JP2009078674A - Vehicle rear view monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle rear view monitoring device capable of reducing a risk of a moving vehicle approaching from behind. <P>SOLUTION: The vehicle rear view monitoring device 1 has a controller 2 which displays an image by a camera 8 of the moving vehicle on a display device 9 installed on a rear seat when a vehicle speed sensor 3 senses a stop of an own vehicle, an occupant of the rear seat touches an inside handle touch sensor 4 of a rear door, and when it is operated that the moving vehicle traveling behind and located within an applicable area of a moving body sensor 5 may intrude into a risky area within a prescribed time, and the rear seat occupant is notified of the approach of the moving vehicle behind using a speaker 10. When a rear door angle sensor 6 senses that the rear door is opened at a prescribed angle or larger, the controller gives an alarm to the rear seat occupant using the display device 9 and the speaker 10. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle rear monitoring device that notifies a moving vehicle approaching rearward of a rear seat of a host vehicle.

  In the rear seat of the vehicle, a kind of space is formed with respect to the front seat, and when riding in the rear seat, you can enjoy conversations without disturbing the driving operation by the driver even while driving There is an advantage. On the other hand, communication between the driver and the driver in the rear seat is estranged, and it is difficult for the seater in the rear seat to input information during the driving operation. For the passengers in the backseat, information about the driver's state, such as whether he / she is driving a nap or where the vehicle is traveling on the route to the destination, will be interrupted for a while. This may cause psychological anxiety, but if you talk to the driver to obtain this information, it goes without saying that it hinders driving operations.

On the other hand, there is a conventional technique in which a rear seat display is attached to a position that can be seen from the rear seat of the vehicle, and a captured image in the vicinity of the driver's seat including the driver is displayed together with vehicle state data (for example, Patent Documents). 1). According to this, it is possible to know the driver's own state and the running state of the vehicle without the back seat seated person speaking to the driver, and to reduce the above-mentioned back seat seated person's irritation. Can do.
JP 2006-218907 A

  By the way, if safety is taken with respect to the rear of the vehicle, a moving vehicle approaching at a high speed from the rear may cause a great deal of damage to a seated person in the rear seat in the event of a rear-end collision with the own vehicle. It is well known that a sudden impact from a rear-end collision can cause damage to the neck of the rear-seat occupant, but to prevent this, know that the occupant will be rear-end. In addition, it is considered necessary to grab and hold the seat back of the front seat.

On the other hand, when a person in the vehicle gets off, attention must be paid to the situation around the vehicle to get off. In particular, when the passenger seated in the rear seat gets off, it is not possible to check the image of the vehicle's room mirror or side mirror, or the image from the in-vehicle camera, so there is a high risk for moving vehicles approaching from the rear of the vehicle, There are dangers such as a collision of a moving vehicle with a vehicle door opened for getting off, or a contact with a moving vehicle of a human getting off. In order to prevent this, the seated occupant in the back seat must look back and confirm whether there is any danger visually, which is a burden on the seated occupant. The above-described prior art does not include means for avoiding such dangers or burdens.
This invention is made | formed in view of the said situation, The objective is to provide the vehicle rear monitoring apparatus which can reduce the danger with respect to the moving vehicle approaching from back.

  According to the vehicle rear monitoring apparatus of the first aspect, the stop detection unit detects the stop of the own vehicle, the getting-off detection unit detects the start of getting off from the rear seat of the own vehicle, and the entry determination unit further determines the predetermined value. When it is determined that the moving vehicle enters the danger area within the time, the approach of the moving vehicle is notified to the seated person in the back seat of the own vehicle. Thereby, the seated person in the rear seat can get off the vehicle safely by recognizing that the vehicle is approaching from behind, and it is not necessary for the seated person to look back when getting off, and the burden on the seated person can be reduced.

According to the vehicle rear monitoring device of the second aspect, the danger notification means is a display device that displays an image of the moving vehicle photographed by the vehicle-mounted camera to a seated person in the rear seat. Thereby, the seated person in the rear seat can know the actual approach situation of the moving vehicle by viewing the image of the moving vehicle behind the host vehicle on the display device.
According to the vehicle rear monitoring apparatus of the third aspect, the danger notification means is a sound generation apparatus that issues a sound to the seated person in the rear seat to notify the approach of the moving vehicle. Thereby, even if the seated person cannot afford to look at the display device, the approach of the moving vehicle from the rear can be known.

