JP2014016889A - Alarm device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an alarm device capable of appropriately terminating a notification state of an alarm on the basis of an estimated position of a target.SOLUTION: An alarm device includes: a detection unit 11 for detecting a target 42 present in a detection area 70 extending in an oblique rear of a vehicle 41; a calculation unit for performing calculation for acquiring an estimated position FP of the target 42 on the basis of positional information of the target 42 having been detected; a control unit for performing, when the detection of the target 42 by the detection unit 11 is lost, processing of outputting an instruction for starting calculation of acquiring the estimated position FP to the calculation unit, and performing, when a period of time in which the calculation for acquiring the estimated position FP lasts exceeds a prescribed period of time, processing of outputting an instruction of terminating the calculation of acquiring the estimated position FP; a determination unit for determining whether or not the estimated position FP is present in an alarm area 60 which is set in a direction from an area which does not overlap with the detection area 70 in a sideward direction of the vehicle 41 to an area which overlaps with the detection area 70 in a rearward direction along the travel direction of the vehicle; and a notification unit 31 for notifying a driver of the vehicle of a result of determination by the determination unit.

Description

  The present invention relates to an alarm device that informs a driver that another vehicle traveling in an alarm area that is a blind spot area of the driver in the vehicle is detected.

  Conventionally, it covers the rear side area of the vehicle where the driver's visual attention is reduced, for example, the blind spot of the inner rear view mirror (room mirror) and outer view mirror (door mirror, fender mirror). A rear warning device or blind spot warning device has been proposed (see, for example, Patent Document 1). By using this blind spot warning device, for example, the anxiety when changing lanes could be resolved. In other words, the rear warning device detects other vehicles that may collide when changing lanes, in other words, other vehicles that may be overlooked by driving in the blind spot of the driver, and the presence of the vehicles is detected by the driver. I was telling.

  In the blind spot alarm device described in Patent Document 1, a laser radar is used as means for detecting the other vehicle described above, but it is also conceivable to use a short range radar sensor (SRR sensor). When a blind spot warning (blind side warning (BSW)) is realized using an SRR sensor, it is possible to detect other vehicles at a long distance with high azimuth accuracy by using a narrowband beam (NB beam). .

Japanese Patent Laid-Open No. 10-166773

  However, in the detection of other vehicles using the NB beam, there is a problem that it is difficult to detect in a region close to the own vehicle. Specifically, although it fluctuates depending on the frequency band of the radio wave used for detection, there has been a problem that other vehicles cannot be detected in an area of 3 m to 6 m or less from the SRR sensor.

  For example, an area where an other vehicle (hereinafter referred to as “target”) cannot detect the area other than the area where the other vehicle in the SRR sensor can be detected (hereinafter referred to as “detection area”) (hereinafter referred to as “not detectable”). When entering the “region”, the blind spot alarm device loses (lost) the detected target. As a result, even if the target exists in the warning area, the warning issued by the blind spot warning device may be interrupted. The alarm area is set over the detection area and the non-detection area.

  In order to prevent such alarm disconnection, when the target enters the undetectable area, the position of the target is predicted and compensated by calculation, as long as the target position exists in the alarm area. Processing to continue the alarm was performed.

  However, the accuracy of the predicted position of the target obtained by calculation decreases as the time elapsed since the calculation started. It is not desirable to continue the alarm notification state based on such an expected position for a long period of time, and it has been desired to set an appropriate condition to stop the alarm notification.

The present invention has been made to solve the above-described problem, and an object of the present invention is to provide an alarm device that can appropriately terminate an alarm notification state based on an expected position of a target.

In order to achieve the above object, the present invention provides the following means.
The alarm device according to the first aspect of the present invention includes a detection unit that detects a target that exists in a detection region that extends obliquely rearward of the vehicle, and predicts the target based on the detected position information of the target. A calculation unit for calculating a position; and when the detection of the target by the detection unit is lost, a process for outputting an instruction to start the calculation for determining the predicted position to the calculation unit, and the predicted position A control unit that performs a process of outputting an instruction to end the calculation for obtaining the predicted position to the calculation unit when a period during which the calculation for calculating exceeds a predetermined period, and the detection area on the side of the vehicle. A determination unit that determines whether or not the predicted position exists in an alarm region that extends from a region that does not become a region overlapping the detection region behind the vehicle in the traveling direction, and the determination result in the determination unit Vehicle driver A notification unit that notifies, characterized in that is provided.

