JP2001260776A - Vehicle obstacle warning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle obstacle warning device providing information about an obstacle at the proper timing according to the observing behavior of the driver. SOLUTION: A control unit 1 detects by means of a rear/side vehicle sensor 7 an obstacle such as other vehicle present behind or beside the vehicle on which the warning device is mounted; when the frequency (number of times or duration of observation) at which the driver observes a side mirror, detected by an observation point sensor 2, is higher than a predetermined value, information about the obstacle present behind or beside the side mirror is displayed on a display 9 provided in front of the driver's seat. Alternatively, the information is reported in the form of a voice output from a speaker 10 located on the side corresponding to the direction in which the obstacle is present.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle warning device for a vehicle, and more particularly, to an obstacle warning device suitable for a typical vehicle such as an automobile.

[0002]

2. Description of the Related Art Conventionally, in the field of automobiles, there has been proposed an obstacle warning device for notifying an occupant of the presence of an obstacle such as another vehicle in the surroundings by display or sound. If the information provision is constantly performed during traveling, it is rather troublesome for the occupant, and therefore, when a dangerous state to be informed actually occurs, attention cannot be efficiently raised.

For example, Japanese Unexamined Patent Publication No. 1-161599 proposes an obstacle alarm device that displays an obstacle on the side of the host vehicle only when a driver operates a blinker switch. I have.

[0004] Japanese Patent Application Laid-Open No. 1-1161600 proposes an obstacle alarm device which displays an obstacle present on the side of the vehicle only when the steering angle is larger than a predetermined angle.

[0005]

According to the above-mentioned prior art, since information about an obstacle is not always provided, when a warning (information is provided) by a display or the like is issued, the occupant's attention is efficiently reduced. Can be aroused well.

However, in the case of the above prior art,
Since the information is provided at the timing of starting the driving operation (that is, the operation of the blinker switch and the steering wheel steering) in the direction where the obstacle to be warned exists, it is expected that the occupant will be mentally burdened. Is done.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicular obstacle warning device that provides information about an obstacle at an appropriate timing in accordance with the driver's gaze behavior.

[0008]

Means for Solving the Problems In order to achieve the above object, an obstacle warning device for a vehicle according to the present invention has the following configuration.

That is, an obstacle warning device for a vehicle driven by a driver, comprising: an obstacle detecting means for detecting an obstacle around the vehicle; and information on the obstacle detected by the obstacle detecting means. An obstacle information notifying means for notifying by a display on a display provided in front of a driver's seat or an audio output from a speaker, a viewing action detecting means for detecting a driver's viewing action, and the visual action detecting means. However, when the driver's gaze frequency (gaze frequency, gaze time) with respect to the rear view mirror (for example, a side mirror or a room mirror) of the vehicle is higher than a predetermined value, an obstacle (for example, a side mirror) corresponding to the mirror is provided. In the case of (1), the obstacle information notifying means is provided to notify information about an obstacle existing behind the side mirror. And a controlling means for controlling.

[0010] Preferably, the vehicle further comprises running state obtaining means for obtaining the running state of the vehicle, and the control means corrects the predetermined value according to the running state obtained by the running state obtaining means.

For example, when the vehicle speed of the vehicle is obtained by the running state obtaining means, the control means reduces the predetermined value to a small value as the vehicle speed obtained by the running state obtaining means increases. It is preferable to change the start timing of information notification earlier by making correction.

For example, when the inter-vehicle distance to a vehicle existing in front of the vehicle is obtained by the driving state obtaining means, the control means sets the distance when the inter-vehicle distance obtained by the driving state obtaining means is shorter than a predetermined distance. In addition, the start timing of information notification may be changed earlier by correcting the predetermined value to a smaller value as compared with a long time.

[0013]

According to the present invention described above, it is possible to provide an obstacle warning device for a vehicle that provides information on an obstacle at an appropriate timing in accordance with the driver's gaze behavior.

That is, according to the first aspect of the present invention, when the frequency of gazing at a certain rear view mirror (for example, a side mirror: claim 5) is high, the driver's attention is directed to the direction corresponding to the mirror. Therefore, at that time, information on an obstacle corresponding to the mirror (for example, in the case of a side mirror, another vehicle on the rear side) can be notified. That is, according to the driver's gaze behavior,
Provision of information on obstacles can be performed at an appropriate timing.