  According to the vehicle rear monitoring device of the fourth aspect, the danger notification means detects that the stop of the host vehicle is detected by the stop detection means, and that the moving vehicle enters the danger area within a predetermined time by the entry determination means. If the door opening degree detecting means detects that the opening degree of the rear seat door is equal to or greater than a predetermined amount, a warning is issued to the seated person in the rear seat. Thereby, it is possible to prevent the seated person in the rear seat from opening the door more than a predetermined amount for getting off, and to prevent the moving vehicle from colliding with the opened door from behind.

  According to the vehicle rear monitoring device according to claim 5, when the approach determination means determines that the moving vehicle enters the danger area within a predetermined time, a warning is given to a seated person in the back seat of the own vehicle. To emit. As a result, even if there is a vehicle approaching the vehicle at a speed that is likely to make a rear-end collision, it can be known before the rear-end collision, and the seated person in the rear seat can prepare for the rear-end collision.

<Embodiment 1>
Hereinafter, the vehicle rear monitoring apparatus 1 according to the first embodiment will be described with reference to FIGS. 1 to 4. FIG. 1 is a block diagram showing a configuration of a vehicle rear monitoring device 1 according to the present embodiment. A vehicle rear monitoring device 1 includes a control device 2 mainly composed of a microcomputer, a vehicle speed sensor 3, and a touch sensor attached to an inside door handle (not shown) of a rear door (corresponding to a rear seat door of the present invention). 4, a moving body detection sensor 5 attached to the rear of the vehicle, an angle sensor 6 attached to the rear door, a seating sensor 7 incorporated in a rear seat (not shown), a camera 8, a display device 9, and a speaker 10. It is composed of

  The microcomputer constituting the control device 2 includes a CPU, memory (RAM, ROM, EEPROM, flash memory, etc.), I / O, and the like, and corresponds to the course calculation means and the entry determination means of the present invention. The vehicle speed sensor 3 corresponds to the stop detection means of the present invention, is provided on a transmission or a wheel of a vehicle (not shown), and detects the stop of the vehicle from the vehicle speed. The inside handle touch sensor 4 is a pressure-sensitive or electrostatic type touch sensor, and when the inside door handle (not shown) of the rear door is touched by the seated person, the seated person starts getting out of the rear seat. Detecting that. The inside handle touch sensor 4 corresponds to the getting-off detection means of the present invention.

  The moving body detection sensor 5 corresponds to the moving vehicle detection means of the present invention, and is formed by a sonar that emits ultrasonic waves toward the rear of the vehicle or a radar that emits radio waves in the same direction. The moving body detection sensor 5 receives the reflected wave from which the radiated ultrasonic wave or radio wave bounces on the moving vehicle, and measures the time from the emission of the ultrasonic wave or the radio wave to the reception of the reflected wave, thereby approaching from behind. The position of the moving vehicle (the distance from the own vehicle) is detected.

  The rear door angle sensor 6 corresponds to the door opening degree detection means of the present invention, and is formed by a resolver, a potentiometer, a rotary encoder, or the like, and detects the opening degree (opening angle) of the rear door. The seating sensor 7 is formed by a pressure sensor built in the seat cushion or the seat back of the rear seat, or a micro switch attached to the rear seat, and detects whether the seat is seated on the rear seat. The camera 8 corresponds to the in-vehicle camera of the present invention, and although not limited to this, a normal CCD camera, CMOS camera, or the like is used. The camera 8 is attached to the rear upper part of the vehicle so that a moving vehicle behind the vehicle can be photographed. The camera 8 has a built-in image memory (not shown) formed mainly by a RAM or ROM, which stores and saves image data formed by the camera 8 taking images.

  The display device 9 is composed of a color liquid crystal display, a CRT display, or the like, and is preferably attached near the console box of the vehicle so that a seated person in the rear seat can see it. The display device 9 displays an image of a moving vehicle approaching from the rear imaged by the camera 8 on the screen or a warning for a seated person in the rear seat with the rear door opened. The display device 9 can use an in-vehicle television receiver or an in-vehicle video monitor. The speaker 10 informs the seated person in the back seat by voice that the moving vehicle is approaching from behind, and issues an alarm for the opening of the rear door. The speaker 10 can be a speaker of an in-vehicle navigation device or an in-vehicle audio device. The speaker 10 corresponds to the sound generation device of the present invention, and further corresponds to the danger notification means and warning means of the present invention together with the display device 9.

