.

Next, the start notification system will be described in further detail with reference to FIGS. FIG. 6 shows the preceding vehicle B
It is a flowchart which shows the start alerting | reporting process from the stop confirmation of this to the activation of the buzzer 12 which performs a start alert.

In the first step Q1 (confirmation means), the CPU 1
0 (see FIG. 4) determines whether or not the stop of the preceding vehicle B has been recognized for a predetermined time, for example, 1 second. In this case, as shown in FIG. 7, the sample timings n, n-1, n-2, n
-3, n-4 (where n is the current sample timing,
n-1 is the previous sample timing, n-2 is the previous sample timing, n-3 is the previous sample timing, and n-4 is the previous sample timing. , Rn-1, Rn-2, Rn-3, R
n-4 is stored in a predetermined area of the RAM 13, and an average value Rs of the inter-vehicle distance R is obtained according to the detection situation examples a and b.

In the case of the detection situation example a in FIG. 7, that is, when the preceding vehicle detection and the preceding vehicle non-detection are included, the average value Rs is obtained by the following [Equation 4] in order to exclude the data of the preceding vehicle non-detection. . [Equation 4] Rs = (Rn + Rn-1 + Rn-2 + Rn-3) / 4

In the case of the detection situation example b shown in FIG. 7, that is, when the minimum value and the maximum value of the preceding vehicle detection are included, the average value Rs is calculated by the following [Equation 5] in order to exclude these minimum values and maximum values.
Ask for. [Equation 5] Rs = (Rn-1 + Rn-2 + Rn-3) / 3

Next, the inter-vehicle distance Rn-i (where i is 0) is used when calculating the inter-vehicle distance average value Rs with the preceding vehicle B.
Or 1, 2, 3) and the inter-vehicle distance average value Rs
Is calculated by the following [Equation 6]. [Equation 6] Ra = | Rs−Rn−i |

Next, it is determined whether or not the above-mentioned absolute value Ra is equal to or smaller than an allowable value ΔR for stop determination (for example, ΔR = 5 cm), that is, Ra <Δ
It is determined whether it is R or not, and when Ra <ΔR, it is determined that the preceding vehicle B has stopped. The above is the processing content of the first step Q1. When the determination is YES, the process proceeds to the next second step Q2, while when the determination is NO, the process returns.

In the above-mentioned second step Q2 (means for executing the first notification), the CPU 10 informs the occupant of the recognition of the stop of the preceding vehicle B only for the first time when the stop of the preceding vehicle B is recognized. , The buzzer 12 is driven, and initialization of various parameters (for example, the number Y of times of acceleration motion detection described later) is executed.

The above-described driving of the buzzer 12 is a first notification that the starting means is to be detected by the confirmation means (see the first step Q1) for confirming the stop of the preceding vehicle B. In this embodiment, FIG. As shown in FIG.
2 outputs one notification sound.

Next, in a third step Q3 (start detection means),
The CPU 10 executes verification and determination of the moving distance of the preceding vehicle B. That is, when the preceding vehicle B starts, the change value of the inter-vehicle distance R between the own vehicle A and the preceding vehicle B is equal to or greater than the creep running characteristic corresponding to the acceleration 0.03G and the sudden acceleration characteristic corresponding to the acceleration 0.3G. (See the hatched portion in FIG. 8).

FIG. 8 shows time on the horizontal axis and distance R on the vertical axis to show the travel distance of the preceding vehicle from the time of starting the preceding vehicle. When the preceding vehicle B starts, the acceleration of FIG. 03
It is in the region between G and the acceleration 0.3G.

In short, in the above-described third step Q3, it is determined whether or not the moving distance of the preceding vehicle B is within the hatching in FIG. 8, and the process returns when the determination is NO, while the process proceeds to the next fourth step Q4 when the determination is YES. I do.

In the fourth step Q4 (counting means),
The CPU 10 count-maps the number Y of times of acceleration motion detection. Next, in a fifth step Q5 (comparing means), the CPU 10 compares the current number of detections Y with the number of measurements X of preceding vehicle start recognition, and proceeds to the next sixth step Q6 only when Y> X.

That is, if the current number of detections Y is only one, it is impossible to accurately recognize the start of the preceding vehicle B, so detection and measurement are performed until the predetermined number of measurements X is reached. In addition, as shown in FIG.
The number of times X (predetermined value) of the preceding vehicle start recognition is varied in accordance with the inter-vehicle distance R (in other words, the preceding vehicle stopping distance).

