JP2011141746A - Vehicle rear side warning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent accuracy of detecting other vehicle 18 from being reduced due to deviations of rear side warning areas 14, 15 caused by displacement of an own vehicle 1 in a lateral direction. <P>SOLUTION: A vehicle rear side warning device which sets the rear side warning areas 14, 15 on the basis of the position of the own vehicle 1, and when detecting other vehicle 18 in the rear side warning areas 14, 15, outputs a warning, includes: an own vehicle position detector for detecting an own vehicle position in the lane width W of a lane on which the own vehicle 1 is running; and a warning area changer for changing the rear side warning areas 14, 15 in the lateral direction in accordance with the own vehicle position in the lane width W. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle rear side warning device.

  A rear side warning area is set to the rear side of the host vehicle based on the position of the host vehicle, and an alarm is issued to the driver of the host vehicle when another vehicle is detected in the rear side warning area. Vehicle rear side warning devices are generally known. For example, in Patent Document 1, a first alarm is issued when another vehicle is detected in the rear side alarm area, a second alarm is issued when another vehicle approaches the host vehicle, and the driving of the host vehicle is further performed. It is described that a third warning is issued when a person issues a blinker to change lanes to the side where another vehicle exists. Further, the document 1 describes that the size of the rear side warning area is changed according to the vehicle speed of the host vehicle.

JP 2003-118523 A

  By the way, the driver does not always drive the host vehicle at the center position of the lane, but may drive the vehicle at a position shifted to the right or left from the center of the lane. On the other hand, since the rear side warning area for detecting the presence of another vehicle is set based on the position of the own vehicle, when the own vehicle is displaced in the lateral direction, the rear side warning area is also changed in the direction of displacement of the own vehicle. It will shift to. If the rear side warning area is set to just cover the width of the adjacent lane when the host vehicle is traveling in the center of the lane, if the host vehicle is displaced to the left side, for example, the rear side warning The area is shifted to the left side from the width of the adjacent lane, and a part of the right side of the adjacent lane width is not covered. In this case, if another vehicle is traveling on the right side of the adjacent lane, a part of the other vehicle may protrude from the rear side warning area. Then, when the reflected wave of the radar from the side warning area is received and the other vehicle is detected, the reflected wave can be received only from a part of the vehicle. As a result, the reception sensitivity is lowered and the other vehicle exists. Despite this, there is a possibility of erroneous detection that no other vehicle exists.

  The present invention has a problem that the detection accuracy of other vehicles is lowered due to such a deviation of the rear side warning area due to the lateral displacement of the host vehicle.

  In order to solve the above problem, the present invention changes the rear side warning area in the lateral direction in accordance with the position of the host vehicle in the lane width.

That is, the present invention provides alarm area setting means for setting a rear side warning area on the rear side of the own vehicle with reference to the position of the own vehicle, and target detection means for detecting a target in the rear side warning area. And a vehicle rear side warning device comprising warning means for giving a warning when the target is detected,
Own vehicle position detecting means for detecting the own vehicle position in the lane width in which the own vehicle is traveling;
And a warning area changing means for changing a rear side warning area set based on the own vehicle position in a lateral direction according to a change in the own vehicle position in the lane width.

  Therefore, since the rear side warning area can be changed to increase the detection accuracy of other vehicles in response to changes in the position of the own vehicle in the lane width in which the own vehicle is traveling, driving such as changing the lane of the own vehicle Information appropriate for assistance can be given to the driver.

  The warning area changing means may displace the rear side warning area in a direction opposite to the displacement direction of the host vehicle in accordance with the amount of lateral displacement of the host vehicle from the center of the lane. As a result, in the case where the warning area is set on the rear side opposite to the direction of displacement of the host vehicle, the other vehicle does not travel in the center of the adjacent lane, for example, and passes through a position away from the host vehicle. Even in the case of approaching from behind, this can be easily detected. In addition, in the case where an alarm area is set on the rear side of the displacement direction of the host vehicle, it is easy to detect even when another vehicle approaches from behind so as to pass near the side of the host vehicle. Become.