  Next, based on FIG. 2 thru | or FIG. 4, the control method of the vehicle back monitoring apparatus 1 by the control apparatus 2 when the own vehicle has stopped is demonstrated. When it is first determined that the vehicle has stopped on the road by the vehicle speed sensor 3 (step S201 in FIG. 2), the process proceeds to step S202, and the seated person in the rear seat touches the inside door handle by the touch sensor 4. It is determined whether or not. If it is not determined in step S201 that the host vehicle has stopped, this control routine ends.

  In step S202, when it is determined that the seated person in the rear seat touches the inside door handle and the seated person starts getting off from the rear seat, in step S203, a detection target area (in FIG. 3) located behind the subject vehicle. 15) It is determined whether or not there is a moving vehicle within. If it is determined that there is a moving vehicle in the detection target area 15, in step S204, a danger area (see FIG. 3) located behind the host vehicle within a predetermined time after the moving body detection sensor 5 detects the position. 16), it is determined whether or not the moving vehicle enters. If it is determined that the moving vehicle enters the danger area 16 within a predetermined time after the moving body detection sensor 5 detects the position, the approaching of the moving vehicle is notified to the seated person in the rear seat (step S205). ).

  If it is not determined in step S202 that the seated passenger in the rear seat has touched the inside handle, or if it is not determined in step S203 that there is a moving vehicle in the detection target area 15, or in step S204, the danger area is within a predetermined time. If it is not determined that the moving vehicle enters the vehicle 16, the control routine ends in either case.

Here, based on FIG. 3 and FIG. 4, a method for determining whether or not there is a moving vehicle in the detection target area 15 in step S203, and a moving vehicle in the danger area 16 within a predetermined time in step S204. A method for determining whether or not to enter will be described.
As shown in FIG. 3, a pair of left and right moving body detection sensors 5 are attached to the rear end of the own vehicle 12 (a vehicle for rearward monitoring) in the vicinity of the intersection 11, and radio waves (or super Sound waves: hereinafter referred to as radio waves) are radiated backward. The areas where radio waves radiated from the respective moving body detection sensors 5 reach the moving vehicle and the reflected waves reflected on the moving vehicle can be received by the moving body detection sensor 5 are defined as partial areas 13 and 14, respectively. A region obtained by combining both the areas 13 and 14 is set as a detection target area 15. Further, in the detection target area 15, an area immediately after the own vehicle 12 (hatched portion in FIG. 3) is set as a danger area 16. In addition, although each mobile vehicle 17-20 illustrated in FIG. 3 is represented on the same figure for convenience of explanation, it is not necessarily on the intersection 11 simultaneously.

  The moving body detection sensors 5 of the own vehicle 12 are provided in a pair of left and right, and the current position of the moving vehicle can be known by detecting the distance and direction of the moving vehicles 17 to 20 behind the own vehicle 12. it can. The control device 2 can calculate the relative speed and the moving direction of the moving vehicle with respect to the own vehicle 12 by differentiating the distance of the moving vehicle from the own vehicle 12 detected by the moving body detection sensor 5.

  In the case as shown in FIG. 3, the moving vehicle 17 located behind the host vehicle 12 is determined not to be in the detection target area 15 in step S <b> 203 because the entire vehicle is outside the detection target area 15. In addition, since all of the moving vehicles 18 to 20 are all or part of the vehicles in the detection target area 15, it is determined in step S <b> 203 that they are in the detection target area 15.

  Next, after the moving body detection sensor 5 detects the position of the moving vehicles 18 to 20 determined to be in the detection target area 15 in step S203 based on the calculated moving speed and moving direction, respectively. It is determined whether or not the vehicle enters the danger area 16 within a predetermined time (step S204). Hereinafter, this determination method will be described with reference to FIG. In FIG. 4, only the partial area 14 of the detection target area 15 is shown for simplification, but the entire detection target area 15 is used for actual determination.

  As described above, it is possible to know the current position, moving speed, and moving direction of the moving vehicle based on the detection result by the moving body detection sensor 5. Based on these, when the control device 2 calculates the position of the moving vehicle 21 (shown in FIG. 4) a predetermined time after the moving body detection sensor 5 detects the position, the outside of the detection target area 15 (FIG. 4). Is the tip position 24) of the dashed arrow. Therefore, it is not determined that the moving vehicle 21 enters the danger area 16 within a predetermined time after the moving body detection sensor 5 detects the position in step S204.

