JP2006036105A - Approach warning control method and approach warning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an approach warning control method and an approach warning device capable of advancing the warning timing of the approach caution in a succeeding vehicle or increasing the warning frequency as the degree of the approach caution in a preceding vehicle becomes larger. <P>SOLUTION: In the approach warning control to perform the approach caution to a preceding vehicle 1 by a succeeding vehicle 2, the degree of the approach caution is determined in the preceding vehicle 1 based on user set information or vehicle information, the degree of the approach caution determined by the communication between vehicles is transmitted to the succeeding vehicle 2, and the warning of the approach caution is performed in the succeeding vehicle under the condition according to the degree of reception from the preceding vehicle. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to an approach warning control method and an approach warning device, and more particularly, to an approach warning control method and an approach warning device for performing approach attention to a forward vehicle in a rear vehicle.
About.

Vehicle-to-vehicle communication technology that communicates between vehicles using a wireless LAN or other communication means is being developed for practical use. There has been proposed an alarm device that receives information on the vehicle ahead by such a vehicle-to-vehicle communication technology by a vehicle behind and issues a warning based on the information (see Patent Document 1). This alarm device warns the driver of the rear vehicle by transmitting to the rear vehicle with an inappropriate inter-vehicle distance the vehicle registration number of the rear vehicle identified by the camera and the fact that the inter-vehicle distance is insufficient. is there.
JP-A-7-50000

However, the proposed warning method outputs a warning to the rear vehicle when the inter-vehicle distance is inappropriate for the actual vehicle speed. In other words, the conventional warning method outputs a warning to the rear vehicle only when a certain condition is satisfied.
Conditions for generating an approach warning in the rear vehicle differ depending on the past accident history of the preceding vehicle, the state of the vehicle (normal / abnormal state), the driving skill level, or the like. For example, in the case of a forward vehicle with an accident history in the past, a forward vehicle with an abnormal location, or a forward vehicle driven by an unskilled driver, it is preferable to output an alarm to the backward vehicle at an early timing. The conditions for generating a warning are the same. For this reason, in the conventional method, the warning timing is delayed and the attention to the preceding vehicle is distracted, and the accident caused by the preceding vehicle or immature driving may be involved in the accident.

Therefore, a method is conceivable in which vehicle information (accident history, etc.) of the preceding vehicle is notified to the rear vehicle and a warning such as “attention ahead” is given at an early timing based on the vehicle information received by the rear vehicle. However, in such a warning method for notifying other vehicles of such vehicle information and giving a warning, there is a fear of infringing on the privacy of the driver of the preceding vehicle, which causes a problem in privacy protection.
From the above, the object of the present invention is to determine the degree of attention of the vehicle ahead, and to advance the warning timing or increase the warning frequency in the rear vehicle as the degree of attention increases.
Another object of the present invention is to perform warning control so as not to infringe the privacy of the driver of the preceding vehicle.
Another object of the present invention is to make it possible to correctly identify the vehicle ahead and perform the approach warning alarm control.

According to the present invention, in the approach warning control method of performing approach attention to a preceding vehicle in a rear vehicle, the degree of approach attention is determined based on user setting information or vehicle information in the preceding vehicle, and the degree is determined in the rear vehicle. This is achieved by transmitting the determined degree of approaching caution from the preceding vehicle to the following vehicle by inter-vehicle communication so that an approaching caution alarm is issued under the condition according to the above.
The transmission timing of the degree is when the inter-vehicle distance to the rear vehicle is measured and the inter-vehicle distance becomes the set distance. The vehicle information is at least one of a vehicle accident history, a past collision record, and information indicating a vehicle state, and the user setting information is information indicating a driver's driving proficiency or a vehicle that wishes to approach. This is information indicating this.