  The warning area changing means is configured to change the rear side warning area set on the opposite side to the displacement direction of the own vehicle according to the lateral displacement amount of the own vehicle from the center of the lane. It can be expanded to. That is, if the rear side warning area is displaced in the direction opposite to the displacement direction of the own vehicle without changing the lateral width according to the lateral direction displacement amount of the own vehicle, the separation amount of the rear side warning area to the side of the own vehicle Becomes larger. In that case, the detection accuracy of other vehicles approaching from behind so as to pass near the side of the host vehicle is lowered. Therefore, by expanding the rear side warning area to the side opposite to the direction of displacement of the host vehicle, not only the other vehicle approaching from the rear so as to pass near the side of the host vehicle but also the side away from the host vehicle. This makes it easier to detect other vehicles approaching from behind so as to pass through the specified position.

  The warning area changing means is configured such that when the own vehicle position is displaced laterally from the center of the lane in which the vehicle travels, the rear side warning area is set to the adjacent lane with the outer edge far from the own vehicle out of both side edges of the area. It can be changed so that the outer edge position is far from the own vehicle. Thereby, it becomes easy to detect the other vehicle approaching from the rear so as to pass through a position away from the host vehicle laterally.

  In that case, a lane width detection means for detecting the width of the lane in which the host vehicle travels is provided, and the outer edge position of the adjacent lane may be estimated based on the width of the lane in which the host vehicle travels. .

  As described above, according to the present invention, a rear side warning area is set on the rear side of the host vehicle with reference to the position of the host vehicle, and other vehicles and other targets are detected in the rear side warning area. In the rear side warning device of the vehicle that issues an alarm when the vehicle is running, the vehicle position detection means for detecting the vehicle position in the lane width in which the vehicle is traveling and the vehicle position are set based on the vehicle position Since there is a warning area changing means for changing the rear side warning area in the lateral direction according to the change in the own vehicle position in the lane width, the change in the own vehicle position in the lane width in which the own vehicle is traveling Accordingly, the rear side warning area can be changed so that the detection accuracy of other vehicles is improved, which is advantageous in giving the driver appropriate information for driving support such as lane change of the own vehicle.

1 is a plan view schematically showing a vehicle and a road according to an embodiment of the present invention. It is a top view which shows the warning area initially set by the rear side of the own vehicle. It is a top view which shows the change state of the rear side warning area when the own vehicle of Embodiment 1 is displaced to the lane left side. It is a flowchart of the setting / change of a rear side warning area of Embodiment 1, and lane change assistance control. It is a top view which shows the change state of the rear side warning area when the own vehicle of Embodiment 2 is displaced to the lane right side. It is a flowchart of the setting / change of a rear side warning area of Embodiment 2, and lane change assistance control. It is a top view which shows the change state of the rear side warning area when the own vehicle of Embodiment 3 is displaced to the lane left side. It is a flowchart of the setting / change of a rear side warning area of Embodiment 3, and lane change assistance control.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. It should be noted that the following description of the preferred embodiment is merely illustrative in nature, and is not intended to limit the present invention, its application, or its use.

<Embodiment 1>
FIG. 1 is a partial perspective view for schematically explaining a vehicle 1 equipped with a vehicle rear side alarm device according to the present invention. Radars (for example, millimeter wave radars) functioning as detecting means for detecting obstacles on the rear side of the host vehicle are mounted on the left and right sides of the rear part of the vehicle (for example, below the left and right rear combination lamps in the rear bumper). This radar is composed of a left radar 2 and a right radar 3.

  An alarm buzzer 4 is provided on the instrument panel of the vehicle 1, and alarm lamps 5 and 6 are provided on the left and right ends of the instrument panel, respectively, which are connected to the control unit 10 by a harness or the like. In addition, a camera (for example, a CCD camera) 7 is provided at the upper end of the windshield of the vehicle 1 in the center in the vehicle width direction for imaging a traveling division line on the front road surface that divides the lane 11 on which the host vehicle 1 is traveling. The camera 7 and the radars 2 and 3 are communicably connected to the control unit 10 via a CAN (Control Area Network).

  The control unit 10 performs lane change support control (Lane Change Aid System; hereinafter referred to as LCA system) when the host vehicle 1 changes lanes, and detects lanes (lane width detection means). 10a, own vehicle position detecting means 10b for detecting the own vehicle position in the lane width W where the own vehicle 1 is traveling, and an alarm area setting for setting a rear side alarm area on the left and right rear sides of the own vehicle 1 Means 10c, warning area changing means 10d for changing the rear side warning area in the horizontal direction, target detection means 10e for detecting a target (other vehicle) in the rear side warning area by radar, target The alarm buzzer 4 and the alarm lamps 5 and 6 constitute an alarm means 10f that issues an alarm to the driver of the host vehicle when the alarm is detected. These will be specifically described below.