In this embodiment, when the inter-vehicle distance R is up to 4 m, the number of measurements X is set to 5 times, and the inter-vehicle distance R is 4 to 4.5 m.
In this case, the number of measurements X is set to 4 times, and when the inter-vehicle distance R is 4.5 m or more, the number of measurements X is set to 3 times, but is not limited to these numerical values.

That is, if the inter-vehicle distance R between the host vehicle A and the preceding vehicle B stopped in front thereof is short, the preceding vehicle B
The number of measurements X is increased in order to improve the start detection accuracy because the sufficient number of measurements can be ensured even when the vehicle starts, and conversely, the distance between the vehicle A and the preceding vehicle B stopped in front of the vehicle A When the distance R is long, if the preceding vehicle B starts, a sufficient number of measurements cannot be expected, so the number of measurements X for reliably detecting whether or not the preceding vehicle B starts is reduced.

If it is determined in the fifth step Q5 that Y> X (YES determination), the next sixth step Q6
Move to In the sixth step Q6 (notifying means), the CP
U10 drives the buzzer 12 to notify the occupant that the preceding vehicle B has started. The start notification of the preceding vehicle B is executed by making the notification mode different from that of the first notification (see FIG. 11). In this embodiment, however, two intermittent operations are performed by the buzzer 12 as shown in FIG. Outputs a notification sound.

FIG. 10 shows the notification sound output mode when the hardware initial check is completed after the power switch 8 is turned on in the vehicle detection device. FIGS. 13, 14, and 15 show the parking assist mode m1. 3 shows the notification sound output mode in the embodiment.

In the parking assist mode m1, if the distance R between the vehicle A and the surrounding objects is relatively large (for example, 0.7 to 1.0 m), the intermittent interval is relatively large as shown in FIG. Outputs a notification sound and the interval R is in the middle
In the case of (for example, 0.5 to 0.7), an alarm sound with a relatively short intermittent interval is output as shown in FIG. In this way, a continuous notification sound is output.

It should be noted that, instead of the notification mode of the notification sound shown in FIGS. 13, 14, and 15, the notification sound is changed in height according to the size of the interval R between the vehicle A and the surrounding object. Of course, it may be constituted.

With this configuration, the first notification that the start state is to be detected upon receiving the confirmation output of the confirmation means (see the first step Q1) for confirming the stop of the preceding vehicle B (see FIG. 11).
(See FIG. 11) can be confirmed by the first notification (see FIG. 11) that the start state has been detected.
This has an effect of ensuring the operation, and the occupant can recognize that the detection of the starting state of the preceding vehicle B has started.

Further, the first notification (see FIG. 11) and the start notification of the preceding vehicle B (see FIG. 12) are performed by a single alarm (see the buzzer 12) so that the notification modes are different from each other. Therefore, without increasing the number of parts required for notification,
(See FIG. 11) and the preceding vehicle start notification (see FIG. 12) can be accurately distinguished, and the occupant can distinguish and recognize which notification sound it is.

Further, the first notification (see FIG. 11) outputs a single notification sound by a notification device (see buzzer 12), and the start notification of the preceding vehicle B (see FIG. 12) is output by the notification device (see FIG. 12). The buzzer 12 outputs a notification sound twice or several times (however, this embodiment exemplifies two times), so that the first notification (see FIG. 11) and the preceding vehicle start notification are output. (See FIG. 12) can be more accurately distinguished from each other by a difference in the number of times of notification (a difference that is easily discriminated by hearing).

In addition, in the above-described start notification, the number of times X of the inter-vehicle distance measurement is varied according to the inter-vehicle distance R between the own vehicle A and the preceding vehicle B as shown in FIG. As a result,
The reliable measurement corresponding to the inter-vehicle distance R can be performed. Particularly, even when the preceding vehicle B exists at a measurable position close to the critical point between the measurable inter-vehicle distance and the unmeasurable inter-vehicle distance, appropriate measurement is performed. There is an effect that can be.

Moreover, the preceding vehicle start detecting means (third
In step Q3), the starting state of the preceding vehicle B is detected when the traveling distance of the preceding vehicle is equal to or greater than the creep running characteristic shown in FIG. 8 (equal to or greater than the characteristic corresponding to the acceleration of 0.03G). ) Can be eliminated.

[0108] The above-described start notification can also be obtained by making the number of times X of the inter-vehicle distance measurement constant regardless of the inter-vehicle distance R between the own vehicle A and the preceding vehicle B. In this case,
There is an effect that measurement can be simplified.