  Next, when the position of the moving vehicle 22 after a predetermined time has been calculated after the moving body detection sensor 5 detects the position thereof, the position within the detection target area 15 that does not reach the danger area 16 (FIG. 4). At the tip position 25) of the dashed arrow. Therefore, it is not determined that the moving vehicle 22 enters the danger area 16 within a predetermined time after the moving body detection sensor 5 detects the position in step S204.

  Further, when the moving vehicle 23 calculates the position after a predetermined time after the moving body detection sensor 5 detects the position of the moving vehicle 23, it moves in the detection target area 15 and enters the danger area 16 (FIG. 4). In 26). Therefore, it is determined that the moving vehicle 23 enters the danger area 16 within a predetermined time after the moving body detection sensor 5 detects the position in step S204. In the present embodiment, the predetermined time is a fairly short time that induces a risk that the vehicle cannot afford to avoid, and is the same value for all the mobile vehicles 21 to 23.

  Next, based on the above, the results of determination performed in step S204 for the moving vehicles 18 to 20 shown in FIG. 3 will be described. First, when the position of the moving vehicle 18 after a predetermined time is calculated after the moving body detection sensor 5 detects its position, the position within the detection target area 15 and does not reach the danger area 16 (in FIG. 3). The tip position of the dashed arrow). Therefore, it is not determined that the moving vehicle 18 enters the danger area 16 within a predetermined time after the moving body detection sensor 5 detects its position.

  When the moving vehicle 19 calculates the position after a predetermined time after the moving body detection sensor 5 detects the position of the moving vehicle 19, it moves in the detection target area 15 and enters the danger area 16 (broken line in FIG. 3). The tip of the arrow). Therefore, it is determined that the moving vehicle 19 enters the danger area 16 within a predetermined time after the moving body detection sensor 5 detects the position in step S204.

  Further, for the moving vehicle 20, when the position after a predetermined time is calculated by the moving body detection sensor 5, the moving vehicle 20 moves rightward in FIG. 3, and thus crosses the detection target area 15. The area 15 is to the right outside (the tip position of the broken line arrow in FIG. 3). Accordingly, it is not determined that the moving vehicle 20 enters the danger area 16 within a predetermined time after the moving body detection sensor 5 detects the position in step S204.

  Returning to the flowchart shown in FIG. 2, when it is determined in step S204 that the moving vehicle 19 approaching from behind the stopped vehicle 12 enters the danger area 16 within a predetermined time, the display device 9 or the speaker 10 is used to notify the presence of the moving vehicle 19 approaching the seated person in the rear seat (step S205). In this case, a rear image including the moving vehicle 19 photographed by the camera 8 is displayed on the display device 9 and a sound is generated from the speaker 10 such as “the vehicle is approaching from behind. Thus, the occupant of the rear seat is urged to pay attention to the moving vehicle 19. In addition, you may perform notification that the moving vehicle 19 is approaching with respect to a seated person only using either the display apparatus 9 or the speaker 10. FIG.

  Next, in step S206, when the seated person opens the rear door for getting off and the rear door angle sensor 6 detects the opening degree of the rear door more than a predetermined angle, the display device 9 and the speaker 10 inform the seated person. A warning is given (step S207). The warning for the seated person blinks the screen of the display device 9 or displays a warning mark, and moves from the speaker 10 by voice, for example, “A vehicle is approaching from behind. Please close the door!” Attention is paid to the vehicle 19. The warning for the seated person may be performed using only the display device 9 or the speaker 10.

  When the seated person starts closing the rear door by receiving the warning, it is determined in step S208 that the door opening is less than the predetermined angle, and the above-described warning is canceled (step S209). If it is determined in step S208 that the door opening is not yet less than the predetermined angle, the above-described warning is continued. Even if the warning for the seated person is canceled in step S209, the notification of the approach of the moving vehicle 19 is continued thereafter.