  The lane detection means 10 a is also used in an LDW (Lane Departure Warning) system that activates an alarm buzzer 41 when it is determined that the host vehicle 1 departs from the traveling lane 11. Based on this, the left and right dividing lines (white lines) 11a and 11b of the currently running lane 11 are detected by general image processing, and the running lane width W is detected based on the detected dividing lines 11a and 11b. . As shown in FIG. 3, the own vehicle position detecting means 10b is based on the dividing lines 11a and 11b detected by the image processing, and the vehicle width direction center line of the own vehicle 1 with respect to the center line 11c of the traveling lane 11 is shown. The lateral displacement amount α is detected.

  As shown in FIG. 2, the alarm area setting means 10c is in a plane coordinate system defined by the x-axis and the y-axis orthogonal with the specific position of the host vehicle 1 as the origin (the front of the host vehicle is the y-axis positive direction). The rear side warning areas 14 and 15 are set on the left and right rear sides of the host vehicle 1. In this case, the rear side warning areas 14 and 15 are rectangular areas having the same width as the lane width W obtained by the lane detecting means 10a and extending several meters behind the own vehicle 1 and of the own vehicle 1. It is set to the outside which is separated from the center line in the vehicle width direction by a half of the lane width W. Therefore, as shown in FIG. 2, when the lateral displacement amount α is zero (when the host vehicle 1 is traveling in the center of the lane 11), the lanes 12 and 13 adjacent to the traveling lane 11. The rear side warning areas 14 and 15 are set so as to cover the full width of the rear side.

  The warning area changing means 10d changes the rear side warning areas 14 and 15 set by the warning area setting means 10c in the horizontal direction according to the change of the own vehicle position in the traveling lane width W. Specifically, the rear side warning areas 14 and 15 are displaced by the lateral displacement amount α in the direction opposite to the displacement direction of the host vehicle 1. Therefore, as shown in FIG. 3, the rear side warning areas 14 and 15 are set by the warning area setting means 10c at positions indicated by chain lines in the figure, but the vehicle 1 is laterally moved from the center of the lane in which the vehicle 1 is traveling. Is displaced in the reverse direction by α by the alarm area changing means 10d. As a result, as shown by the solid line in the figure, the rear side alarm areas 14 and 15 are moved to the lane 11 that is running. The full width of the adjacent lanes 12 and 13 is now covered.

  In other words, the warning area setting means 10c is based on the width W of the traveling lane 11, and the outer edges 12a, 13b far from the own vehicle 1 of the adjacent lanes 12, 13 are only the width W from the dividing lines 11a, 11b. It is an estimate that is located outside. Based on this estimation, the alarm area setting means 10c sets the rear side alarm areas 14 and 15 as described above, so that the rear side alarm areas 14 and 15 are opposite to the displacement direction by the lateral displacement amount α. When displaced in the direction, the outer edges 14a and 15b far from the own vehicle 1 in the rear side warning areas 14 and 15 are positioned at the outer edges 12a and 13b far from the own vehicle 1 in the adjacent lanes 12 and 13, respectively.

  The target detection means 10e receives the reflected wave of the radar wave emitted rearward from the own vehicle 1 to determine whether an obstacle, that is, another vehicle exists in the rear side alarm areas 14 and 15. Is detected. The warning means 10f turns on the warning lamps 5 and 6 on the side where the other vehicle exists when the target detection means 10e detects the presence of the other vehicle in the rear side warning areas 14 and 15. Further, the warning means 10f is a direction indicator for changing the traveling direction of the own vehicle 1 to the side where the other vehicle exists when it is detected that the other vehicle exists in the rear side warning areas 14, 15. When (not shown) is activated, the alarm lamps 5 and 6 on the side where the other vehicle is present are blinked and the alarm buzzer 4 is sounded.

  FIG. 4 shows the flow of the setting / change of the rear side warning area and the lane change support control. When the ignition switch of the engine is turned on (step A1) and the LCA system is turned on (step A2), the rear side warning areas 14 and 15 are set with default values in the subsequent step A3. This is a setting based on the vehicle position by the warning area setting means 10c. When it is confirmed in step 4 that the LDW system is on, white line information (left and right dividing lines (white lines) 11a and 11b of the currently running lane 11) is acquired by the camera 7 in step A5.