[Second Embodiment] FIG. 16 is a flowchart showing another embodiment of the vehicle detecting device. 1, 2 and 4 are also used in this embodiment. In this case, the above-described CPU 10 corresponds to the operation state of the parking brake, the foot brake, the shift operation lever, and the like while the host vehicle A is stopped. Invalid time setting means for setting the invalid time (dead time from when the start of the preceding vehicle B is detected and when the start notification is executed by the buzzer 12) via the invalid time setting unit 11 (see the flowchart shown in FIG. 16). Second step U2
4) and a correction coefficient α (see FIG. 18) corresponding to an input from a manual adjusting unit 7 (a dial-type adjusting unit for variably adjusting the invalid time) as a manual adjusting unit in FIG. Time correction means (see the third step U3 in the flowchart shown in FIG. 16) for correcting the vehicle speed, and within a predetermined distance after the initial start of the preceding vehicle B (for example, within a distance range in which the ultrasonic sensor 2 can perform a side distance). In response to the behavior of the preceding vehicle B, it also serves as an inactive time changing unit (see the fifth step U5 in the flowchart shown in FIG. 16) for waiting (regulating) the start notification or extending the inactive time.

The RAM 13 described above corresponds to the first RAM shown in FIG.
The map M1, the second map M2 shown in FIG.
And the third map M3 shown in FIG. The above-described first map M1 (see FIG. 17) shows the brake pedal O
N, OFF, shift lever position, map on which invalid time is set corresponding to ON, OFF of parking brake,
In this embodiment, the invalid time is set to 2 seconds for the pattern P1, the invalid time is set to 1.8 seconds for the pattern P2, and the invalid time is set to 1.5 seconds for the pattern P3. In the case of the pattern P4, the invalid time is set to 1.0 second, and in the case of the pattern P5, the invalid time is set to 0.5 second. However, this numerical value is an example, and is not limited to this. Absent.

In the second map M2 (see FIG. 18), the horizontal axis indicates the dial scale position of the manual adjustment unit 7, the vertical axis indicates the correction coefficient α, and the correction coefficient α corresponding to the dial operation amount. This is a map set to be changed.

The third map M3 indicates that when the preceding vehicle B stops again within a predetermined distance after the initial starting of the preceding vehicle B, it waits for a notification of the starting of the preceding vehicle B. 5 is a map in which when the preceding vehicle B decelerates within a predetermined distance, the invalid time is extended for a predetermined time, for example, 0.5 seconds.

The operation of the thus configured vehicle detecting device will be described in detail below with reference to the flowchart shown in FIG. In the first step U1, the CPU 10 executes a stop determination of the preceding vehicle B and the own vehicle A based on signals from the vehicle speed sensor 3 and the ultrasonic sensor 2. When the vehicle speed V = 0,
The stop of the own vehicle A is confirmed and determined. In addition, preceding car B
Can be determined by the same processing as in the first step Q1 in FIG.

Next, in a second step U2, the CPU 10 detects the operation state of the host vehicle A during stoppage based on signals from the parking brake switch 4, the foot brake switch 5, and the shift position switch 6. , FIG.
The invalid time corresponding to the corresponding pattern is read from the first map M1 shown in FIG. 7 and set.

Next, in a third step U3, the CPU 10 detects the dial operation state of the manual adjustment unit 7, and
, The correction coefficient α corresponding to the dial scale position is read from the second map M2, and the invalid time already set in the second step U2 is multiplied by the correction coefficient α to correct the invalid time.

Next, in a fourth step U4, the CPU 10 detects the start of the preceding vehicle B. This preceding vehicle start detection can be executed by the same processing as in steps Q3, Q4, and Q5 in FIG. Next, in a fifth step U5, the CPU 10
Detects the behavior of the preceding vehicle B based on the input signal from the ultrasonic sensor 2 and corrects the invalid time according to the behavior.

That is, as shown as a third map M3 in FIG. 19, when the preceding vehicle B stops again within a predetermined distance after the initial starting of the preceding vehicle B, the vehicle waits for the start notification of the preceding vehicle B, When the preceding vehicle B decelerates within a predetermined distance after the initial start of the preceding vehicle B, the invalid time is extended for a predetermined period, for example, 0.5 seconds. Here, the behavior determination of the preceding vehicle B to stop or decelerate again is based on the inter-vehicle distance R with respect to time.
Can be easily determined by the change of

Next, in a sixth step U6, the CPU 10 determines whether or not the set, corrected or extended invalid time has elapsed. If the determination is YES, the CPU 10 proceeds to the next seventh step U7. In the seventh step U7, the CPU 10 drives the buzzer 12 as shown in FIG. 12 to notify the occupant that the preceding vehicle B has started.