  Thereafter, when it is determined that the moving vehicle 19 has moved out of the detection target area 15 by overtaking the parked vehicle 12 (step S210), the above notification of the approach of the moving vehicle 19 is canceled. (Step S212). On the other hand, if it is not determined in step S210 that the moving vehicle 19 has moved out of the detection target area 15, it is determined whether or not the vehicle 12 has started running (step S211), and it is determined that the vehicle 12 has started running. In step S212, the notification about the approach of the moving vehicle 19 is canceled. If it is determined in step S211 that the vehicle 12 has not started running, the process returns to step S206. If it is not determined in step S206 that the opening degree of the rear door is equal to or greater than the predetermined angle, the process proceeds to step S210 without performing the above-described warning for the seated person.

  According to the present embodiment, the stop of the host vehicle 12 is detected by the vehicle speed sensor 3, the start of getting off from the rear seat of the host vehicle 12 is detected by the inside handle touch sensor 4, and the moving vehicle 19 is further moved within a predetermined time. Is determined to enter the danger area 16, the approach of the moving vehicle 19 is notified to the seated person in the rear seat of the host vehicle 12. As a result, the seated person in the rear seat can recognize that the vehicle 19 is approaching from behind and can safely get off, and the seated person does not need to look back when getting off and the burden on the seated person is reduced. be able to.

Further, the display device 9 displays an image of the moving vehicle 19 behind the host vehicle 12 taken by the camera 8 to a seated person in the rear seat. Thereby, the seated person in the rear seat can know the actual approaching state of the moving vehicle 19 by viewing the image of the moving vehicle 19 on the display device 9.
In addition, the speaker 10 issues a sound to the rear seat to notify the approach of the moving vehicle 19. Thereby, even if a seated person cannot afford to look at the display device 9, the approach of the moving vehicle 19 from behind can be known.

  Further, the display device 9 and the speaker 10 are determined that the stop of the host vehicle 12 is detected by the vehicle speed sensor 3 and that the moving vehicle 19 enters the danger area 16 within a predetermined time, and further, the rear door angle sensor 6 When it is detected that the opening degree of the rear door is equal to or greater than a predetermined amount, a warning is issued to the rear seat. Thereby, it is possible to prevent the seated person in the rear seat from opening the door more than a predetermined amount for getting off, and to prevent the moving vehicle 19 from colliding with the opened door from the rear.

<Embodiment 2>
Next, based on FIG. 5, the control method by the control apparatus 2 of the vehicle back monitoring apparatus 1 by Embodiment 2 is demonstrated. The configuration of the vehicle rear monitoring device 1 in the present embodiment is the same as that of the first embodiment shown in FIG. Further, the control method in the present embodiment is not limited to being applied when the host vehicle 12 is stopped, but can also be applied while the host vehicle is traveling.

  If the seating sensor 7 attached to the rear seat determines that there is a seated person in the rear seat (step S501), the process proceeds to step S502, and within a predetermined time after the moving body detection sensor 5 detects the position. In addition, it is determined whether there is a moving vehicle entering the danger area 16 of the host vehicle 12 from behind. The presence or absence of a moving vehicle entering the danger area 16 is determined by the same method as described above (shown in step S204 in FIG. 2). In step S502, if it is determined that there is a moving vehicle that enters the danger area 16 of the host vehicle 12 within a predetermined time after the moving body detection sensor 5 detects the position, the display device is the same as described above. 9 and the speaker 10 warn the seated person that there is a vehicle approaching with a momentum of impingement (step S503). By receiving the warning, the seated person in the rear seat can know the approach of the moving vehicle and can hold it by grasping the seat back of the front seat.

  After that, when it is determined that the moving vehicle 19 has passed the own vehicle 12 or the like and has moved out of the detection target area 15 (step S504), the above-described warning is released (step S505). On the other hand, if it is not determined in step S504 that the moving vehicle 19 has moved out of the detection target area 15, the warning is continued (step S503). If it is not determined in step S501 that there is a seated person in the rear seat, or if it is not determined in step S502 that there is a moving vehicle entering the danger area 16 of the host vehicle 12 within a predetermined time. This control routine ends.

  According to this embodiment, after the moving vehicle 19 is detected behind the host vehicle 12 by the moving body detection sensor 5, it is determined that the moving vehicle 19 enters the danger area 16 of the host vehicle 12 within a predetermined time. In such a case, the display device 9 and the speaker 10 issue a warning to the seated person in the back seat of the vehicle 12. As a result, even if there is a vehicle approaching the rear of the host vehicle 12 from behind, it can be known before the rear-end collision, and the seated person in the rear seat can be prepared for the rear-end collision.

