JP3262001B2 - Rear side alarm system for vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear-side alarm for a vehicle capable of detecting an object mounted on the vehicle and surrounding the vehicle, judging the safety of the running behavior of the vehicle in advance, and issuing an alarm. The present invention relates to a device, and more particularly, to a rear side alarm device of a vehicle provided with an object detection unit such as a laser radar for detecting a relative positional relationship with a rear side object.

[0002]

2. Description of the Related Art A vehicle secures safety by maintaining a predetermined distance between an object around the vehicle and the host vehicle when the vehicle is running. Particularly, when the host vehicle changes course, the running route changes. Therefore, it is necessary to ensure a sufficient relative distance from other vehicles. When the driver of such a vehicle travels,
As shown in FIG. 8, normally, the field of view of the direct view area a1 and the room mirror field of view a2 by the room mirror can be secured without shifting the line of sight so much. The visibility of the area a3 and the right rear area a4 is ensured. In particular, when reversing, the driver often turns his eyes directly to the rear to secure the rear safety.

[0003] The driver of a traveling vehicle can secure the field of view of the direct view area a1 and the rearview mirror field of view a2 without moving his or her own line of sight. However, the visibility of the left rear side area a3 and the right rear side area a4, which would shift the eyes slightly, was likely to be negligible. For this reason, there is a problem in that the driver always easily obtains a 360 ° view of the vehicle at all times. In particular, it is desired that the driver easily obtain the rear side view when changing lanes or turning right or left. . Therefore, there has been proposed a device that detects an object in the rear side area of the vehicle by an object detection unit instead of the driver to draw the driver's attention, thereby improving the traveling safety of the vehicle.

For example, radio wave radars are arranged on the left and right side walls of the vehicle and the left and right sides of the rear bumper, and the obstacle detecting means is activated when the turn signal is activated. An obstacle detection device that issues an alarm when an obstacle is detected is disclosed in Japanese Patent Application Laid-Open Nos.
No. 161599. In this case, at the time of the turn signal operation, a detection signal of a specific radio wave radar selected according to the vehicle speed is employed among a plurality of radio wave radars, and an alarm is issued when an obstacle in an area covered by the selected radio wave radar is detected. The configuration is adopted.

Further, Japanese Patent Application Laid-Open No. Sho 54-118036 discloses an alarm device for monitoring the rear side of a changed lane by a rear radar provided on a vehicle side and issuing an alarm when a following vehicle is in a predetermined area. Is disclosed. Further, Japanese Patent Application Laid-Open No. 4-2
In Japanese Patent No. 4800, a detection direction (area) of a radar transmission / reception unit is set according to a vehicle speed and a steering angle of a steering wheel, a transmission / reception direction of a radar is adjusted by an actuator, and a predetermined detection angle in a rear side region is set. An apparatus is disclosed that secures a field of view and reliably performs danger prediction.

[0006]

By the way, Japanese Patent Laid-Open No.
58179, JP-A-1-161599, JP-A-54
Since each radar, which is an object detecting means disclosed in JP-A-118036, is installed inside the wall of the vehicle, it is difficult to take a wide detection angle. For this reason,
A plurality of object detection means are required to secure the rear field of view of the vehicle, particularly, the entire field of view of the left rear area a3 and the right rear area a4 shown in FIG. Further, the rear monitoring device disclosed in Japanese Patent Application Laid-Open No. H4-24800 has a radar installed on each of the left and right sides of the vehicle body so as to always detect a rear object on the changed lane even when the vehicle changes lanes. This involves changing the direction of the radar. Since the radar is installed inside the wall, a plurality of object detecting means are required, and a steering angle detecting means is also required.

As described above, the conventional rear-side alarm device for a vehicle requires a plurality of radars or other object detecting means in order to cover the relatively narrow detection angle of the object detecting means used. Problems tend to occur in securing and securing the installation work time, and it is easy to cause an increase in cost. Moreover,
An alarm is issued based on whether or not there is an object in the detection area, and it is not sufficiently determined whether or not the current behavior of the own vehicle has a high risk of causing contact with another vehicle, etc. There is a possibility that an alarm may be issued, which is a problem.