As described above, according to the embodiment shown in FIGS. 16 to 19, the invalid time (the start of the preceding vehicle B is detected when the start of the preceding vehicle B is detected) in accordance with the operation conditions of the brake and the shift lever when the own vehicle A is stopped. (Dead time until the start notification is executed), it is possible to eliminate erroneous notifications and unreported sensations of the occupants and slight movements of the preceding vehicle B, and to provide an appropriate notification of the start of the preceding vehicle B. There is.

Since the operating conditions when the host vehicle A is stopped are set to the brake operating state and the shift position state as shown in FIG. 17, an appropriate invalid time is set in accordance with these states. There is an effect that can be.

Further, since the manual adjusting means (see the manual adjusting unit 7) for variably adjusting the invalid time is provided, the invalid time can be arbitrarily changed in accordance with the occupant's preference and individual differences. It has the effect of being convenient.

In addition, within a predetermined distance after the initial departure of the preceding vehicle B (within a predetermined inter-vehicle distance that the ultrasonic sensor 2 can perform a side distance).
When the preceding vehicle B stops again, as shown in FIG. 19, the start notification of the preceding vehicle B is waited, so that there is an effect that unnecessary start notification can be prevented.

Also, within a predetermined distance after the initial departure of the preceding vehicle B (within a predetermined inter-vehicle distance within which the ultrasonic sensor 2 can perform a side distance).
When the preceding vehicle B decelerates, the above-described invalid time is set to be extended as shown in FIG. 19, so that there is an effect that an appropriate notification can be made by extending the invalid time. Instead of setting the above-described invalid time, the invalid time may be set as follows.

That is, when only the braking operation is ON, the ineffective time is set to a short value, for example, 1 second. When the shift lever is operated to the parking range, the ineffective time is set to a middle value, for example, for example. Set to 1.5 seconds,
When the shift lever is in the neutral range and the parking brake is ON, the invalid time is extended, for example, 2
It may be set to seconds. That is, from the stop of the own vehicle A to the own vehicle A
The length of the above-mentioned invalid time may be set in advance in accordance with the operation required until the vehicle starts (the time required for the vehicle to start).

In correspondence between the configuration of the present invention and the above-described embodiment, the interval detecting means of the present invention corresponds to the ultrasonic sensor 2 of the embodiment, and similarly, the start notifying means operates in the start notifying mode m3. , The interval warning means corresponds to the parking assist mode m1, the control means corresponds to the CPU 10,
The own vehicle speed detecting means corresponds to the vehicle speed sensor 3 of hardware, the first step S1 of software, the own vehicle stop determining means corresponds to the eleventh step S11, and the preceding vehicle start detecting means corresponds to the fourteenth step S14. Or the third step Q3
And the notification means corresponds to the buzzer 12 of the hardware and the steps S16, Q6 and U7 of the software,
The confirmation means for confirming the stop of the preceding vehicle is described in each step S1.
2 and Q1, the annunciator corresponds to the buzzer 12, and the manual adjustment means corresponds to the manual adjustment unit 7, but the present invention is not limited to the configuration of the above-described embodiment.

For example, instead of the ultrasonic sensor 2, another interval detecting sensor such as a laser radar may be used as the interval detecting means. The notification mode of the first notification and the start notification of the preceding vehicle B may be a difference between the notification frequency, the notification cycle, the notification volume, the notification scale, and the notification melody instead of the number of times of notification described in the embodiment.

Further, two ultrasonic sensors 2 may be mounted on the left and right sides of the front bumper 1 so as to detect the interval or the inter-vehicle distance even when the own vehicle A and the preceding vehicle B are offset.

[Brief description of the drawings]

FIG. 1 is a front view of a host vehicle provided with a vehicle detection device of the present invention.

FIG. 2 is an explanatory diagram showing an interval between a host vehicle and a preceding vehicle.

FIG. 3 is an explanatory diagram of a table stored in a RAM.

FIG. 4 is a block diagram of a control circuit.

FIG. 5 is a flowchart showing a control process.

FIG. 6 is a flowchart showing a preceding vehicle start notification process.

FIG. 7 is an explanatory diagram showing sampling of a distance between vehicles.

FIG. 8 is an explanatory diagram showing acceleration motion of a preceding vehicle.

FIG. 9 is an explanatory diagram showing the setting of the number of measurements according to the size of the inter-vehicle distance.

FIG. 10 is an explanatory diagram of a notification sound when an initial check is completed.

FIG. 11 is an explanatory diagram of a notification sound of the first notification.

FIG. 12 is an explanatory diagram of a notification sound when a preceding vehicle starts.

FIG. 13 is an explanatory diagram of a notification sound at the time of an interval length with a surrounding object in the parking assist mode.