  According to the alarm device according to the first aspect of the present invention, when the detection of the target by the detection unit is lost, in other words, when the target is lost, after the lost based on the position information of the target that has been detected so far The calculation for obtaining the predicted position of the target is started. The determination unit determines whether or not the obtained predicted position exists in the alarm area, and if the predicted position exists in the alarm area, the target is present in the alarm area by the notification unit. A notification to notify is given.

  On the other hand, when the period that has elapsed since the calculation for obtaining the predicted position exceeds a predetermined period, the calculation for obtaining the predicted position in the calculation unit ends based on an instruction from the control unit. At this time, even if it is determined that the predicted position exists in the alarm region, the predicted position disappears when the calculation ends, so that the notification by the notification unit is also ended at the same time.

  An alarm device according to a second aspect of the present invention is based on a detection unit that detects a target existing in a detection region that extends obliquely rearward of a vehicle, and predicts the target based on position information of the detected target. A calculation unit for calculating a position; and when detection of the target by the detection unit is lost, a process for outputting an instruction to start calculation for the predicted position to the calculation unit is performed, and the predicted position is included. When the target is redetected inside a predetermined area, a process for outputting an instruction to end the calculation for obtaining the predicted position to the calculation unit is performed, and the predicted position is replaced with the position of the redetected target. The target is detected in an alarm area set extending from a control section that performs processing and an area that does not overlap the detection area on the side of the vehicle to an area that overlaps the detection area behind the vehicle in the traveling direction. Position or front A determination section for determining whether or not the expected position exists, characterized in that a notification unit for notifying the result of determination in the determination unit to the driver of the vehicle, is provided.

  According to the alarm device according to the second aspect of the present invention, when the target is lost, notification based on the predicted position of the lost target is performed as described above. By the way, even if the target exists in the detection area, the detection unit may lose the target, and in this case, the calculation process for obtaining the predicted position is performed in the calculation unit.

  If the target is re-detected within the predetermined area containing the calculated expected position while this process is being performed, the calculation process for determining the predicted position based on an instruction from the control unit is terminated, and the predicted position Is replaced with the position of the re-detected target. When the replacement process is performed, the determination unit determines whether the target exists in the warning area based on the position of the target after replacement, and the predicted position exists in the warning area Is notified by the notification unit that the target is present in the warning area.

  According to the alarm device according to the first aspect of the present invention, when the period after the calculation for obtaining the predicted position exceeds a predetermined period, the calculation for obtaining the predicted position in the calculation unit is terminated, thereby informing Since the notification by the unit is also terminated at the same time, there is an effect that the alarm notification state based on the predicted position of the target can be appropriately terminated.

  According to the alarm device according to the second aspect of the present invention, when a target is re-detected within a predetermined area including the determined predicted position, the calculation process for determining the predicted position is terminated. There is an effect that the alarm notification state based on the predicted position can be appropriately terminated.

It is a mimetic diagram explaining the concept of the alarm device concerning one embodiment of the present invention. It is a block diagram explaining the structure in the alarm device of FIG. It is a flowchart explaining the arithmetic processing at the time of performing alerting | reporting in the alarm device of FIG. It is a block diagram explaining the structure of another Example in the alarm device of FIG. It is a schematic diagram explaining another shape of the predetermined area | region in the alarm device of FIG. It is a schematic diagram explaining another shape of the predetermined area | region in the alarm device of FIG.

  Hereinafter, an alarm device according to an embodiment of the present invention will be described with reference to FIGS. The alarm device 1 of this embodiment supports a lane change operation during driving of a vehicle. In other words, assuming a three-lane road as shown in FIG. 1, an overtaking lane 52 (center lane) adjacent to the own lane 51 (left lane) on which the host vehicle (vehicle) 41 travels approaches from the rear. The other vehicle (target) 42 is detected and the driver of the own vehicle 41 is notified of the presence of the other vehicle 42.