According to the invention of claim 2, for example,
When the vehicle speed is high compared to when it is slow (claim 3),
Since the information about the obstacle is provided earlier when the inter-vehicle distance to the vehicle in front is shorter than when the inter-vehicle distance is long (claim 4), the mental burden on the driving operation of the driver can be reduced.

[0016]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a vehicle obstacle warning device according to the present invention applied to a typical automobile.

[First Embodiment] FIG. 1 is a diagram showing a system configuration of an automobile equipped with a vehicle obstacle alarm device according to a first embodiment. FIG. 2 is a block diagram showing a configuration of a control function in the vehicle obstacle warning device according to the first embodiment. FIG. 3 is a diagram showing a driver's seat of the automobile shown in FIG.

In FIG. 1 to FIG. 3, reference numeral 1 denotes a control unit for performing control processing relating to an obstacle alarm described below. Reference numeral 2 denotes a gazing point detection sensor that detects a position (a gazing point P) viewed by the driver (the details will be described later).

Reference numeral 3 denotes a blinker switch provided near the steering wheel and used for operating a blinker lamp.

Reference numeral 4 denotes a vehicle speed sensor for detecting the vehicle speed V of the own vehicle. Reference numeral 5 denotes a steering angle sensor provided in a steering mechanism (not shown) to detect a steering angle according to the operation of the steering wheel.

Reference numeral 6 denotes an inter-vehicle distance sensor which detects the inter-vehicle distance between the preceding vehicle and the own vehicle and the relative speed between the preceding vehicle and the own vehicle using a laser radar or the like. Reference numeral 7 denotes a line CCD (Charge Coupled Device) provided, for example, on a side mirror, on the side of the vehicle body, or on the rear side of the vehicle body to detect the inter-vehicle distance and relative speed with another vehicle located on the rear side of the vehicle.
And the like. Reference numeral 8 denotes a yaw rate sensor for detecting a yaw angle in order to detect the acceleration G in the direction or the lateral direction of the vehicle.

9 is a navigation unit (not shown)
LCD display (LC) that provides output results and various information
D) and a head-up display (HUD). Reference numeral 10 denotes speakers preferably provided on the left and right sides in the vehicle width direction for outputting various voices and providing information and alerting the driver as described later.

Reference numeral 23 denotes an infrared light projection lamp provided on, for example, a column cover of a steering wheel and emitting infrared light to the head and face of the driver. Reference numeral 24 denotes an infrared light projection area imaging camera that is provided on, for example, a column cover of a steering wheel and captures light reflected from the head face by the infrared light projection lamp 23.

The individual components of the above-described sensor group except the point-of-regard detection sensor 2 are generally common at present, so that detailed description in this embodiment will be omitted.

Here, the function of the control unit 1 will be outlined. In the present embodiment, the control unit 1 detects an obstacle such as another vehicle existing on the rear side by the rear side vehicle sensor 7, and detects the gazing point detection sensor 2.
When the gaze frequency (gaze time, gaze count) of the driver with respect to the side mirror detected by the driver is higher than a predetermined value, information on an obstacle present behind the side mirror is displayed on a display provided in front of the driver's seat. 9 or is notified by audio output from the speaker 10. These control operations are realized by the CPU 101 included in the control unit 1 executing software previously stored in the ROM 102 or the like while using the RAM 102 as a temporary storage area. The processing is performed as follows.

<Detection of Point of Gaze> First, prior to describing a method of detecting a point of gaze, an example of an experimental result relating to the movement of the driver's head and pupil will be described with reference to FIG. .

FIG. 5 is a diagram showing the results of experiments relating to the movement of the driver's head and face and the direction of the line of sight when changing lanes.

As shown in the figure, during the period from 30 seconds to about 15 seconds before the end of the merging for judging whether or not the lane can be changed, the driver's head faces horizontally in order to confirm the rear of the vehicle many times. It can be seen that the pupil is sharply turned left and right and is gazing at the side mirror and the room mirror during the lane change, and the movement of the head face and the pupil with respect to the vertical direction. It can be seen that there is no significant change in (movement in the line of sight). In general, the driver frequently gazes in a direction corresponding to the driving operation (gaze time, number of gazes) before the driving operation or before a certain driving operation. Therefore,
In the present embodiment, such a visual recognition behavior of the driver is detected as a gazing point indicating the direction of the pupil (gaze direction) of the driver, and when the gazing frequency corresponding to the predetermined direction is higher than a predetermined value, the corresponding mirror is activated. Information about the obstacle to be displayed is displayed on the display 9.