Further, the conventional rear-side warning device for a vehicle determines a warning area on the basis of a straight road without considering road conditions, in particular, corners of the road, and determines the presence or absence of an object in the warning area. Was. For this reason, at the corner of the road, the warning area is set off the road surface or is set as an area that is not required to be detected. SUMMARY OF THE INVENTION An object of the present invention is to provide a rear-side alarm device for a vehicle that can easily secure an installation place, suppress cost increase, and have high alarm reliability, and secondarily provide a warning area according to road conditions. It is an object of the present invention to provide a rear side alarm device of a vehicle which can further enhance the alarm reliability by using the alarm device.

[0009]

In order to achieve the above object, a first aspect of the present invention is a scanning system for detecting an object which is provided at a rear end of a vehicle and which is provided at least on the rear side of the vehicle. Object detection means, relative movement state calculation means for calculating the relative movement state of the object and the vehicle from the output of the object detection means, running state detection means for detecting the running state of the vehicle, and from the running state detection means According to the information of
Turning radius calculating means for calculating the turning radius of the vehicle, and setting a rear side guard area during forward running based on the output of the running state detecting means, within the set guard area, <br/> Bei give a warning judging means for performing an alarm decision on the basis of the outputs of said running state detecting means of the relative movement state calculating means, the warning determination unit, the output of the turning radius calculation means
From the warning area that matches the road shape,
It is characterized by calculating the approaching state of an object and making an alarm judgment
You. Therefore, it is only necessary to provide one scanning type object detecting means at the protruding portion at the rear end of the vehicle which can take a wide detection angle without interfering with other members. the relative motion state calculated, running condition detection means detects a running state of the vehicle, on its turning radius calculation hand
The vehicle turns according to the information from the traveling state detecting means by the step.
The turning radius is calculated, and the turning radius is calculated by the alarm determining means.
Set the detection area that matches the road shape from
The approach state of the object is calculated using the area.

[0010]

[0011]

[0012]

1 and 2 show a rear side alarm device of a vehicle to which the present invention is applied. The rear side warning device of the vehicle here includes a scanning laser radar 12 as a scanning type object detecting means provided substantially at the center of a rear bumper 11 at the rear end of the vehicle 10, and outputs a signal of a radar driving circuit 13 thereof. It outputs to the display device 14 and the controller 15, and the controller 15 drives the amber color light 20, the red light 21, and the buzzer 22 by alarm. As shown in FIG. 4, the amber color light 20 and the red light 21 are respectively mounted on the left and right door mirrors 18 (FIG. 4 shows a part of the left door mirror) inside the delta zone 181 and the buzzer 22. Is mounted in the passenger compartment.

The scanning laser radar 12 is a rear bumper 1
1, a transmission / reception circuit unit 122 supported on a lower wall in the casing 121, and a transmission / reception unit 123 connected to the transmission / reception circuit unit 122 and disposed above the transmission / reception circuit unit 122. And the transmitting and receiving unit 12
A mirror 124 which faces upwardly and rotates at a 45 ° angle to the horizontal plane;
1 and a mirror drive unit 125 that supports the mirror 124 to rotate about the vertical line C1. In this embodiment, the laser radar 12 is mounted on the upper part of the rear bumper 11, but may be mounted on the rear end of the rear bumper 11 so as to protrude from the rear end if the scanning range of the laser radar 12 is not restricted.

The transmission / reception unit 123 is driven by the transmission / reception circuit unit 122 to emit a laser beam at predetermined intervals and receive a reflected wave. At this time, the transmission / reception direction is regulated in the horizontal direction by the mirror 124, and the transmission / reception direction (rotation angle θ) in the horizontal direction sequentially changes according to the turning position of the mirror 124. A transparent plate d for transmitting laser light is provided at a portion of the casing 121 facing the mirror 124.

