JP7263947B2 - Misstep prevention device - Google Patents

Description

The present disclosure relates to a stepping error suppression device.

Patent Literature 1 discloses a vehicle alarm device that, when an obstacle approaching a vehicle is detected while traveling on a road, notifies the vehicle with an alarm sound and an alarm display upon detection of the obstacle. In this vehicle alarm system, when it is determined that the own vehicle is stopped, the position of the own vehicle is within the assumed stop area, and the distance between the own vehicle and the obstacle is constant, the obstacle is detected. Controls are provided to disable accompanying notifications.

JP 2015-207157 A

By the way, in recent years, it has become a problem that drivers, mainly elderly people, mistakenly step on the accelerator pedal by mistakenly stepping on the brake pedal. In order to solve such a problem, an erroneous depression acceleration suppression device that can be retrofitted to a vehicle and suppresses acceleration due to erroneous depression of the accelerator pedal of the vehicle has been studied. In such an erroneous acceleration suppression device, it is preferable to issue a warning to the presence of an obstacle when an obstacle is detected.

However, even if an obstacle is detected, there may be situations in which it is not necessary to issue a warning. Therefore, if a warning is output regardless of the possibility of a collision with an obstacle, unnecessary warnings will make the occupants of the vehicle feel uncomfortable.

Note that even if the output of the warning is stopped when it is determined that the distance between the vehicle and the obstacle is constant, as in the above-described vehicle alarm device, the distance between the vehicle and the obstacle may increase. If it is not constant, a warning will be output even if the probability of collision with an obstacle is low.

One aspect of the present disclosure provides a stepping error suppression device capable of suppressing unnecessary warnings when the possibility of collision with an obstacle is low.

One aspect of the present disclosure is a stepping error suppression device (100) that can be retrofitted to a vehicle and includes an input unit (S11), a distance specifying unit (S12), and a warning unit (S14, S16 to S19, S21 ) and The input unit is configured to input back lamp information indicating ON/OFF of the back lamp from the vehicle. The distance specifying unit is configured to input information about obstacles around the vehicle from the vehicle and specify the distance to the obstacle. The warning unit is configured to output a warning to the effect that an obstacle exists when it is determined that an obstacle exists within a predetermined distance in the traveling direction of the vehicle indicated by the back lamp information. Further, the warning unit stops outputting the warning when it determines that the distance to the obstacle existing within the predetermined distance is constant or increased.

According to such a configuration, unnecessary warnings can be suppressed when the possibility of collision with an obstacle is low.

FIG. 2 is a block diagram showing the configuration of an erroneous depression suppression device; 1 is a diagram showing an overall image of a vehicle equipped with a depression prevention device; FIG. It is a figure which shows the external appearance of a device main body. It is a figure which shows the external appearance of an HMI part. It is a flow chart of information suppression processing. FIG. 4 is a diagram showing a warning state of an obstacle in front of the vehicle; FIG. 4 is a diagram showing a warning state of an obstacle behind the vehicle;

Exemplary embodiments of the present disclosure are described below with reference to the drawings.
[1. composition]
First, the configuration of the depression prevention device 100 will be described with reference to FIGS. 1 to 4. FIG.

The erroneous depression suppression device 100 shown in FIGS. 1 and 2 is a device that can be installed in a vehicle after shipment, that is, can be retrofitted to the vehicle, and is a device that suppresses acceleration caused by a driver's erroneous depression of the accelerator pedal. . In this embodiment, the erroneous depression suppression device 100 is installed in a vehicle equipped with an accelerator pedal sensor 11, a forward monitoring sensor 13, a rearward monitoring sensor 14, a vehicle speed sensor 15, a back lamp sensor 16, a parking brake sensor 17, and a driving force control unit 200. to be installed. The stepping error suppression device 100 includes a device main body 20 and a Human Machine Interface (HMI) section 90 .