Here, a method of detecting the gazing point P of the driver by the gazing point detection sensor 2 will be described.

FIG. 4 is a block diagram showing the system configuration of the gazing point detection sensor 2 in the first embodiment.

As shown in FIG. 3, an infrared transmitting filter 25 is provided in the light projecting portion of the infrared light projecting lamp 23 and the light receiving portion of the infrared light projecting area imaging camera 24. The sensor 2 performs a general binarization process and a feature point extraction process in an image processing module based on a video signal output from the infrared light projection area imaging camera 24, thereby obtaining an image of a driver's head and face. Is extracted, and the gaze point detection module detects the head-face direction Dh and the gaze direction Ds based on the extracted head-face image in order to calculate the gaze point P of the driver.

Next, the specific function of the gazing point detection sensor 2 will be described with reference to FIG.

FIG. 6 is a flowchart showing the gazing point detection process performed by the gazing point detection sensor 2 in the first embodiment, and shows functions realized by the image processing module and the gazing point detection module shown in FIG.

In the figure, step S51: The infrared light projection lamp 23 emits light to the head face of the driver, and the infrared light projection area imaging camera 24 converts the analog video signal of the head face into an image. The video signal is captured by a processing module and subjected to general binarization processing to convert the video signal into digital multivalued image data for each pixel.

Step S52: A face image portion of the driver is extracted from the obtained multi-valued image data using a general image processing technique, and a plurality of feature points (for example, the inner and outer corners of the eye) included in the extracted face image portion are extracted. , Nostrils, etc.).

Step S53: From the extracted image data of the face image portion, the position of the reflection point and the position of the pupil generated in the cornea of the driver's eyeball by infrared light projection are determined using a general image processing technique. To detect.

Step S54: The inclination of the driver's head face in a predetermined three-dimensional coordinate space is calculated based on the position of the feature point detected in step S52, so that the head direction of the driver's head (head) Face direction) Ds is measured.

Step S55: The corneal reflection point detected in step S53 and the head-face direction D detected in step S54
s and the direction of the driver's line of sight (gaze direction) D
s is detected.

Step S56: The gaze direction Ds detected in step S55 is stored in the ROM 102 or the like in advance as the coordinates in the predetermined three-dimensional coordinate space at a predetermined position inside or outside the vehicle (a distant position in front, a position near the vehicle in front). , The rear-view mirror mounting position, the left and right side mirror mounting positions, etc .: see each gaze area shown in FIG. 7) to detect the gaze point P of the driver. Data (for example, identification flags individually indicating the distant position in front, the position in front of the vehicle, the rearview mirror mounting position, the left and right side mirror mounting positions, etc.) are output to the control unit 1 and the process returns.

The above-mentioned gazing point detection process is performed, for example, in each control cycle of a microcomputer (not shown) of the gazing point detection sensor 19, and data (identification flag) representing the detected gazing point P will be described later. In step S2 of the flowchart shown in FIG. 9, the data is stored in a gazing point memory (RAM) in the control unit 1 in time series.

<Control Processing by Control Unit 1> Next, processing performed by the control unit 1 will be described.

FIG. 8 is a diagram exemplifying a transition of the gazing point P detected by the gazing point detection sensor 2. The gazing frequency (the number of gazing times and the gazing time) based on the gazing point P detected by the gazing point detection sensor 2 is shown in FIG. FIG. 9 is a diagram for explaining a calculation example of ()). In this embodiment, the gaze frequency is calculated as follows:
It shall be performed by the control unit 1.

In the figure, the horizontal axis is a time axis, and the vertical axis is a gazing point P (for example, a left side mirror area, a room mirror area, a front area, a right side mirror) stored in a gazing point memory (RAM). Area), and Btn
(Where n is a natural number, the same applies hereinafter) is the time during which the detected point of interest P is in the room mirror area, SLtn is the time during which the detected point of interest P is in the left side mirror area, SRt
n represents the time when the detected point of regard P is in the right side mirror area.