Here, the rotation speed of the mirror 124 and the transmission / reception cycle of the transmission / reception circuit unit 122 are appropriately set. For example, the rotation angle θ, which is the transmission / reception angle, in the horizontal direction for each control cycle Δt of the transmission / reception circuit unit 122 is set. The rotation speed of the mirror 124 is set so as to change by the unit rotation angle, and the distance L to the object for each unit rotation angle in the scan area e0 180 ° behind the vehicle (see FIG. 10) during one rotation of the mirror 124. Transmission / reception circuit unit 122 so that
Scan control mode is set. In the scan laser radar 12 used in this apparatus, a scan area e0 (see FIG. 10), which is a detectable area, has a warning area E described later.
One that can reliably cover 1 or the like is used. As described above, the scanning type object detecting means means a wide area in the horizontal direction in the field of view behind the vehicle, for example, a scan area e.
Any configuration may be used as long as it indicates a scan laser radar 12 or the like configured to sequentially detect and capture distance L information from an object at predetermined rotation angles θ sequentially from 0 or the like, and has the same configuration as the scan laser radar 12 in FIG. Alternatively, other object detection means employing the following may be used.

The radar driving circuit 13 has a rotation angle θ _n (= θ _n-1 + Δθ) and a distance Ln ｛= √ × (X
_n ² + Y _n ² )｝ is calculated for each unit rotation angle, the position (X _n , Y _n ) of the object behind is calculated, and these data are constantly output from the output terminal to the display device 14 and the controller 15. . Moreover, the detection results p1, p2,.
.. a representative line x in the vehicle width direction (X-axis direction) from pn,
A representative line y in the traveling direction (Y-axis direction) is calculated, and a point po (Xo, Yo) located at the intersection of both lines is determined as a representative point. Then, based on the representative point po (Xo, Yo), the previous representative point po _-1 (X _O-1 , Y _O-1 ) and the control cycle Δt, the relative speed Δvx ｛= (Xo ₋₁ −Xo) / Δt｝, Δvy ｛=
(Y _O-1 −Y _O ) / Δt} is obtained, and these data are output to the display device 14 and the controller 15.

The display device 14 includes a display circuit section 141 to which the output of the radar drive circuit 13 is input, and a display section 142 such as a CRT driven by the circuit section. Display circuit section 1
At normal time, reference numeral 41 denotes the alert areas E1 to E4 (or E1) set in step a4 of the alert area setting routine described later.
1 ′ to E4 ′) and Er on the display unit 1 as shown in FIG.
The display is controlled by 42 (E1 and E3 are shown in FIG. 5). Moreover, display sequentially □ point to the corresponding position on the display screen the position of the rear of the object at each rotation angle theta _n. Furthermore,
The vehicle speed V1 (taken from the controller 15) is added to the relative speed Δvy to obtain an obstacle speed V2, and the same speed V
2 is numerically displayed at the center of the display section 142. Here, the relative speed Δvy in the vehicle front-rear direction Y will be simply referred to as the relative speed Δv, and the description of the relative speed Δvx in the vehicle width direction X will be omitted for simplicity.

When the vehicle is moving backward, the display unit 142 displays in a reverse mode in which a plurality of lines indicating the distance to the rear object are displayed in the display unit 142, as described later. The main part of the controller 15 is constituted by a microcomputer, and a control program and a relative speed Δv-
The inter-vehicle distance L1 map is stored and processed in a ROM (not shown), and its input / output circuit (not shown) has a radar driving circuit 1
Position behind the object from 3 (X _n, Y _n) signal and the relative velocity Δv is inputted, further, the vehicle speed signal V1 of the vehicle from the vehicle speed sensor 16, the turn signal W _L from the turn signal switch 17, W _R The steering angle signal δ from the steering wheel steering angle sensor 18 and the reverse signal SR from the back lamp switch 19 are input to drive the amber light 20 as a warning light, the red light 21 and the buzzer 22 as warning means. A drive signal can be output to the circuits 23, 24, and 25.