  According to the present invention, in the approach warning control method of performing approach attention to the preceding vehicle in the rear vehicle, the rear vehicle receives information indicating the degree of approach attention from the preceding vehicle through inter-vehicle communication, and This is achieved by issuing a warning of approaching attention under the corresponding conditions. The warning of approaching warning increases the alarm frequency as the degree increases, and the alarm start timing is advanced (the distance between the vehicles at which the alarm starts) is increased. Further, in the rear vehicle, the inter-vehicle distance to the rear vehicle measured by the front vehicle and the traveling lane of the front vehicle are received together with the degree by inter-vehicle communication, the inter-vehicle distance to the front vehicle is measured, and the measured distance and the A front vehicle having a substantially equal distance received and traveling in the received travel lane is identified as a front vehicle that has transmitted the degree information, and an approach warning is issued according to the degree.

According to the present invention, according to the present invention, in the approach warning control method in which approaching attention to the preceding vehicle is performed in the rear vehicle, the degree of approaching attention is determined based on the user setting information or vehicle information in the preceding vehicle, and vehicle-to-vehicle communication is performed. This is achieved by transmitting the determined degree of approaching attention to the rear vehicle, receiving information indicating the degree of approaching attention from the preceding vehicle in the rear vehicle, and issuing a warning of approaching attention under conditions according to the degree. The
The transmission timing of the degree is when the inter-vehicle distance to the rear vehicle is measured and the inter-vehicle distance becomes a set distance. As for the warning of approaching warning, the alarm start timing is advanced as the degree becomes larger (the inter-vehicle distance at which the alarm is started is increased) and the alarm frequency is increased. Further, in the rear vehicle, the inter-vehicle distance to the rear vehicle measured by the front vehicle and the traveling lane of the front vehicle are received together with the degree by inter-vehicle communication, the inter-vehicle distance to the front vehicle is measured, and the measurement distance and the reception A vehicle that is a forward vehicle having substantially the same distance and that is traveling in the received travel lane is identified as a forward vehicle that has transmitted the degree information, and an approach warning is issued based on the degree information.

According to the present invention, in the approach approach warning device that prompts approach attention to the preceding vehicle by inter-vehicle communication, the means for determining the degree of approach attention based on the user setting information or the vehicle information, the approach to the following vehicle An approach alarm comprising means for transmitting information indicating the degree of attention, means for receiving information indicating the degree of attention from the preceding vehicle, and alarm means for issuing an alert for approaching the preceding vehicle under conditions according to the degree. Achieved by the device. In this approach / approach warning device, when the degree is large, the warning means advances the warning start timing and increases the warning frequency.
The approach warning device further includes first inter-vehicle distance measuring means for measuring the inter-vehicle distance to the rear vehicle, and the transmitting means is configured to perform the approach attention by inter-vehicle communication when the inter-vehicle distance to the rear vehicle becomes a set distance. The information indicating the degree of is transmitted to the rear vehicle.
The approach warning device further comprises means for storing the user setting information or the vehicle information, and the vehicle information is at least one of vehicle accident history, past collision records, and vehicle status information, The user setting information is information indicating the driving skill level of the driver or a vehicle that wishes to approach.
The approach warning device further includes second inter-vehicle distance measuring means for measuring the inter-vehicle distance to the preceding vehicle, and the receiving means is configured to determine the inter-vehicle distance to the rear vehicle and the traveling lane of the preceding vehicle measured by the front vehicle. And the warning means is a forward vehicle in which the inter-vehicle distance to the forward vehicle and the distance received from the forward vehicle are substantially equal, and the vehicle traveling in the received travel lane is represented by the degree information. Is identified as a forward vehicle, and an approach warning is given based on the degree information.

According to the present invention, the degree of attention of the vehicle ahead is determined, and the greater the degree of attention, the earlier the warning imming in the rear vehicle or the higher the warning frequency. In the case of a vehicle or a forward vehicle driven by an unskilled person, an alarm can be output to the rear vehicle at an early timing, or the alarm frequency can be increased to warn the driver. It can be prevented from being involved in an accident.
Further, according to the present invention, it is only necessary to transmit information indicating the degree of attention from the preceding vehicle to the following vehicle, and information that infringes privacy from the preceding vehicle is not transmitted to the following vehicle. The above problem does not occur.
Further, according to the present invention, the inter-vehicle distance to the preceding vehicle is compared with the inter-vehicle distance from the preceding vehicle to the following vehicle, and the traveling lane is compared to correctly identify the preceding vehicle that has transmitted the degree information. Approach warning alarm control can be performed.