  When a white line is recognized by image processing in step A6, the lateral displacement amount α of the host vehicle 1 in the traveling lane 11 is calculated in subsequent step A7. Based on this calculation result, it is determined in subsequent Step A8 whether or not the host vehicle 1 is displaced leftward from the center of the lane. When it is displaced leftward, the process proceeds to step A9, and as shown in FIG. 3, the rear side warning areas 14, 15 of the previous default value (indicated by a chain line) are moved rightward by the lateral displacement amount α. Displace. Accordingly, the rear side warning areas 14 and 15 just cover the entire width of the left and right lanes 12 and 13 adjacent to the traveling lane 11. Then, in subsequent Step A10, it is determined whether or not there is another vehicle in the rear side warning areas 14, 15.

  Therefore, as shown in FIG. 3, the other vehicle 18 as a whole enters the rear side warning area 15 even when the other vehicle 18 approaching from the rear is traveling on the right side of the right adjacent lane 13, for example. For this reason, in the right radar 3, the reception sensitivity of the reflected wave from the other vehicle 18 becomes high, and this can be reliably detected.

  When it is determined in step A8 that the host vehicle 1 is not displaced leftward, the process proceeds to step A11, and it is determined whether the host vehicle 1 is displaced rightward from the center of the lane. When it is displaced to the right, the process proceeds to step A12, and the rear side warning areas 14, 15 of the previous default value are displaced to the left by the lateral displacement amount α, and the process proceeds to step A10. When it is determined in step A11 that the host vehicle 1 is not displaced rightward, the host vehicle 1 is traveling in the center of the lane. In this case, the rear side warning areas 14 and 15 proceed to step A10 while maintaining the default values.

  When it is detected in step A10 that the other vehicle 18 exists in the rear side warning areas 14 and 15, the process proceeds to step A13, and the alarm lamps 5 and 6 on the side where the other vehicle 18 exists are turned on. If it is determined in the next step A14 that the turn indicator (blinker) on the side where the other vehicle 18 exists is operated, the alarm lamps 5 and 6 on the side where the other vehicle 18 exists are blinked, and an alarm is issued. The buzzer 4 is sounded. When the operation of the direction indicator is not determined in step A14, the process returns to the determination step A10 of whether or not another vehicle exists in the rear side warning areas 14 and 15.

  As described above, when the host vehicle 1 is displaced laterally from the center of the running lane, the rear side warning areas 14 and 15 are displaced by the displacement amount α in a direction opposite to the displacement direction of the host vehicle 1. Therefore, the rear side warning areas 14 and 15 just cover the full width of the left and right lanes 12 and 13 adjacent to the traveling lane 11. As a result, the other vehicle 18 traveling in the adjacent lane and approaching from behind can be detected with high accuracy, and the lane change support can be made appropriate.

  In this embodiment, the rear side warning area change control is performed when the LDW system is turned on, but it is not always necessary to operate the LDW system. The change control of the rear side warning area may be performed by acquiring white line information without requiring the operation of the LDW system. This is the same in other embodiments described later.

  Further, the lane width W and the own vehicle position are acquired by image processing of the camera 7, but the present invention is not limited to this, and various information such as acquiring from the map data (lane width) of the vehicle navigation unit and the own vehicle position information. Is possible. This is the same in other embodiments described later.

<Embodiment 2>
As shown in FIG. 5, this embodiment relates to a vehicle rear side warning device that is useful in a case where there is an adjacent lane 13 on one side of the host vehicle 1 and no adjacent lane on the opposite side.

  The difference from the first embodiment is that the lane detection means 10a determines whether there are adjacent lanes on the left and right depending on whether the left and right dividing lines 11a, 11b of the traveling lane 11 are intermittent white lines or continuous white lines. Even if the warning area changing means 10d is displaced laterally from the center of the lane in which the host vehicle 1 is traveling, the area position of the rear side warning area without the adjacent lane is changed. Is not to do.