As shown in FIG. 3, the controller 15 is a scanning laser radar 1 which is a scanning type object detecting means.
2 based on the position (X _n , Y _n ) of the object and the relative speed Δv from the following:
It functions as running state detecting means A2, alarm determining means A3, and turning radius calculating means A4. Here, the relative movement state calculating means A1 is a scan laser radar 1 which is an object detecting means.
The relative motion state of the object and the vehicle, for example, the relative distance, the presence or absence of the object in the alert area, which is a relative positional relationship, is calculated from the output (2) of the object (X _n , Y _n ) signal and the relative speed Δv. Running state detecting means A2 are traveling state of the vehicle (own vehicle), for example the vehicle speed V1, the steering angle [delta], turn signal W _L, W _R, detects a backward signal SR or the like.

The alarm judging means A3 makes an alarm judgment based on the output of the relative motion state calculating means A1 and the output of the running state detecting means A2, the relative distance between the object and the vehicle, the presence or absence of the object in the alert area, and the like. In this case, a relative speed Δv-inter-vehicle distance L1 map as shown in FIG. 7 is created in advance, and the inter-vehicle distance L1 (relative distance) at which contact between the object and the vehicle can be avoided is calculated based on the relative speed Δv in the vehicle longitudinal direction Y. It is desirable to variably set according to the magnitude. In FIG. 7, the threshold line M indicating the contact limit between the object and the vehicle is a threshold line M in which the limit value in the case where the driver of the following vehicle avoids the contact with the normal technology at the relative speed Δv is used. It is indicated by the corresponding inter-vehicle distance L1. If the distance is longer than this, it is considered that contact avoidance is possible, and hereinafter, it can be considered that there is a risk of contact. Further, the threshold line M1 has a relatively high relative speed Δv of the overtaking vehicle, and the time required for the overtaking vehicle to pass the own vehicle (about 1 second) is short when the relative speed Δv of the overtaking vehicle is equal to or less than the threshold line M1, This shows a case where the headway change operation time of the own vehicle is longer.

The turning radius calculating means A4 calculates the yaw rate from the information (for example, the vehicle speed and the steering angle) from the running state detecting means A2, and calculates the turning radius R of the vehicle. The alarm determining means A3 calculates an approach state of an object in an area (alert area E) that matches the road shape from the output (turning radius R) of the turning radius calculating means A4, and makes an alarm determination. Here, the mode determination routine in FIG. 14, the alarm control routine in FIG.
The operation of the rear side alarm device of the vehicle according to the present invention will be described with reference to the warning area setting routine of FIG. 6 and the reverse display routine of FIG. In response to the turning on of an engine key (not shown), the controller 15 starts a main routine (not shown) of the rear side alarm device of the vehicle, checks each function and determines a failure, and determines a mode at a predetermined step in the main routine. The routine and other routines are sequentially reached, and each routine is executed.

[0022] In mode determination routine of FIG. 14, the current position of the rear object in step s1 (X _n, Y _n) signal, the relative speed Delta] v, the vehicle of the vehicle speed V1, the turn signal W _L, W _R,
The steering angle δ and the reverse signal SR are sequentially taken in from each sensor,
Each value is sequentially stored in a predetermined storage area. In step s2, when the reverse signal SR is input, the process proceeds to step s3, the reverse mode flag is turned on to execute the reverse control (see FIG. 17) described later, and the process returns to the main routine.
If the reverse signal SR is not input, the process proceeds to step s4, and determines whether or not the vehicle speed V1 is equal to or less than 10 [Km / h]. If not, or if the reverse mode flag is not 1 in step s5, the process proceeds to step s6. Turn on the forward mode flag,
Return to the main routine. If the reverse mode flag is 1 in step s5, the process proceeds to step s3, where the reverse mode flag is turned on. As a result, it is possible to eliminate useless forward image display in the case where the forward gear is temporarily switched to the reverse gear and the vehicle immediately returns to the reverse.