In the example shown in FIG. 8, the driver's visual recognition behavior during a period of a predetermined time T (60 seconds in this embodiment as an example) is as follows: the number of times of fixation of the left side mirror area FSL = 3 (times); Total watching time of mirror area TSL = ＬSLt
n = SLt1 + SLt2 + SLt3 (seconds), the number of times of gaze in the right side mirror area FSR = 0 (times), the total time of gaze in the right side mirror area TSR = ΣSRt
n = 0 (second) ・ The number of times of gaze in the rearview mirror area FB = 2 (times) ・ The total time of gaze in the rearview mirror area TB = ΣBtn = B
t1 + Bt2 (sec), which indicates that the driver's interest is directed to the left rear side.

In this embodiment, the gaze frequency is calculated as described above, and the calculated gaze frequency is provided to the driver in accordance with the result of comparison with the predetermined value. , Display 9
, An image corresponding to the point of interest P is displayed.

Since the driver's visual recognition behavior changes according to the running state of the vehicle, the predetermined value used for the determination is corrected as follows in order to provide information more optimally.

For example, the predetermined value stored in advance in the ROM 102 or the like is, for example, a threshold value 2 (notified at a predetermined standard timing):
FSth = FBth = 2 (times), TSth = TBth
= 1.5 (seconds), threshold value 1 (reported earlier than the standard predetermined timing): FSth = FBth = 1 (times), TSth =
In the case where TBth = 1.0 (second), threshold value 0 (notification irrespective of gaze frequency), the running state of the own vehicle is set as shown in FIG.
According to the detection results of the various sensors described with reference to FIG. 2, the above three types of thresholds are selected as follows.・ Vehicle speed V0 <60 (Km / h): Use threshold value 2 ・ Vehicle speed V0 ≧ 60 (Km / h): Use threshold value 1 ・ Distance D> 30 (m): Threshold value 2; ・ Distance D ≦ 30 (m) ahead: Uses threshold value 1 ・ Steering angle Sa <10 (deg): Uses threshold value 2 ・ Steering angle Sa ≧ 10 (deg): Yes The threshold value 1 is used.-The blinker switch Wk is on: the threshold value 0 is used.-The blinker switch Wk is off: The threshold value selected according to the above-described vehicle speed V0, the distance D in front, and the steering angle Sa is set. Use, and set.

As described above, by changing the threshold value to be used in accordance with the vehicle speed V, the inter-vehicle distance D in front, and the steering angle Sa, the inter-vehicle distance with the preceding vehicle is higher when the vehicle speed is higher than when the vehicle speed is lower. Since the timing of information provision is changed earlier when compared to a long curve when the steering angle is large, and when compared to a curve with a small curvature where the steering angle is small when the steering angle is large, The driver's driving operation can be appropriately supported, and thus the mental burden on the driving operation can be reduced.

When the blinker switch Wk is on, information should be actively provided to assist the driver's vision irrespective of the vehicle speed V, the inter-vehicle distance D ahead, or the steering angle Sa. By setting the threshold value to 0, an image corresponding to the operation direction of the blinker switch 3 is displayed on the display 9.

Next, a specific control process by the control unit 1 for realizing the above-described information provision will be described.

FIG. 9 is a diagram showing a basic flowchart of a control process executed by the control unit 1 of the vehicle obstacle warning device according to the first embodiment. For example, the process is executed over a period in which an ignition key switch is turned on. You.

In the figure, step S1: The states of the sensor group and the switch group are detected as the vehicle state quantity and the operation quantity of the own vehicle.

Step S2: On the basis of the gazing point P in the period of the predetermined time T obtained from the gazing point detection sensor 2,
The gaze frequency (gaze count, gaze time) of the driver is calculated for each gaze area as described above.

Step S3: Information (distance, relative speed) relating to other vehicles (obstacles) present on the left and right rear sides of the own vehicle is obtained based on the vehicle state amount and the operation amount detected in step S1, for example. It is calculated using the method disclosed in JP-A-10-206119.

Step S4: The number of gazes FSL in the period of the predetermined time T up to the present time calculated in step S2,
It is determined whether the FSR is greater than a predetermined value FSth or whether the total gaze times TSL and TSR are greater than a predetermined value TSth. Prior to this determination, whether one of the threshold values 0 to 2 to use is used is determined as described above in the running state (vehicle speed V0, inter-vehicle distance D in front, steering angle Sa, operation state of blinker switch 3). Select according to.