FIG. 1 is an explanatory diagram of an embodiment of an approach warning device of the present invention. A forward vehicle 1 determines the degree of approaching attention based on user setting information or vehicle information, and the degree of approaching attention determined by inter-vehicle communication. Is transmitted to the rear vehicle 2, and the rear vehicle 2 issues a warning of approaching attention under conditions according to the degree received from the front vehicle 1. In the following, alarm control for the front vehicle 1 and the rear vehicle 2 will be described in detail.
In the preceding vehicle 1, the inter-vehicle measurement radar 1a measures the inter-vehicle distance to the rear vehicle and inputs it to the approach warning instruction control unit 1b. The information storage unit 1c stores approach caution instruction determination information. As the approach attention instruction determination information, vehicle information or user setting information can be considered. (A) in FIG. 2 is an example of vehicle information, which may include an accident history, a collision accident record, a vehicle state (a normal / abnormal state of the vehicle, such as an abnormal vibration record, etc.), and at least one of them is approach caution instruction determination information Is stored in the information storage unit 1c. A high-class vehicle in the United States employs a mechanism that automatically records and saves the above vehicle information and uses it when investigating the cause of an accident at the time of an accident, like an aircraft flight recorder. The driving recorder that records the vehicle information is the information storage unit 1c.
(B) and (C) in FIG. 2 are examples of user setting information, such as a driver's proficiency level (upper / lower), a vehicle that wants to be approached (YES / NO), etc., and at least one of these is an approaching caution instruction It is stored in the information storage unit 1c as determination information. These pieces of information are input by the user from the information input unit 1d and stored in the information storage unit 1c.
When the rear vehicle approaches, the approach warning instruction control unit 1b determines the degree of approach attention based on the user setting information or vehicle information stored in the information storage unit 1c, and the determination is made by the transmission unit 1e by inter-vehicle communication. The degree of approaching caution is transmitted to the rear vehicle 2. It is assumed that the degree of approaching caution is large for a vehicle with an accident history, a vehicle with a crash record, a vehicle with an abnormality, a vehicle with a poor driving skill, and a vehicle with a desire to approach.

In the rear vehicle 2, the receiving unit 2a inputs the received information to the approach warning control unit 2b. If the approach warning control part 2b receives the degree information of approach attention from the preceding vehicle 1, it will perform an approach warning based on the degree as follows.
1. Warning when the degree of approaching warning is small Warning condition: Distance between vehicles is within 10m, 1 minute interval Warning content: "Please pay attention to the distance between vehicles"
2. Warning when the degree of approaching attention is large
(1) Warning condition: Within 15m between vehicles, 1 minute interval Warning content: "Please be careful about the distance between vehicles"
(2) Warning condition: Within 10m between cars, 30 seconds interval Warning content: “Please be careful”
(3) Warning condition: Within 5 m between vehicles Generates a warning sound. That is, the approach warning control unit 2b acquires the inter-vehicle distance from the inter-vehicle measurement radar 2c to the preceding vehicle, and the warning condition according to the inter-vehicle distance and the degree information. The warning content is output from the warning voice output unit 2d. Also, an alarm is displayed on the alarm display unit 2e.

As described above, in the present invention, when the degree of attention to approach is large, the timing for starting an alarm is advanced or the frequency of alarm is increased as compared with the case where the degree of attention is small. As a result, in the case of a forward vehicle with a history of accidents in the past, a forward vehicle with an abnormal location, a forward vehicle driven by an untrained person, etc., an alarm is output to the rear vehicle at an early timing or the warning frequency is increased. Can prevent the vehicle from being involved in an accident caused by an accident caused by the vehicle ahead or immature driving.
Further, in the present invention, it is only necessary to transmit information indicating the degree of attention from the preceding vehicle to the following vehicle, and information that infringes on privacy from the preceding vehicle is not transmitted to the following vehicle, so a privacy protection problem occurs. do not do.