When the alarm control routine of FIG. 15 is reached in the middle of the main routine, at step a1, the latest representative point po (Xo, Yo) of an obstacle such as an approaching vehicle determined by the radar drive circuit 13 is read. In step a2, the vehicle speed V1 of the own vehicle and the relative speed Δv obtained by the radar drive circuit 13 are detected. In step a3, the vehicle speed V1 of the own vehicle and the relative speed Δv are added to calculate the approaching vehicle speed V2. Next, in step a4, a warning area for changing lanes (see FIG. 10) and a warning area for turning left (see FIG. 11) in the current control cycle are set.

As shown in FIG. 16, in this alert area setting routine, the current forward / reverse mode flag is detected in step b1, and the latest actual steering angle δ [ra
d] is calculated from the steering angle δ0, and the vehicle speed V1
[M / sec] is fetched and the routine proceeds to step b3. Here, the turning radius ρ is calculated by the following equation (1) using the vehicle stability factor A and the vehicle wheelbase Lh [m] that are set in advance. The stability factor A is calculated in advance by the following equation (2), and is set to, for example, about 0.002. Where m
Represents the inertial mass of the vehicle, if and lr represent the distance between the center of gravity of the vehicle and the front and rear axles, and kf and kr represent the cornering power of the front and rear tires.

Ρ = (1 + AV ² ) × Lh / δ (1) A = − (m / 2Lh ² ) × (lf · kf−lr · kr) / (kf · kr) (2) When step b4 is reached, it is determined whether or not the vehicle is moving backward, based on the presence or absence of the reverse signal SR. When the vehicle is moving backward, the process proceeds to step b5. Here, as shown in FIGS. The arc f 'along the turning radius ρ is further extended to 1.0 m backward, and the concentric arc f "along the turning radius (ρ + vehicle width) from the rear end of the vehicle body is also 1.0 m backward. 15, a curved alert area Er is set between the two arcs and curved.
The process proceeds to step a5 of the alarm control routine of FIG. On the other hand, if it is determined in step b4 that the vehicle is moving forward without the retreat signal SR, the process proceeds to step b6. In step b6,
It is determined whether or not the current turning radius ρ can be regarded as substantially infinite when the turning radius ρ is equal to or more than the predetermined value ρ1, and the process proceeds to step b7 if Yes and to step b8 if No.

In step b7, it is assumed that the current turning radius ρ is a straight road which can be regarded as substantially infinite when the turning radius ρ is equal to or larger than the predetermined value ρ1.
As shown in FIG. 10, a vehicle traveling in a lane adjacent to the side wall of the vehicle body in the vehicle width direction X at a position (about 10 m from the rear end of the vehicle) to a position where the vehicle approaching from the rear side cannot be confirmed by the rearview mirror. Warning area E1, which detects a four-wheeled vehicle as a main detection target when the lane is changed, in a rectangular area up to a position laterally separated by a distance (for example, 4m) that can sufficiently detect the vehicle.
Set as E2. Further, as shown in FIG. 11, the motorcycle is approached from the rear side from the rear end on the left side of the vehicle body to a position where the two-wheeled vehicle cannot be confirmed with the room mirror,
Range affected by entanglement due to inner ring difference when turning right or left at an intersection (about 2 m in the vehicle width direction X from the vehicle body side wall)
The left and right rear rectangular areas up to are set as the alert areas E3 and E4. Among the warning areas E3 and E4, the warning area E3 is set to prevent a motorcycle or the like from being involved when turning left,
The warning area E4 is set to prevent a motorcycle or the like from getting caught when turning right, and thereafter, the process proceeds to step a5 of the alarm control routine in FIG.