  By performing such notification, the driver's attention is alerted when a lane change operation to the overtaking lane 52 is performed. More specifically, the other vehicle 42 enters the alarm area 60 set to extend from the side of the own vehicle 41 in the overtaking lane 52 toward the rear in the traveling direction, and the other vehicle 42 enters the alarm area 60. While the vehicle is present, the driver of the host vehicle 41 is notified of the presence of the other vehicle 42.

  As shown in FIG. 2, the alarm device 1 includes a short range radar sensor (detection unit) 11 (hereinafter referred to as “SRR sensor 11”), a control unit 21, a calculation unit 22, and a determination unit 23. A processing unit 20 having a storage unit 24 and a notification unit 31 are mainly provided.

  The SRR sensor 11 is a radar sensor attached to the right rear end or the left rear end of the host vehicle 41. For example, as shown in FIG. 1, the SRR sensor 11 attached to the right rear end detects a target represented by the other vehicle 42 present in the detection area 70 extending diagonally rearward to the right of the host vehicle 41. 42 position information is acquired. The other vehicle 42 can be exemplified by a vehicle traveling on a road such as a four-wheel vehicle or a two-wheel vehicle.

  The detection area 70 is an area that mainly covers the overtaking lane 52 (the center lane in the case of FIG. 1) behind the host vehicle 41 and the adjacent lane (the rightmost lane in the case of FIG. 1). is there. For this reason, in the alarm area 60 described above, there is an overlap with the rear portion in the traveling direction, and there is no overlap with the front portion.

In this embodiment, the SRR sensor 11 will be described as an example of a sensor capable of switching between a narrow band (NB) beam mode of 24 GHz and an ultra wide band (UWB) beam mode of 26 GHz.

  A detection region 70 shown in FIG. 1 is a detection region of the SRR sensor 11 in the NB beam mode. Compared with the UWB beam mode, the NB beam mode can detect a target at a long distance, and can detect the orientation of the target with high accuracy.

  The processing unit 20 is a microcomputer having a CPU (Central Processing Unit), ROM, RAM, input / output interface, and the like. The control program stored in the ROM or the like causes the CPU to function as the control unit 21, the calculation unit 22, or the determination unit 23 described above, and causes the ROM or the like to function as the storage unit 24.

  The control unit 21 performs a process of outputting a control signal instructing the calculation unit 22 to start or stop the calculation for obtaining the predicted position of the other vehicle 42. A process for outputting a control signal for starting a calculation for obtaining an expected position and a process for outputting a control signal for stopping the calculation will be described later.

  The calculation unit 22 performs calculation processing for obtaining a position where the other vehicle 42 exists based on the position information of the other vehicle 42 detected by the SRR sensor 11. For example, when the other vehicle 42 exists in the detection area 70 and position information is input from the SRR sensor 11, a calculation for obtaining the position of the other vehicle 42 is performed based on the input position information.

  Moreover, when the other vehicle 42 is lost, the calculation process which estimates the position of the lost other vehicle 42 based on the position obtained by the calculation so far is performed. Here, when the other vehicle 42 is lost, the other vehicle 42 moves out of the detection region 70 and cannot be detected, or even if it exists in the detection region 70, the other vehicle 42 for some reason. This includes the case where it is no longer possible to detect this. In FIG. 1, the position where the other vehicle 42 is lost is shown as a lost position LP.

  As a calculation method for obtaining the position of the other vehicle 42 based on the position information input from the SRR sensor 11 and a calculation method for predicting the position of the lost other vehicle 42, a known calculation method can be used. There is no particular limitation.

  The determination unit 23 determines whether the other vehicle 42 is based on the position of the other vehicle 42 obtained by the calculation unit 22 or the predicted position of the other vehicle 42 and the information of the warning area 60 stored in the storage unit 24. It is determined whether or not the alarm area 60 exists.

  As a result of the determination, when it is determined that the other vehicle 42 is present in the alarm region 60, a control signal for instructing the alarm unit 31 to issue an alarm is also generated. In addition, as a calculation process which determines whether the position of the other vehicle 42 exists in the warning area | region 60, a well-known calculation process can be used and it does not specifically limit.