(A) Configuration of Approach Alarm Device FIG. 3 is a configuration diagram of an approach alarm device that performs an approach alarm control by inter-vehicle communication according to the present invention, and is mounted on a front vehicle and a rear vehicle.
In the approach warning device, the radio receiving unit 13 receives a radio signal transmitted from an inter-vehicle communication device of another vehicle via the antenna 11 and the duplex 12, converts the radio signal into a baseband signal, and a demodulation unit 14 Demodulates the baseband signal, and the AD converter 15 converts the demodulated signal into a digital signal and inputs it to the signal processing unit 19. The DA converter 16 converts the transmission data created by the signal processing unit 19 into analog, the modulation unit 17 modulates the transmission signal, and the wireless transmission unit 18 uses the wireless signal to transmit the transmission data to the inter-vehicle communication device of the other vehicle. Send.

The signal processing unit 19 executes information transmission / reception control, approach warning processing, and the like. The navigation IF 20 transmits and receives data to and from the navigation system, acquires the traveling lane and position information of the own vehicle, and inputs them to the signal processing unit 19. The information storage unit 21 stores determination information (user setting information and vehicle information in FIG. 2) for determining the degree of attention to approach, and the vehicle state detection unit 22 detects the normal / abnormal state of each part of the vehicle and detects it. The signal is stored in the information storage unit 21 through the signal processing unit 19 as vehicle information. The information input / display unit 23 inputs user setting information (FIGS. 2B and 2C) and other information, and displays various states. The voice output unit 24 outputs an approach warning by voice and also outputs a warning sound. The rear inter-vehicle measurement radar 25 measures the inter-vehicle distance to the rear vehicle and inputs it to the signal processing unit 19, and the front inter-vehicle measurement radar 26 measures the inter-vehicle distance to the front vehicle and inputs it to the signal processing unit 19. The inter-vehicle measuring radar 1a in the front vehicle 1 in FIG. 1 corresponds to the rear inter-vehicle measuring radar 25 in FIG. 2. Similarly, the approach warning instruction control unit 1b is in the signal processing unit 19, and the information storage unit 1c is in the information storage unit. 21, the information input unit 1 d corresponds to the information input / display unit 23, and the transmission unit 1 e corresponds to the wireless transmission unit 18. 1 corresponds to the wireless reception unit 13 in FIG. 2, and similarly, the approach warning control unit 2b is in the signal processing unit 19, and the inter-vehicle measurement radar 2c is in the front inter-vehicle measurement radar 26. The alarm voice output unit 2d corresponds to the voice output unit 24, and the alarm display unit 2e corresponds to the information input / display unit 23.

(B) Inter-vehicle measurement radar The rear inter-vehicle measurement radar 25 and the front inter-vehicle measurement radar 26 are provided on the front and rear bumpers of the vehicle CAR, as shown in FIG. 4, and the inter-vehicle distance to the rear vehicle and the inter-vehicle distance to the front vehicle are determined. It comes to measure. By scanning in a scan range within the scan range of - rear inter-vehicle measurement radar 25, the front inter-vehicle measurement radar 26 FIG 5 (A), (B) a beam as shown in α (10 ⁰ ~10 ⁰ =) The direction, distance, and speed of the other vehicles 51 and 52 are detected. Note that the scan range can be arbitrarily expanded by using a plurality of radar elements in the scan range α.
FIG. 6 is a configuration diagram of the inter-vehicle measurement radars 25 and 26, which emits a beam radio wave in accordance with an instruction from the signal processing unit 19, scans the beam direction in a range of −θ to + θ, and receives a reflected radio wave from another vehicle. Then, the distance and speed to the other vehicle in each direction of −θ to + θ are detected. As the inter-vehicle measurement radars 25 and 26, for example, a vehicle-mounted millimeter wave radar module of FMCW (Frequency Modulated Continuous Wave) system can be adopted. This radar includes a drive circuit 41a, a radar control unit 41 including a signal processing unit 41b, a radio wave beam transmission unit 42a that transmits a radio beam by a drive signal from the drive circuit 41a, and a reflected radio wave reception that receives a reflected radio wave from another vehicle. A transmission / reception circuit 42 including a unit 42b and a beam scanning antenna 43 that scans a beam in a range of −θ to + θ are provided. The signal processing unit 41 b calculates the distance, direction, and speed to another vehicle based on the reflected radio wave signal that is equal to or greater than a predetermined threshold value and inputs the calculated distance, direction, and speed to the signal processing unit 19.