Step S5: The judgment result of step S4,
When the gaze frequency of the driver is larger than the predetermined value FSth or larger than the predetermined value TSth, it can be determined that it is necessary to provide information to the driver. Therefore, in this step, the information on the rear side obstacle corresponding to the direction in which the gaze frequency larger than the predetermined value FSth or the predetermined value TSth is detected is based on the detection result of the obstacle by the rear side vehicle sensor 7. Then, it is displayed on the display 9 as illustrated in FIG.

FIG. 11 is a view showing a display example of the rear side vehicle displayed on the display 9, and shows, as an example, a case where another vehicle is present on the rear side of the right side of the own vehicle (see FIG. 10). I have. The display example shown in FIG. 11 shows a display mode in which the number of right segment rows 33 to be lit on the display is increased as another vehicle on the rear side approaches the own vehicle.

Step S6: As a result of the judgment in step S4,
When the gaze frequency of the driver is larger than the predetermined value FSth or smaller than the predetermined value TSth, the number of gazes FB in the period of the predetermined time T up to the present time calculated in step S2 is larger than the predetermined value FBth, or the total gaze time TB is It is determined whether or not it is larger than a predetermined value TBth.
Prior to this determination, threshold values 0 to 2 to be used are used.
Is determined by the running state (vehicle speed V) as described above.
0, distance D ahead, steering angle Sa, blinker switch 3
Is selected according to the operation state of. When the number of gazes FB of the driver is smaller than the predetermined value FBth or the total gaze time TB is smaller than the predetermined value TBth in the determination of this step, it is determined that the necessity of providing information is low, and the process returns.

Step S7: As a result of the judgment in step S6,
The number of gazes FB of the driver is larger than a predetermined value FBth;
Alternatively, when the total gazing time TB is larger than the predetermined value TBth, in this step, information on the obstacle on the rear side is detected by the left and right rear side vehicle sensors 7 as an obstacle detection result (the rear front of the vehicle can be photographed. In the case where a suitable sensor is mounted, for example, the central segment row 32 illustrated in FIG.

According to the above-described embodiment, information about an obstacle can be provided at an appropriate timing on the display 9 in front of the driver's seat according to the driver's gaze behavior, and the driver's driving supportability is improved. can do.

[Second Embodiment] Next, a second embodiment based on the vehicular alarm device according to the above-described first embodiment will be described. In the following description, the same configuration as that of the first embodiment will not be described repeatedly, and the description will focus on the characteristic portions of the present embodiment.

In the present embodiment, the information is not provided to the driver by display, but is provided by sound from the speaker 10.

FIG. 12 is a diagram showing a basic flowchart of control processing executed by the control unit 1 of the vehicle obstacle alarm device according to the second embodiment.

In the figure, in each of steps S1 to S4, the same processing as in the first embodiment is performed.

Step S11: It is determined whether or not another vehicle (obstacle) exists within a range of a predetermined distance L1 on the left and right sides corresponding to the determination result of step S4.
In the case of ES (when there is another vehicle (obstacle) within the range of the rear side predetermined distance L1 corresponding to the direction in which the gaze frequency larger than the predetermined value is detected), the process proceeds to step S12, and in the case of NO (The predetermined distance L1 on the rear side in the corresponding direction
When there is no other vehicle (obstacle) within the range (2), the routine returns.

Step S12: In order to call attention to the rear side of the driver, the speaker 10 on the side corresponding to the direction in which the other vehicle is present is driven to output, for example, an imitation sound of horn sound (artificial synthetic sound). I do.

According to the above-described embodiment, the information about the obstacle can be provided at an appropriate timing by the sound from the speaker 10 corresponding to the direction in which the obstacle exists, according to the gaze behavior of the driver. Driving supportability of the driver can be improved.

In the above-described first and second embodiments, an example in which display and audio output are individually performed has been described as a mode of providing information. However, the present invention is not limited to these device configurations. The audio output may be performed in parallel.

The display mode displayed on the display 9 is not limited to the example shown in FIG. 11, and an image captured by the rear vehicle sensor 7 may be displayed.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a system configuration of an automobile equipped with a vehicle obstacle alarm device according to a first embodiment.