  The storage unit 24 stores information on the alarm region 60 used for the determination process in the determination unit 23. As shown in FIG. 1, the warning area 60 is set to an area that mainly overlaps the overtaking lane 52. Further, in the alarm area 60, a first area 61 that spreads to the side of the host vehicle 41 and does not overlap the detection area 70, a second area 62 that extends rearward in the traveling direction from the first area 61 and overlaps the detection area 70, Is provided.

The notification unit 31 notifies the driver of the host vehicle 41 that the other vehicle 42 exists in the alarm region 60 based on the control signal output from the determination unit 23. As the notification unit 31, a unit that performs notification by sound or voice, a unit that performs notification by flashing light, or a unit that performs notification by vibration can be used, and the notification method is not particularly limited.

Next, calculation processing in the alarm device 1 of the present embodiment, particularly calculation processing when the other vehicle 42 as the detection target is lost will be described with reference to the flowchart of FIG.
When the host vehicle 41 is traveling, the alarm device 1 sets the SRR sensor 11 to the NB beam mode, and performs processing for detecting the position of the other vehicle 42 existing in the detection area 70 or the other vehicle 42 entering the detection area 70. Repeatedly at a predetermined cycle.

  When the position of the other vehicle 42 detected here is within the second area 62 of the alarm area 60, a process of notifying the driver of the host vehicle 41 of the alarm is performed. The position of the other vehicle 42 detected by the above detection process is stored in the storage unit 24 of the processing unit 20.

  When the other vehicle 42 whose position has been detected in the above-described process is lost, the control unit 21 of the processing unit 20 starts a calculation process for calculating the expected position FP of the other vehicle 42 that is the lost detection target. Is output to the calculation unit 22 (S11).

  For example, when the other vehicle 42 is lost, as shown in FIG. 1, the other vehicle 42 traveling in the detection area 70 moves forward, moves outside the detection area 70, and is lost. A case where the reflection of the NB beam from the other vehicle 42 traveling in the region 70 becomes weak for some reason and is no longer detected by the SRR sensor 11 can be mentioned.

  Thereafter, the control unit 21 performs a calculation process for determining the probability that the lost detection target is a vehicle, and performs a process for determining whether or not the calculated probability is greater than a predetermined threshold (S12). The probability that the lost detected target is a vehicle is obtained based on the intensity of the NB beam reflected from the target detected by the SRR sensor 11, the temporal change in intensity, and the like. Further, the predetermined threshold value is stored in advance in the storage unit 24 and may be exemplified by a value determined based on a probability obtained in advance when the other vehicle 42 is a detected target. it can.

  When it is determined that the probability that the detected target lost in S12 is a vehicle is greater than a predetermined threshold (in the case of YES), the control unit 21 loosens the condition for terminating the calculation for obtaining the predicted position FP. Setting is performed (S13). In other words, a setting is made to make it difficult to end the calculation for obtaining the predicted position FP.

  On the other hand, when it is determined that the probability that the lost target is a vehicle is equal to or less than a predetermined threshold (in the case of NO), the control unit 21 sets a condition for terminating the calculation for obtaining the predicted position FP. Strict setting is performed (S14). In other words, a setting is made so that the calculation for obtaining the predicted position FP is easily completed.

  For example, the calculation for obtaining the predicted position FP is difficult to end by setting a predetermined period T, which will be described later, long, and the calculation for obtaining the predicted position FP is easily completed by setting the predetermined period T short. Furthermore, the calculation for obtaining the predicted position FP is difficult to end by setting the area of the predetermined region A described later to be small, and the calculation for obtaining the predicted position FP is easily completed by setting the area of the predetermined region A large.

  When the calculation end condition for obtaining the predicted position FP is set, the calculation unit 22 executes a calculation process for obtaining the predicted position FP of the other vehicle 42 (S15). The predicted position FP is performed based on the position detected before the other vehicle 42 is lost, and a known method can be used as a calculation method. As the detected position, for example, a position stored in the storage unit 24 can be used.

  When the predicted position FP of the other vehicle 42 is obtained by calculation, the control unit 21 performs calculation processing for correcting the end condition set in S13 or S14 based on the elapsed time since the other vehicle 42 was lost (S16). ).