(C) Message format Fig. 7 shows an example of a message format for inter-vehicle communication, which consists of a header part HD and a data part DT. The header part HD is (1) a source address (source vehicle ID), (2 It includes at least a destination address (receiving vehicle ID or broadcast) and (3) message identification information. The transmission information of the data part DT includes information indicating the degree of attention to approach.

(D) Approach warning control
(a) Front Vehicle Approach Warning Instruction Control FIG. 8 is a control process flow of the front vehicle approach warning device.
The signal processing unit 19 of the front vehicle refers to the inter-vehicle distance measured by the rear inter-vehicle distance measuring radar 25 to monitor whether the rear vehicle approaches within a predetermined distance (step 101), and if it approaches, it is stored in the information storage unit 21. The determination information of the approaching attention instruction is analyzed (step 102), and the degree of approaching attention is determined (step 103). If there is a vehicle with an accident history, a vehicle with a crash record, a vehicle with an abnormality, a vehicle with poor driving skill, or a vehicle that wishes to approach, it is considered that the vehicle should be careful and the degree of approaching attention is determined to be large (Determination level H), otherwise, it is determined that the degree of attention to approach is small (determination level L). After that, approach caution instruction information including the degree of approach caution (determination level) is transmitted to the rear vehicle by inter-vehicle communication (step 104).

(b) Rear Vehicle Approach Warning Control FIG. 9 is a control processing flow of the rear vehicle approach warning device.
The signal processing unit 19 of the rear vehicle monitors whether or not the approaching caution instruction information is received from the preceding vehicle (step 201), and if received, determines whether the degree of approaching caution is large (the determination level is H). (Step 202).
If the determination level is low (determination level = L), an approach warning alarm is output under normal conditions (step 203). For example, the inter-vehicle distance from the front inter-vehicle measuring radar 26 to the front vehicle is received, and if the inter-vehicle distance is within 10 m, a warning sound “Please pay attention to the inter-vehicle distance” is sent from the audio output unit 24 at an interval of 1 minute. Output.

On the other hand, if the determination level is high (determination level = H), an approach warning warning is output when the vehicle is in front of danger (step 204). For example, (1) The inter-vehicle distance from the front inter-vehicle measurement radar 26 to the front vehicle is received, and if the inter-vehicle distance is within 15 m, a warning sound “Please pay attention to the inter-vehicle distance” is output at an interval of 1 minute. Output from the unit 24, (2) If the distance between vehicles is less than 10m, a warning sound saying "Please be careful" is output from the audio output unit 24 every 30 seconds, and (3) The distance between vehicles can be within 5m For example, a warning sound is generated from the voice output unit 24.
Thereafter, it is monitored whether the distance to the preceding vehicle is longer than the set distance or whether there is no preceding vehicle (step 205), and the processing from step 202 is repeated until the distance is more than the set distance or until there is no preceding vehicle.
As described above, according to the present invention, the degree of caution of the vehicle ahead is determined, and the greater the degree of caution, the earlier the warning imming in the rear vehicle or the greater the frequency of warnings. Can be prevented from being involved in an accident.
Further, according to the present invention, since it is only necessary to transmit information (determination level) indicating the degree of attention from the preceding vehicle to the following vehicle, there is no problem in privacy protection.