FIG. 2 is a block diagram illustrating a configuration of a control function in the vehicle obstacle warning device according to the first embodiment.

FIG. 3 is a view showing a driver's seat of the automobile shown in FIG. 1;

FIG. 4 is a block diagram illustrating a system configuration of a gazing point detection sensor 2 according to the first embodiment.

FIG. 5 is a diagram showing experimental results regarding the movement of the driver's head and face and the line of sight when changing lanes.

FIG. 6 is a flowchart illustrating a gazing point detection process performed by the gazing point detection sensor 2 in the first embodiment.

FIG. 7 is a diagram illustrating a predetermined position (gaze area) inside and outside the vehicle, which is stored in advance as coordinates in a predetermined three-dimensional coordinate space in order to determine a gazing point P.

FIG. 8 is a diagram exemplifying transition of a gazing point P detected by a gazing point detection sensor 2.

FIG. 9 is a diagram showing a basic flowchart of a control process executed by the control unit 1 of the vehicle obstacle alarm device according to the first embodiment.

FIG. 10 is a diagram exemplifying a state in which another vehicle is present on the rear side of the right side of the host vehicle.

11 is a diagram showing a display example of a rear side vehicle displayed on a display 9. FIG.

FIG. 12 is a diagram showing a basic flowchart of a control process executed by a control unit 1 of the vehicle obstacle alarm device according to the second embodiment.

[Explanation of symbols]

 1: control unit, 2: gazing point detection sensor, 3: blinker switch, 4: vehicle speed sensor, 5: steering angle sensor, 6: inter-vehicle distance sensor, 7: rear side vehicle sensor, 8: yaw rate sensor, 9: display , 10: speaker, 23: infrared projection lamp, 24: infrared projection area imaging camera, 101: CPU, 102: ROM, 103: RAM,

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 626 B60R 21/00 626C 626E 628 628A G06T 1/00 330 G06T 1/00 330B 340 340A G08B 21 / 00 G08B 21/00 UH G08G 1/16 G08G 1/16 CF term (reference) 5B057 AA16 BA01 CA02 CA08 CA12 CA16 CB02 CB06 CB12 CB16 CD14 CE12 CH01 CH08 DA08 DA17 DB02 DB05 DB08 DC08 5C086 AA47 AA54 BA22 DA08 BB15 CC02 CC03 CC04 CC14 LL01 LL02 LL04 LL07 LL08

Claims (5)

[Claims] 1. An obstacle warning device for a vehicle driven by a driver, comprising: an obstacle detection unit configured to detect an obstacle around the vehicle; and information about an obstacle detected by the obstacle detection unit. Obstacle information notifying means, visual recognition action detecting means for detecting a driver's visual recognition action, and a driver's gaze frequency at a mirror for confirming the rear of the vehicle, which is detected by the visual recognition action detecting means, is higher than a predetermined value. Control means for controlling the obstacle information notifying means to notify information on the obstacle corresponding to the mirror. 2. The vehicle according to claim 1, further comprising: a traveling state acquisition unit that acquires a traveling state of the vehicle, wherein the control unit corrects the predetermined value according to the traveling state acquired by the traveling state acquisition unit. The obstacle warning device for a vehicle according to claim 1, wherein 3. The traveling state obtaining means is capable of obtaining the vehicle speed of the vehicle, and the control means is configured to decrease the predetermined value as the vehicle speed obtained by the driving state obtaining means increases. 3. The vehicle obstacle warning device according to claim 2, wherein the value is corrected to a value. 4. The traveling state obtaining means is capable of obtaining an inter-vehicle distance to a vehicle existing in front of the vehicle, and the control means is configured such that the inter-vehicle distance obtained by the traveling state obtaining means is shorter than a predetermined distance. 3. The obstacle warning device for a vehicle according to claim 2, wherein the predetermined value is corrected to a small value as compared with a long time. 5. The obstacle detecting means is capable of detecting an obstacle present on the rear side of the vehicle, and the control means is configured to control a driver's gaze frequency with respect to a side mirror serving as the rearward confirmation mirror. 2. The obstacle for a vehicle according to claim 1, wherein the obstacle information notifying means is controlled to notify information on an obstacle on the rear side corresponding to the side mirror when is higher than a predetermined value. Alarm device.