  In this case, when the lane markings 11a and 11b are intermittent white lines, the lane detection means 10a determines that there is an adjacent lane on the side where the intermittent white lines are present, and when it is a continuous white line, the continuous white lines are present. It is determined that there is no adjacent lane on the side where In the example of FIG. 5, the left dividing line 11 a is a continuous white line, there is no lane on the left side of the traveling lane 11, the right dividing line 11 b is an intermittent white line, and the lane 13 is on the right side of the lane 11. It is a case.

  FIG. 6 shows the flow of the setting / change of the rear side warning area and the lane change support control in this embodiment. Steps B1 to B8 are the same as steps A1 to A8 of the first embodiment. Steps B18 to B21 are the same as steps A10 and A13 to A15 of the first embodiment.

  Therefore, the description will focus on the points different from the first embodiment. When it is determined in step B8 that the host vehicle 1 is displaced leftward, the process proceeds to step B9, and the right side of the lane 11 in which the host vehicle is traveling. Determine if there is a lane. If there is a lane on the right side, the process proceeds to step B10, where the default value of the right rear side warning area 15 is displaced rightward by the lateral displacement amount α of the host vehicle 1, and whether there is another vehicle in the warning area. The process proceeds to determination step B18. When it is determined in step B9 that there is no lane on the right side, the process proceeds to step B11, and it is determined whether or not there is a lane on the left side of the lane 11 in which the host vehicle is traveling. When there is a lane on the left side, the process proceeds to Step B12, and the default left rear side warning area 14 is displaced rightward by the lateral displacement amount α of the host vehicle 1 and the process proceeds to Step B18.

  When it is determined in step B8 that the own vehicle 1 is not displaced leftward, the process proceeds to step B13, and it is determined whether or not the own vehicle 1 is displaced rightward from the center of the lane. When it is displaced in the right direction, the process proceeds to step B14, and it is determined whether or not there is a lane on the left side of the lane 11 in which the host vehicle is traveling. When there is a lane on the left side, the process proceeds to step B15, and the default left rear side warning area 14 is displaced leftward by the lateral displacement amount α of the host vehicle 1 and then the process proceeds to step B18. When it is determined in step B14 that there is no lane on the left side, the process proceeds to step B16, and it is determined whether or not there is a lane on the right side of the lane 11 in which the host vehicle is traveling. When there is a lane on the right side, the process proceeds to Step B17, where the default right rear side warning area 15 is displaced leftward by the lateral displacement amount α of the host vehicle 1, and the process proceeds to Step B18.

  Therefore, when there is no adjacent lane on the right or left side of the lane 11 in which the host vehicle is traveling, the rear side warning area 14 or 15 is left at the default value. FIG. 5 illustrates a case where the host vehicle 1 is displaced in the right direction from the center of the lane 11, the lane 13 is on the right side of the lane 11, and there is no lane on the left side. In this case, the right rear side warning area 15 is displaced leftward by the lateral displacement amount α of the host vehicle 1 and covers the entire width of the right lane 13, but the left rear side warning area 14 Is left at the default value. This is advantageous in accurately detecting other vehicles approaching from behind so as to pass through the left side of the host vehicle 1.

  Further, since the right rear side warning area 15 is displaced so as to cover the entire width of the right lane 13, the other vehicle 18 travels on the left side of the lane 16 on the right side of the right lane 13 and moves backward. Even if the vehicle approaches the vehicle, it is possible to avoid erroneously detecting the other vehicle 18 as a vehicle traveling in the right lane 13. This effect can also be obtained in the first embodiment.

  In this embodiment, the presence / absence of the adjacent lane is determined by the intermittent white line or the continuous white line. However, the present invention is not limited to this, and various measures such as determination by image processing of the camera 7 are possible.

<Embodiment 3>
As shown in FIG. 7, this embodiment relates to a vehicle rear side warning device having control for expanding a rear side warning area 15. That is, the difference from the first embodiment is that the warning area changing means 10d is opposite to the displacement direction of the own vehicle 1 according to the lateral displacement amount α of the own vehicle 1 from the center of the traveling lane 11. The rear side alarm area set in the above direction is enlarged by a lateral displacement amount α on the side opposite to the displacement direction. In other words, in the example of FIG. It is only to enlarge it so that it is shifted outward. In this case, the position of the inner edge 15a of the rear side warning area 15 is left at the default value.