(E) Another approach warning control When there are a plurality of vehicles ahead, it is necessary to identify the vehicle that has transmitted the approach attention instruction information. For this reason, the inter-vehicle distance to the rear vehicle measured by the front vehicle and the travel lane of the front vehicle are notified from the front vehicle to the rear vehicle together with the degree information of the approaching caution.
FIG. 10 is a control processing flow of the approach warning device for the forward vehicle. The difference from the flow of FIG. 8 is that in step 104 ′, the degree of caution warning (judgment level) and the distance between the rear vehicles (rear distance between the rear vehicles) and travel It is a point to transmit lanes.
FIG. 11 is a control process flow of the approach warning device for the rear vehicle.
The signal processing unit 19 of the rear vehicle monitors whether or not the approach attention instruction information (judgment level, rear inter-vehicle distance, travel lane) is received from the front vehicle (step 301), and if it is received, the stored source address To check whether it has already been received (step 302), and if it has been received, return to step 301. If not received, the transmission source address is stored, and it is determined whether the inter-vehicle distance to the preceding vehicle measured by the front inter-vehicle measuring radar 26 is equal to the inter-vehicle distance received in step 301. If there is a front vehicle with the same distance, the front vehicle is identified as the vehicle that transmitted the approach attention instruction information. If there is no front vehicle with the same inter-vehicle distance, the approach attention received from a vehicle unrelated to itself is received. It is instruction information, and it is determined that there is no forward vehicle to be noted, and the process returns to step 301.

If the preceding vehicle can be specified, it is checked whether the received traveling lane and the traveling lane of the own vehicle are the same (step 304), and if not, the vehicle returns to step 301 without being regarded as the preceding vehicle.
If the traveling lanes are the same, the vehicle is regarded as a preceding vehicle, and it is determined whether the degree of approaching attention received is large, that is, whether the determination level is H (step 305).
If the determination level is low (determination level = L), an approach warning alarm is output under normal conditions as in FIG. 9 (step 306). On the other hand, if the determination level is large (determination level = H), an approach warning warning for a forward danger vehicle is output in the same manner as in FIG. 9 (step 307).
Thereafter, it is monitored whether the distance to the preceding vehicle is more than the set distance, or whether the traveling lane has been changed or the preceding vehicle is no longer present (step 308). If “YES”, the vehicle in front is being regarded as not subject to approaching attention and the stored source address is deleted (step 309), and the process returns to the beginning.
As described above, according to the present invention, it is possible to compare the distance between the vehicles and compare the travel lanes to correctly identify the vehicle ahead and issue an approach warning.
The above is a case where the degree of approaching attention is set to two levels, but it is also possible to control the approach warning by setting it to three or more levels.

It is embodiment explanatory drawing of the approach warning apparatus of this invention. It is approach caution instruction judgment information (vehicle information or user setting information) explanatory drawing. It is a block diagram of the approach warning apparatus which performs approach warning control by the vehicle-to-vehicle communication of this invention. FIG. 6 is a layout diagram of a rear inter-vehicle measurement radar and a front inter-vehicle measurement radar. It is a measurement explanatory drawing of the inter-vehicle measurement radar. It is a block diagram of the inter-vehicle measurement radar. It is a message format example of vehicle-to-vehicle communication. It is a control processing flow of the approach warning device of the vehicle ahead. It is a control processing flow of the approach warning device of a back vehicle. It is another control processing flow of the approach warning device of a preceding vehicle. It is another control processing flow of the approach warning device of a back vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Front vehicle 2 Back vehicle 1a Inter-vehicle measurement radar 1b Approach warning instruction control part 1c Information storage part 1d Information input part 1e Transmission part 2a Reception part 2b Approach alarm control part 2c Inter-vehicle measurement radar 2d Alarm sound output part 2e Alarm display part

Claims (20)