  For example, the length of a predetermined period T to be described later is corrected based on the elapsed time since the other vehicle 42 has been lost, in other words, the period in which the process of S11 is started and the calculation for obtaining the predicted position FP is continued. Arithmetic processing and arithmetic processing for correcting the size of the predetermined area A described later are performed.

  Thereafter, the control unit 21 performs a process of determining whether or not a condition for ending the calculation for obtaining the predicted position FP is satisfied (S17). Specifically, it is determined whether any one of the following three conditions is satisfied.

  The first condition is that the predicted position FP has moved out of the warning area 60, more specifically, the first area 61. As indicated by the dotted line arrow in FIG. 1, when it is determined that the predicted position FP has moved out of the alarm region 60 (in the case of YES), it is determined that the condition for terminating the calculation is satisfied.

  The second condition is that the elapsed time since the lost other vehicle 42 has exceeded a predetermined period T. Examples of the length of the predetermined period T include an average length required for the lost other vehicle 42, that is, the other vehicle 42 entering the first region 61 to pass through the first region 61. When it is determined that the elapsed time since the other vehicle 42 has been lost exceeds the predetermined period T (in the case of YES), it is determined that the condition for terminating the calculation is satisfied.

  The third condition is that the other vehicle 42 is re-detected inside the predetermined area including the predicted position FP. This is a condition used when the other vehicle 42 is lost in the detection area 70. As shown in FIG. 1, even when the other vehicle 42 is lost in the detection area 70, the calculation for obtaining the predicted position FP is performed.

  A predetermined area A including the expected position FP is also set at the same time. The predetermined area A is set so that the area thereof becomes wider according to the elapsed time since the calculation for obtaining the predicted position FP is started. Thereafter, when the other vehicle 42 is detected again in the predetermined area A of the detection area 70 (in the case of YES), it is determined that the condition for terminating the calculation is satisfied.

  In the determination process of S17, when it is determined that all the conditions from the first condition to the third condition are not satisfied (in the case of NO), the determination in the determination unit 23 is performed, and the prediction When the position FP is within the warning area 60, a process of notifying the alarm from the notification unit 31 is performed (S18). As a method for determining whether the predicted position FP is inside or outside the alarm region 60, a known method can be used.

  When the process of notifying the alarm from the notification unit 31 is performed, the process returns to S15 described above, and the calculation end condition in S17 is satisfied for the calculation process for obtaining the predicted position FP of the other vehicle 42, the process of S16, and the process of S18 This is repeated until it is determined.

  When it is determined in the determination process of S17 that at least one condition from the first condition to the third condition is satisfied (in the case of YES), the control unit 21 determines the predicted position in the calculation unit 22. While performing the process which outputs the control signal which complete | finishes the calculation which calculates | requires FP, the process which outputs the control signal which complete | finishes the alarm alerting | reporting in the alerting | reporting part 31 is also performed (S19).

When it is determined that the third condition is satisfied, the control unit 21 performs a process of outputting a control signal for ending the calculation for obtaining the predicted position FP in the calculation unit 22, and calculates the predicted position FP. A process of replacing the detected position DP of the other vehicle 42 detected again is performed.

  According to the alarm device 1 configured as described above, when the detection of the other vehicle 42 by the SRR sensor 11 is lost, the predicted position FP of the other vehicle 42 after being lost based on the position information of the other vehicle 42 that has been detected so far. The calculation for obtaining is started. The determination unit 23 determines whether or not the obtained predicted position FP exists in the alarm region 60. If the predicted position FP exists in the alarm region 60, the notification unit 31 causes the other vehicle 42 to be detected. A notification is made to inform the user that the alarm area 60 exists.

  On the other hand, when the period that has elapsed since the calculation for obtaining the predicted position FP exceeds the predetermined period T, the calculation for obtaining the predicted position FP in the calculation unit 22 ends based on the instruction from the control unit 21. At this time, even if it is determined that the predicted position FP is present in the alarm region 60, the notification by the notification unit 31 is simultaneously ended because the predicted position FP disappears when the calculation ends. Therefore, the alarm device 1 according to the present embodiment can appropriately terminate the alarm notification based on the predicted position FP of the other vehicle 42 without lengthening it.