On the other hand, when the routine proceeds to step b8, the turning radius ρ is regarded as a corner road having a predetermined value or less, and the previously set E1 to E4 are adjusted to the shape of the corner road. That is, as shown in FIG. 6, arcs f1 and f2 along (ρ−B / 2), (ρ + B / 2) (B: vehicle width) from the left and right rear ends of the vehicle width B to 10 m backward. Stretch, likewise
Concentric arc, turning radius (ρ + B) from the left and right rear ends of the vehicle
/ 2 + 4m), arc g along (ρ-B / 2-4m)
1 and g2 are extended backward to 10 m, and the guard areas E1 'and E2' curved between the two arcs are set. Further, as shown in FIG. 6, the arcs f1 and f2 extend rearward from the left and right rear ends of the vehicle body to 5 m, and are concentric arcs and have a turning radius (ρ−B / 2-2 m), (Ρ + B /
The arcs i1 and i2 along (2 + 2m) are extended backward to 5m, and the guard areas E3 'and E which are bent between the arcs are curved.
4 'is set and step a of the alarm control routine of FIG.
Go to 5.

At step a5 in FIG. 15, the display mode is determined based on the reverse mode flag and the forward mode flag. If the forward mode flag is on, the process proceeds to step a6.
When the reverse mode flag is on, the process proceeds to step a7. When step a6 is reached in the forward mode, the approaching vehicle, that is, the representative point po (Xo, Yo) is set in the alert area E.
It is determined whether or not it is within E1 and E2 (filter processing). If the representative point po (Xo, Yo) is within the alert areas E1 and E2, the process proceeds to step a8. If not, the process proceeds to step a9.
Here, the alarm process is turned off, and the process returns to the main routine.

At step a8, the vehicle speed V1 of the own vehicle is compared with the set vehicle speed va. Here, the speed at which the lane change is determined to be performed (for example, the set vehicle speed va = 20 km /
h) At the time of traveling, the speed at which it is determined that a right or left turn is made at the intersection (for example, the set vehicle speed va =
If it is less than 20 km / h, the process proceeds to step a11.

If it is determined that the vehicle is running at a speed higher than the set vehicle speed va and the process proceeds to step a10, the warning areas E1 and E2 are set.
Whether or not the approaching vehicle inside is in a braking avoidable state, that is, the current relative speed Δv and the relative distance (inter-vehicle distance) L between the approaching vehicle and the own vehicle in the vehicle front-rear direction Y is fetched and shown in FIG. It is determined whether or not the approaching vehicle is in the braking avoidable area (area above the M line) along the relative speed Δv-inter-vehicle distance L1 map. Here, when the approaching vehicle is in a state where the braking can be avoided, the alarm process is kept off and the process returns to the main routine.
Conversely, the process proceeds this approach wheel is not possible braking avoidance state to step a12, where it is determined whether the turn signal W _L in the direction that there is approaching vehicles, operation of the W _R have been made,
If not, the operation proceeds to step a13, the amber color light 16 is turned on, and the operation proceeds to the main routine. Turn signal W _L in the direction approaching vehicle is present, the operation of W _R is made processing proceeds to step a14, a red lamp 21 and the buzzer 2
2 is turned on and the process proceeds to the main routine.

In step a10, the relative speed Δv−
Although it has been determined from the inter-vehicle distance L1 map whether or not the approaching vehicle is in the braking avoidable region (region above the M line) at the relative speed Δv, a map as shown in FIG. 8 may be used instead. . This map is based on the assumption that the driver of the approaching vehicle in the warning areas E1 and E2 behaves as a normal driver, and calculates the inter-vehicle distance L1 'that can be stopped at the current vehicle speed V2 of the approaching vehicle. Determined from V2. That is, the relative speed Δv
To the estimated vehicle speed V2 of the following vehicle, and calculates the inter-vehicle distance L1 'that can be stopped from this V2 using a map, and uses the inter-vehicle distance L1' as a representative point po (X _O , Y _O ).
It is determined whether or not the relative distance X _O is larger. If it is larger, the process returns to the main routine. If the relative distance X _O is smaller, it is determined that there is a possibility of contact with the following vehicle.