In the approach warning control method of performing approach attention to the preceding vehicle in the rear vehicle,
In the vehicle ahead, determine the degree of approach attention based on the user setting information or vehicle information,
The degree of approaching caution determined by inter-vehicle communication is transmitted to the following vehicle so as to issue a warning of approaching caution under conditions according to the degree in the rear vehicle.
An approach warning control method for a preceding vehicle. In the transmission step,
Measure the inter-vehicle distance with the rear vehicle, and when the set distance is reached, send information indicating the degree of approach attention to the rear vehicle by inter-vehicle communication.
2. The approach warning control method according to claim 1, wherein:   3. The approach warning control method according to claim 1, wherein the vehicle information is at least one of a vehicle accident history, a past collision record, and information indicating a vehicle state. 3. The approach warning control method according to claim 1 or 2, wherein the user setting information is information indicating a driving skill level of a driver or information indicating that the vehicle is an approaching attention desired vehicle. In the approach warning control method of performing approach attention to the preceding vehicle in the rear vehicle,
In the rear vehicle, receive information indicating the degree of attention to approach from the front vehicle by inter-vehicle communication,
A warning of approaching caution is given under conditions according to the degree.
An approach warning control method for a vehicle behind the vehicle. In the alarm step, when the degree is large, the alarm timing is advanced and the alarm frequency is increased.
The approach warning control method according to claim 5. The inter-vehicle distance to the rear vehicle measured by the front vehicle and the traveling lane of the front vehicle are received together with the above degree by inter-vehicle communication,
An inter-vehicle distance to a preceding vehicle is measured, and the measured distance and the received distance are approximately equal to the preceding vehicle, and the vehicle traveling in the received traveling lane is the preceding vehicle that has transmitted the degree information. Identify,
7. The approach warning control method according to claim 5 or 6, wherein: Based on the degree information received from the vehicle in front of the same traveling lane, an approach warning is performed.
The approach warning control method according to claim 7. In the approach warning control method of performing approach attention to the preceding vehicle in the rear vehicle,
In the vehicle ahead, determine the degree of approach attention based on the user setting information or vehicle information,
The degree of approaching attention determined by inter-vehicle communication is transmitted to the rear vehicle,
In the rear vehicle, receive information indicating the degree of approaching attention from the front vehicle,
A warning of approaching to the vehicle ahead is given under conditions according to the degree.
An approach warning control method characterized by the above. Measure the inter-vehicle distance to the rear vehicle, and when the inter-vehicle distance becomes a set distance, transmit information indicating the degree of attention to the approach to the rear vehicle by inter-vehicle communication.
The approach warning control method according to claim 9. In the alarm step, when the degree is large, the alarm start timing is advanced and the alarm frequency is increased.
The approach warning control method according to claim 9. The inter-vehicle distance to the rear vehicle measured by the front vehicle and the traveling lane of the front vehicle are received together with the above degree by inter-vehicle communication,
It is a front vehicle that measures the inter-vehicle distance to a preceding vehicle, and the measured distance and the received inter-vehicle distance are substantially equal to each other, and is a forward vehicle that has transmitted the degree information for a vehicle traveling in the received traveling lane. To identify,
The approach warning control method according to claim 9. Based on the degree information received from the vehicle in front of the same traveling lane, an approach warning is performed.
The approach warning control method according to claim 12. In the approach warning control device that urges attention to approach the vehicle ahead by inter-vehicle communication,
Means for determining the degree of approaching attention based on user setting information or vehicle information;
Means for transmitting information indicating the degree of attention to approach to the vehicle behind,
Means for receiving information indicating the degree of attention to approach from the vehicle ahead;
Alarm means for issuing an alarm of approaching attention to the preceding vehicle under conditions according to the degree;
An access warning device characterized by comprising: First inter-vehicle distance measuring means for measuring the inter-vehicle distance to the vehicle behind,
The transmission means transmits information indicating the degree of attention to approach to the rear vehicle by inter-vehicle communication when the inter-vehicle distance to the rear vehicle becomes a set distance.
The approach warning device according to claim 14. The vehicle information comprises means for storing, the vehicle information is at least one of vehicle accident history, past collision records, and vehicle status information.
The approach warning device according to claim 14. Means for storing the user setting information, the user setting information is information indicating a driver's driving proficiency level or information indicating that the vehicle is an approaching attention desired vehicle;
The approach warning device according to claim 14. The alarm means, when the degree is large, advances the alarm start timing and increases the alarm frequency.
The approach warning device according to claim 14. Second inter-vehicle distance measuring means for measuring the inter-vehicle distance to the preceding vehicle,
The receiving means receives the inter-vehicle distance to the rear vehicle measured by the preceding vehicle and the traveling lane of the preceding vehicle by inter-vehicle communication together with the degree, and the warning means receives the inter-vehicle distance to the preceding vehicle and the preceding vehicle. A forward vehicle having substantially the same received distance, and a vehicle traveling in the received travel lane is identified as a forward vehicle that has transmitted the degree information;
The approach warning device according to claim 14.   The approach warning device according to claim 19, wherein the warning means issues a proximity warning based on the degree information received from a preceding vehicle having the same traveling lane.

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