  Even if the other vehicle 42 exists in the detection area 70, the SRR sensor 11 may lose the other vehicle 42. Also in this case, the calculation unit 22 performs calculation processing for obtaining the predicted position FP. While this process is being performed, if another vehicle 42 is re-detected in the predetermined area A containing the calculated expected position FP, an arithmetic process for determining the predicted position FP based on an instruction from the control unit 21 is performed. The process of replacing the predicted position FP with the detected position DP of the other vehicle 42 that has been detected again is performed.

  When the replacement process is performed, the determination unit 23 determines whether the other vehicle 42 exists in the alarm region 60 based on the position of the other vehicle 42 after replacement, and the predicted position FP is in the alarm region 60. If the vehicle is present in the vehicle, the notification unit 31 notifies that the other vehicle 42 exists in the warning area 60. Therefore, the alarm device 1 according to the present embodiment can appropriately terminate the alarm notification based on the predicted position FP of the other vehicle 42 without lengthening it.

  In addition, by changing the length of the predetermined period T according to the probability that the lost detection target is a vehicle, the alarm notification state based on the predicted position FP of the other vehicle 42 can be appropriately terminated. That is, when the probability that the lost detection target is a vehicle is larger than a predetermined threshold, the other vehicle 42 is present in the alarm region 60 by using an appropriate length as the predetermined period T. Regardless, the alarm notification can be prevented from ending.

  On the other hand, when the probability that the lost target is a vehicle is smaller than a predetermined threshold, for example, when the decrease in the intensity of the detection signal is large even when the position of the other vehicle 42 is taken into account, the predetermined period T is set. By changing to a shorter one and making the conditions for ending the calculation for obtaining the predicted position FP stricter, it is possible to shorten the period during which an alarm is notified to a target that is not the other vehicle 42.

  Further, as the elapsed time from the start of the calculation for obtaining the predicted position FP becomes longer, the area of the predetermined area A is increased, so that the lost other vehicle 42 is replaced with the re-detected predicted position FP. It is possible to increase the identity with the other vehicle 42 in which the is performed.

  That is, the error between the true position of the other vehicle 42 and the predicted position FP increases as the elapsed time from the start of the calculation for obtaining the predicted position FP increases. Therefore, if the area of the predetermined region A is made constant regardless of the elapsed time, even if the lost other vehicle 42 itself is re-detected as the elapsed time becomes longer, the expected position FP and the other vehicle 42 detected again are detected. There is a high possibility that it will not be replaced with a position and treated as a separate target. In other words, it becomes difficult to maintain the alarm notification accuracy.

  Note that the length of the predetermined period T may not be affected by the moving speed of the predicted position FP that is the relative speed between the host vehicle 41 and the other vehicle 42 as in the above-described embodiment, or the moving speed The length of the predetermined period T may be changed according to the above.

  Thus, by changing the length of the predetermined period T according to the moving speed of the predicted position FP, before the predicted position FP moves out of the alarm region 60, in other words, the predicted position FP is in the alarm region 60. It can be suppressed that the calculation for obtaining the predicted position FP is completed while it exists.

  For example, when the relative speed between the host vehicle 41 and the other vehicle 42 is small, the length of the predetermined period T is changed to a long one. At this time, since the period in which the other vehicle 42 actually exists in the alarm region 60 becomes longer, it is possible to suppress the alarm notification from being ended even though the other vehicle 42 exists in the alarm region 60. it can.

  Further, as in the above-described embodiment, the predetermined area A may be a circular area including the predicted position FP, or may be a shape other than a circle such as an elliptical area based on the traveling speed of the host vehicle 41 as described below. It may be an area. As shown in FIG. 4, the alarm device 1 in this case is provided with a speed sensor (speed detection unit) 12 that measures the traveling speed of the host vehicle 41. Information on the traveling speed of the host vehicle 41 measured by the speed sensor 12 is input to the control unit 21 of the processing unit 20.

  For example, when the traveling speed of the host vehicle 41 is slower than a predetermined speed, an elliptical area whose major axis extends in the left-right direction is set as the predetermined area A as shown in FIG. On the other hand, when the traveling speed of the host vehicle 41 is higher than the predetermined speed, an elliptical area whose major axis extends in the traveling direction is set as the predetermined area A as shown in FIG.