<Other embodiments>
The present invention is not limited to the above-described embodiments, and can be modified or expanded as follows.
Instead of detecting the approach of the moving vehicle by the moving body detection sensor 5 using a radar or sonar, the image taken by the camera 8 may be processed to detect the position, moving direction, moving speed, etc. of the moving vehicle. . By doing so, the moving body detection sensor 5 can be made unnecessary.
As the seating sensor 7, a seating sensor 7 provided for controlling the airbag operation of the vehicle may be used.
In order to detect the predetermined opening degree of the rear door, an existing door courtesy switch may be substituted.
Instead of the speaker 10, a buzzer or the like may be used to notify or warn the seated person.

The block diagram which shows the structure of the vehicle rear monitoring apparatus by Embodiment 1. FIG. Control flow chart of the vehicle rear monitoring apparatus shown in FIG. The top view for demonstrating the detection method of the moving vehicle on the road by a vehicle back monitoring apparatus Enlarged view for explaining a method for detecting a moving position of a moving vehicle Control flow chart of vehicle rear monitoring apparatus according to embodiment 2

Explanation of symbols

  In the drawings, 1 is a vehicle rear monitoring device, 2 is a control device (route calculation means, approach determination means), 3 is a vehicle speed sensor (stop detection means), 4 is an inside handle touch sensor (alighting detection means), and 5 is a moving body. Detection sensor (moving vehicle detection means), 6 is a rear door angle sensor (door opening detection means), 7 is a seating sensor, 8 is a camera (on-vehicle camera), 9 is a display device (danger notification means, warning means), 10 Is a speaker (danger notification means, warning means), 12 is the own vehicle, 16 is a danger area, and 17 to 23 are moving vehicles.

Claims (5)

Stop detection means for detecting the stop of the vehicle;
Alighting detection means for detecting the start of getting off from the back seat of the own vehicle,
Moving vehicle detection means for detecting the position of the moving vehicle behind the host vehicle;
Based on a detection result by the moving vehicle detection means, a route calculation means for calculating a moving direction and a moving speed of the moving vehicle;
Based on the moving direction and moving speed of the moving vehicle calculated by the route calculating means, the moving vehicle is positioned behind the own vehicle within a predetermined time after the moving vehicle detecting means detects the position of the moving vehicle. Entry determination means for determining whether or not to enter the danger area
Stop of the host vehicle is detected by the stop detection unit, start of getting off from the rear seat of the host vehicle is detected by the stop detection unit, and the moving vehicle is detected by the approach determination unit within the predetermined time. A vehicle rear monitoring device, comprising: a danger notification means for notifying an occupant in the rear seat of the own vehicle of the approach of the moving vehicle when it is determined that the vehicle enters the area.   An in-vehicle camera that captures the back of the vehicle is provided, and the danger notification unit is a display device that displays an image of the moving vehicle imaged by the in-vehicle camera to a seated person in the rear seat. The vehicle rear monitoring apparatus according to claim 1.   2. The vehicle rear monitoring device according to claim 1, wherein the danger notifying unit is a sound generating device that issues a sound to a seated person in the rear seat to notify the approach of the moving vehicle. Provided with a door opening detection means for detecting the opening of the rear seat door of the own vehicle,
The danger notification means determines that the stop of the own vehicle is detected by the stop detection means, and that the moving determination means determines that the moving vehicle enters the danger area within the predetermined time, and further opens the door. 4. A warning is issued to a seated person in the rear seat when the degree detection means detects that the opening degree of the rear seat door is greater than or equal to a predetermined amount. The vehicle rear monitoring apparatus as described. Moving vehicle detection means for detecting the position of the moving vehicle behind the host vehicle;
Based on a detection result by the moving vehicle detection means, a route calculation means for calculating a moving direction and a moving speed of the moving vehicle;
Based on the moving direction and moving speed of the moving vehicle calculated by the route calculating means, the moving vehicle is positioned behind the own vehicle within a predetermined time after the moving vehicle detecting means detects the position of the moving vehicle. Entry determination means for determining whether or not to enter the danger area
And a warning means for issuing a warning to a seated person in the rear seat of the own vehicle when the entry judging means judges that the moving vehicle enters the danger area within the predetermined time. A vehicle rear monitoring device.

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