On the other hand, in step a8, when the vehicle speed V1 of the own vehicle is lower than the set vehicle speed va, the process proceeds to step a11. Here turn signal W _L, to determine the presence or absence of the operation of the W _R, directly returns to the main routine without any operation,
Proceeds to step a15 in the time right turn operation Yes, change here turn signal W _L to warning area (E1 used in step a6, E2) the warning area (E3 or E4), in accordance with the W _R, step a16 Proceed to.

At step a16, the alert area (E3 or E3)
4) It is determined whether or not the relative speed ΔV with an approaching vehicle such as a motorcycle is equal to or greater than a set value ΔV (for example, 4 km / h) which is a speed for determining the approach of an object faster than a pedestrian, and the object faster than the pedestrian approaches. If so, the process proceeds to step a14, where the red light 21 and the buzzer 22 are turned on to notify the driver of danger such as the involvement of the motorcycle at the time of turning right and left, otherwise the process returns to the main routine. If it is determined in step a5 of the alarm control routine of FIG. 15 that the reverse signal SR is input, the process proceeds to step a7, and the reverse control routine of FIG. 17 is executed.

Here, when the process reaches step c1, the relative distance X _O between the representative point po (X _O , Y _O ) of the object which is located in the alert area Er and approaches relatively is obtained. . Then, in step c2, it is determined whether or not the relative distance X _O is smaller than 0.2 m.
To continuously drive the buzzer 22 to notify the degree of danger that it is closest to the obstacle. Otherwise, the process proceeds to step c4.
In step c4, it is determined whether or not the relative distance X _O is smaller than 0.4 m. If the relative distance X _O is smaller than 0.4 m, the buzzer 22 is driven four times per second in step c6 to inform the degree of danger that the obstacle is close to the obstacle. If not, the process proceeds to step c5. Step c5
Then, it is determined whether or not the relative distance X _O is smaller than 0.6 m. If it is smaller, the buzzer 22 is driven twice per second in step c7 to inform the degree of danger that the obstacle is close to the obstacle. Proceed to step c8. In step c8, the relative distance X
_It is determined whether or not _O is less than 1.0 m. If the value is less than 1.0 m, the buzzer 22 is driven once per second in step c9 to inform the degree of danger that there is an obstacle, and otherwise returns directly.

In the above process, the warning area setting routine shown in FIG. 15 is executed, and the turning radius ρ is calculated from the latest actual steering angle δ [rad] and the vehicle speed V1 [m / sec] by the equation (1). However, instead of this, a yaw rate map as shown in FIG. 13 may be used. In this case, the steering angle δ0
And yaw rate μ from vehicle speed V1 [m / sec],
The vehicle turning radius ρ is obtained by dividing the vehicle speed V1 by the yaw rate μ.
(= V1 / μ) may be obtained. Alternatively, the yaw rate sensor may be mounted on the vehicle, and the turning radius ρ (= V1 / μ) of the vehicle may be directly obtained using the output of the yaw rate sensor and the vehicle speed V1. In these cases, the same operation and effect as those of the apparatus shown in FIG. 1 can be obtained.

[0036]

As described above, according to the first aspect of the present invention, the scanning type object detecting means for detecting an object is provided at the rear end of the vehicle which can take a wide detection angle without interfering with other members. Since only one detecting means is required to protrude, the relative movement state between the object and the vehicle is calculated, the running state of the vehicle is detected, and then the relative movement state between the object and the vehicle and the running state of the vehicle are calculated. Is performed based on the alarm. Thus, since the one good mounting location of the object detecting means is suppressed to cost-up mounting workability, further a road shape
Object detection using the detection area
To detect the approaching vehicle at the corner of the road.
Also detects objects outside the road and generates false alarms.
And reliable detection can be performed.
You .

[0037]

[0038]

[Brief description of the drawings]

FIG. 1 is an overall schematic sectional view of a rear side alarm device of a vehicle to which the present invention is applied.