  FIG. 8 shows the flow of the setting / change of the rear side warning area and the lane change support control of this embodiment. Compared with the control flow of the second embodiment, steps C10 and C15 in steps C1 to C21 are different from the corresponding steps B10 and B15 of the second embodiment, and the others are the same.

  Therefore, the differences from Embodiment 2 will be mainly described. In Step C8, it is determined that the host vehicle 1 is displaced leftward, and in Step C9, the lane is on the right side of the lane 11 on which the host vehicle is traveling. If it is determined, the process proceeds to step C10, where the right rear side warning area 15 is expanded rightward by the lateral displacement amount α of the host vehicle 1. If it is determined in step C13 that the host vehicle 1 is displaced rightward, and if it is determined in step C14 that there is a lane on the left side of the lane 11 in which the host vehicle is traveling, the process proceeds to step C15. The rear side warning area 14 is expanded leftward by the lateral displacement amount α of the host vehicle 1.

  Accordingly, in the case where the host vehicle 1 illustrated in FIG. 7 is displaced leftward, the left rear side warning area 14 is displaced rightward by the lateral displacement amount α of the host vehicle 1, and the left lane 12 The right rear side warning area 15 is expanded rightward by the lateral displacement amount α to cover the full width of the right lane 13 and the right side portion of the traveling lane 11. It becomes a state.

  Thereby, the other vehicle approaching the left lane 12 from the rear can be detected with high accuracy. This is the same as in the first and second embodiments. On the other hand, the other vehicle 18 approaching the right lane 13 from the rear side is reliably detected by the expansion of the right rear side warning area 15 even when the vehicle 18 is traveling to the right of the right lane 13. Further, the inner edge 15a of the right rear side warning area 15 remains at the default value, and therefore, another vehicle (for example, that passes through the right side of the host vehicle by traveling to the right side of the traveling lane 11). Two-wheeled vehicles) are also easily detected, which is advantageous for appropriate driving support.

<Others>
In the first to third embodiments, the other vehicle is detected using the millimeter wave radar. However, other sensors such as a radar and a camera may be used as a matter of course.

  Further, regarding the default values of the rear side warning areas 14 and 15, it is not always necessary to match the area width with the lane width W. The area width may be larger or smaller than the lane width W. Further, the rear side alarm areas 14 and 15 do not necessarily need to be rectangular.

1 Own vehicle
2 Left radar
3 Right radar
4 Alarm buzzer 5, 6 Alarm lamp
7 Camera
10 Control unit 10a Lane detection means (lane width detection means)
10b Own vehicle position detection means 10c Alarm area setting means 10d Alarm area change means 10e Target detection means 10f Alarm means
11 Lanes 12 and 13 adjacent lanes 12a and 13b Outside edge 14, 15 Rear side warning areas 14a and 15b Outside edge

Claims (5)

Alarm area setting means for setting a rear side warning area on the rear side of the own vehicle with reference to the position of the own vehicle, target detection means for detecting a target in the rear side warning area, and the target In a vehicle rear side warning device equipped with warning means for issuing a warning when detected,
Own vehicle position detecting means for detecting the own vehicle position in the lane width in which the own vehicle is traveling;
A rear area warning area that is set based on the position of the own vehicle, and a warning area changing means that changes the position of the rear side of the lane width in the lateral direction according to the change in the position of the own vehicle in the lane width. Side alarm device. In claim 1,
The warning area changing means displaces the rear side warning area in a direction opposite to the displacement direction of the own vehicle according to a lateral displacement amount of the own vehicle from the center of the lane. Rear side alarm device. In claim 1,
The warning area changing means is configured to change the rear side warning area set on the opposite side to the displacement direction of the own vehicle according to the lateral displacement amount of the own vehicle from the center of the lane. A rear side warning device for a vehicle, characterized in that the vehicle is enlarged. In any one of Claim 1 thru | or 3,
When the own vehicle position is displaced laterally from the center of the lane in which the vehicle is moving, the warning area changing means uses the rear side warning area as the outer edge far from the own vehicle of both side edges of the area. A rear side warning device for a vehicle, wherein the rear side alarm device is changed so that the outer edge position is far from the host vehicle. In claim 4,
Lane width detecting means for detecting the width of the lane in which the host vehicle travels,
The vehicle rear side warning device, wherein the warning area changing means estimates an outer edge position of the adjacent lane based on a width of a lane in which the host vehicle is traveling.

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