  By setting the predetermined area A in this way, the identity of the lost other vehicle 42 and the other vehicle 42 that has been re-detected and replaced with the predicted position FP can be increased. As described above, when the traveling speed of the host vehicle 41 is slow, the error between the lost other vehicle 42 and the re-detected predicted position FP tends to increase in the left-right direction as compared with the fast case. Further, when the traveling speed of the host vehicle 41 is high, it is considered that the error tends to increase in the front-rear direction compared to the case where it is slow.

  Therefore, by changing the shape of the predetermined area in accordance with the traveling speed of the host vehicle 41 to a shape widened in the direction in which the above-described error tends to increase, the lost other vehicle 42 and the predicted position FP detected again are detected. It is possible to increase the identity with the other vehicle 42 in which the replacement is performed.

  DESCRIPTION OF SYMBOLS 1 ... Alarm apparatus, 11 ... Short range radar sensor (detection part), 20 ... Processing part, 21 ... Control part, 22 ... Calculation part, 23 ... Determination part, 31 ... Notification part, 41 ... Own vehicle (vehicle) , 42 ... Other vehicle (target), 60 ... Warning area, 70 ... Detection area

Claims (6)

A detection unit (11) for detecting a target (42) existing in a detection region (70) extending obliquely rearward of the vehicle (41);
A calculation unit (22) that performs a calculation to obtain an expected position (FP) of the target (42) based on position information of the target (42) that has been detected;
When the detection of the target (42) by the detection unit (22) is lost, a process of outputting an instruction to start the calculation for obtaining the predicted position (FP) to the calculation unit (22), and A control unit (21) that performs processing for outputting an instruction to end the calculation for obtaining the predicted position (FP) to the calculation unit (22) when the period during which the calculation for obtaining the predicted position (FP) is continued exceeds a predetermined period. )When,
An alarm region (60) set to extend from a region that does not overlap the detection region (70) on the side of the vehicle (41) to a region that overlaps the detection region (70) behind the vehicle (41) in the traveling direction. A determination unit (23) for determining whether or not the predicted position (FP) exists in
A notifying unit (31) for notifying a driver of the vehicle (41) of a result of the determination in the determining unit (23);
An alarm device (1) characterized in that is provided.   2. The alarm device according to claim 1, wherein the predetermined period is changed in length according to a characteristic of a detection signal of the target (42) output from the detection unit (11).   The length of the predetermined period is changed according to a moving speed of the predicted position (FP) which is a relative speed between the vehicle (41) and the target (42). 2. The alarm device according to 2. A detection unit (11) for detecting a target (42) existing in a detection region (70) extending obliquely rearward of the vehicle (41);
A calculation unit (22) that performs a calculation to obtain an expected position (FP) of the target (42) based on position information of the target (42) that has been detected;
When the detection of the target (42) by the detection unit (11) is lost, a process of outputting an instruction to start calculation for obtaining the predicted position (FP) to the calculation unit (22) is performed, and the predicted position A process of outputting an instruction to end the calculation for obtaining the predicted position (FP) to the calculation unit (22) when the target (42) is detected again inside the predetermined area (A) including (FP). A control unit (21) for performing a process of replacing the predicted position (FP) with the position of the re-detected target (42),
An alarm region (60) set to extend from a region that does not overlap the detection region (70) on the side of the vehicle (42) to a region that overlaps the detection region (70) behind the vehicle (41) in the traveling direction. A determination unit (23) for determining whether or not the detected position of the target (42) or the predicted position (FP) exists;
A notifying unit (31) for notifying a driver of the vehicle (41) of a result of the determination in the determining unit (23);
An alarm device is provided.   The area of the predetermined area (A) increases according to a length of an elapsed time since the calculation for obtaining the predicted position (FP) in the calculation unit (22) is started. The alarm device described. A speed detector (12) for detecting the traveling speed of the vehicle (41) is further provided;
The alarm device according to claim 4 or 5, wherein the predetermined area (A) has a different shape according to the traveling speed detected by the speed detector (12).

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