FIG. 2 is a schematic plan view of a vehicle equipped with the rear side alarm device of FIG. 1;

FIG. 3 is a functional block diagram of a control system of the rear side alarm device in FIG. 1;

FIG. 4 is an amber light used in the rear side alarm device of FIG. 1;
It is an enlarged side view of a red light.

FIG. 5 is an enlarged front view of a display unit used in the rear side alarm device of FIG. 1;

FIG. 6 is a plan view schematically showing a vehicle equipped with the rear side warning device of FIG. 1 traveling on a corner road.

7 is a characteristic diagram of an inter-vehicle distance-relative speed used by a control system in the rear side alarm device of FIG. 1;

FIG. 8 shows a vehicle speed used in a modified example of the rear side alarm device in FIG. 1;
FIG. 4 is a characteristic diagram of an inter-vehicle distance.

9 is an enlarged front view of the display unit when the rear side alarm device of FIG. 1 drives the display unit in the reverse mode.

FIG. 10 is an explanatory diagram of a lane change warning area used by the rear side warning device of FIG. 1;

FIG. 11 is an explanatory diagram of a warning area for a left turn used by the rear side warning device of FIG. 1;

FIG. 12 is an explanatory view of a retreat warning area used by the rear side alarm device of FIG. 1;

FIG. 13 is a characteristic diagram of a yaw rate map used in a modified example of the rear side alarm device of FIG. 1;

FIG. 14 is a flowchart of a mode determination routine used by the control system of the rear side alarm device in FIG. 1;

FIG. 15 is a flowchart of an alarm control routine used by the control system of the rear side alarm device of FIG. 1;

FIG. 16 is a flowchart of a warning area setting routine used by the control system of the rear side warning device in FIG. 1;

FIG. 17 is a flowchart of a reverse display routine used by the control system of the rear side alarm device in FIG. 1;

FIG. 18 is a diagram illustrating a warning area of a conventional rear side alarm device.

[Explanation of symbols]

REFERENCE SIGNS LIST 10 vehicle 11 rear bumper 12 scan laser radar 122 transmission / reception circuit unit 13 radar drive circuit 14 display device 15 controller 18 door mirror 20 amber color light 21 red light 22 buzzer Δv relative speed δ steering angle A1 relative motion state calculation means A2 running state detection means A3 Warning judgment means C Overtaking vehicle E1 Warning area E3 Warning area X Vehicle width direction Y Vehicle front-back direction W _L turn signal W _R turn signal

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI G01S 17/93 G08G 1/16 D G08G 1/16 G01S 17/88 A (72) Inventor Kiichi Yamada 5-chome, Shiba, Minato-ku, Tokyo No. 33-8, Mitsubishi Motors Corporation (56) References JP-A-8-58503 (JP, A) JP-A-3-255975 (JP, A) JP-A-6-258438 (JP, A) JP-A-6-298023 (JP, A) JP-A-7-105496 (JP, A) JP-A-7-262499 (JP, A) JP-A 8-122060 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60R 21/00 G01S 13/93 G01S 17/93 G08G 1/16

Claims (1)

(57) [Claims] 1. A scanning type object detecting means provided at a rear end of a vehicle to detect an object located at least on a rear side of the vehicle, and a relative motion state between the object and the vehicle based on an output of the object detecting means. Relative running state calculating means for calculating the running state of the vehicle, running state detecting means for detecting the running state of the vehicle, and turning of the vehicle based on information from the running state detecting means.
A turning radius calculating means for calculating a radius, after the time of forward running based on an output of said running state detecting means
To set the warning area of the side, in the set warning area, e Bei the alarm determining means for performing alarm determination based on the output of the output and the running state detecting means of the relative movement state calculating means, the The alarm determining means determines a road from the output of the turning radius calculating means.
Set a warning area that matches the road shape, and
A rear side warning device for a vehicle, which calculates an approach state and makes a warning determination .