FIG. 14 is an explanatory diagram of a notification sound during an interval with a surrounding object in the parking assistance mode.

FIG. 15 is an explanatory diagram of a notification sound when a distance from a surrounding object is small in the parking assistance mode.

FIG. 16 is a flowchart showing another embodiment of the vehicle detection device of the present invention.

FIG. 17 is an explanatory diagram of a first map stored in a RAM.

FIG. 18 is an explanatory diagram of a second map stored in a RAM.

FIG. 19 is an explanatory diagram of a third map stored in a RAM.

FIG. 20 is a diagram corresponding to claims.

[Explanation of symbols]

 2 ... Ultrasonic sensor (interval detection means) 3 ... Vehicle speed sensor (own vehicle speed detection means) 7 ... Manual adjustment unit (manual adjustment means) 10 ... CPU (control means) 12 ... Buzzer (alarm) A ... Own vehicle B ... Preceding vehicle m1 interval warning means m3 start notification means S1 own vehicle speed detection means S11 own vehicle speed stop determination means S12, Q1 confirmation means S14, Q3 preceding vehicle start detection means S16, Q6, U7 ... notification means

 ────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Kazuhiro Murashige 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda F-term (reference) 5C086 AA54 BA22 CA10 CB28 DA07 DA08 FA02 5H180 AA01 CC11 LL01 LL02 LL04 LL07

Claims (16)

[Claims] 1. A detecting device for a vehicle, comprising: interval detecting means for detecting an interval between the own vehicle and a preceding vehicle or another object ahead of the own vehicle; and starting of the preceding vehicle based on a detection signal from the interval detecting means. Start notifying means for detecting and notifying a state; interval warning means for detecting that the distance between the vehicle and the surrounding object has become a predetermined value or less based on a detection signal from the interval detecting means; And a control means connected to the distance warning means and operating the distance warning means when the own vehicle is running or stopped, and operating the start notification means when the own vehicle stops and the preceding vehicle starts. Detection device. 2. The start notifying means includes: a self-vehicle speed detecting means for detecting a speed of the self-vehicle; a self-vehicle stop judging means for judging a stop of the self-vehicle; 2. The vehicle detection device according to claim 1, further comprising: a notification unit configured to perform notification at least when a start is detected. 3. The vehicle detecting device according to claim 1, wherein said control means activates the start notifying means when the vehicle speed is zero and the vehicle is under braking conditions. 4. The vehicle detecting device according to claim 1, wherein said control means activates the interval warning means when the own vehicle is running at a low speed or less and the interval between the own vehicle and surrounding objects is less than a predetermined interval. 5. The vehicle detecting device according to claim 1, wherein the start notifying means performs first notification indicating that the start state is detected by the confirming means for confirming stop of the preceding vehicle. 6. The vehicle detection device according to claim 5, wherein the first notification and the start notification of the preceding vehicle are performed by a single notification device so that the notification modes are different from each other. 7. The system according to claim 6, wherein the first notification outputs one notification sound by an alarm, and the start notification of the preceding vehicle outputs two or several notification sounds by an alarm. Vehicle detection device. 8. The vehicle detecting device according to claim 1, wherein the start notification changes the number of times of the inter-vehicle distance measurement according to the inter-vehicle distance between the host vehicle and the preceding vehicle. 9. The vehicle detection apparatus according to claim 1, wherein the start notification is made to keep the number of times of the inter-vehicle distance measurement constant regardless of the inter-vehicle distance between the host vehicle and the preceding vehicle. 10. The vehicle detecting device according to claim 1, wherein said interval detecting means is set to an ultrasonic sensor. 11. The vehicle detecting device according to claim 1, wherein an invalid time from when the start of the preceding vehicle is detected to when the start notification is executed is set in accordance with the operation condition when the host vehicle is stopped. 12. The operation condition when the host vehicle is stopped is set to a brake operation state and a shift position state.
2. The vehicle detection device according to claim 1. 13. A vehicle detecting apparatus according to claim 11, further comprising a manual adjusting means for variably adjusting said invalid time. 14. The vehicle detecting device according to claim 11, wherein when the preceding vehicle stops again within a predetermined distance after the initial starting of the preceding vehicle, the vehicle waits for a start notification of the preceding vehicle. 15. The vehicle detecting device according to claim 11, wherein when the preceding vehicle decelerates within a predetermined distance after the initial start of the preceding vehicle, the invalid time is set to be extended. 16. A vehicle detecting apparatus according to claim 2, wherein said preceding vehicle start detecting means detects the starting state of the preceding vehicle when the moving distance of the preceding vehicle is equal to or greater than the creep running characteristic.