The accelerator pedal sensor 11 is a sensor for detecting the accelerator opening. The accelerator pedal sensor 11 outputs a first signal indicating a first accelerator opening, which is the detected accelerator opening, to the driving force control section 200 via the device body 20 . The unit of accelerator opening is %. The accelerator opening is 0% when the driver does not step on the accelerator pedal at all. The accelerator opening is 100% when the driver depresses the accelerator pedal to the upper limit.

The forward monitoring sensor 13 and the rearward monitoring sensor 14 are sensors that detect distances to obstacles present in front of and behind the vehicle. In this embodiment, ultrasonic sensors are used as the forward monitoring sensor 13 and the rearward monitoring sensor 14 . In this embodiment, the forward monitoring sensor 13 and the rearward monitoring sensor 14 detect obstacles present within a short distance (for example, within 3.5 m) from the vehicle. Obstacles are, for example, pedestrians, other vehicles and walls. The forward monitoring sensor 13 and the rearward monitoring sensor 14 may be mounted when the vehicle is manufactured, or may be retrofitted to the vehicle together with the device body 20 and the HMI section 90 . In this embodiment, as shown in FIG. 2, the forward monitoring sensor 13 includes a right forward monitoring sensor 13a arranged on the right side in front of the vehicle and a left forward monitoring sensor 13a arranged on the left side in front of the vehicle. 13b. In this embodiment, the rearward monitoring sensor 14 includes a right rearward monitoring sensor 14a arranged on the right side behind the vehicle and a left rearward monitoring sensor 14b arranged on the left side behind the vehicle.

The vehicle speed sensor 15 is a sensor for detecting the running speed of the vehicle. The vehicle speed sensor 15 outputs a signal corresponding to the running speed to the device body 20 .
The back lamp sensor 16 is a sensor for detecting the ON/OFF state of the back lamp that lights up when the shift lever is in reverse, in other words, when the accelerator pedal is depressed to move the vehicle backward. The back lamp sensor 16 outputs a signal indicating the ON/OFF state of the back lamp to the device body 20 .

The parking brake sensor 17 is a sensor for detecting the ON/OFF state of the parking brake. The parking brake sensor 17 outputs a signal indicating the ON/OFF state of the parking brake to the device body 20 .

The driving force control unit 200 controls the driving force of the vehicle according to the accelerator opening indicated by the output signal output from the device body 20 . The driving force control unit 200 sets the throttle opening according to, for example, the accelerator opening indicating the output signal. Examples of the driving force control unit 200 include a power management controller and the like.

The device main body 20 is a device having a substantially rectangular parallelepiped housing 21, as shown in FIG. The device body 20 has an accelerator signal input terminal 22, sensor signal input terminals 27 and 28, a vehicle speed signal input terminal 29, a lamp signal input terminal 30, and a brake signal input terminal shown in FIG. 31 , an accelerator signal output terminal 34 and a communication terminal 39 . Further, the device main body 20 includes the controller 50, the second signal generator 63, the coil power supply 61, and the relay switch 70 shown in FIG.

The accelerator signal input terminal 22 shown in FIG. 1 is connected to the accelerator pedal sensor 11 and also to the relay switch 70 via the signal line 42 . The accelerator signal output terminal 34 is connected to the input terminal of the driving force control section 200 and also connected to the relay switch 70 via the signal line 46 . Further, the accelerator signal input terminal 22 is connected to the controller 50 via a signal line.

Each of the sensor signal input terminals 27 and 28 is connected to each of the forward monitoring sensor 13 and the rearward monitoring sensor 14 by a wire harness. The vehicle speed signal input terminal 29, the lamp signal input terminal 30, and the brake signal input terminal 31 are connected to the vehicle speed sensor 15, the back lamp sensor 16, and the parking brake sensor 17 by wire harnesses. Sensor signal input terminals 27 and 28, vehicle speed signal input terminal 29, lamp signal input terminal 30, and brake signal input terminal 31 are connected to control section 50 via signal lines.

The communication terminal 39 is connected to the controller 50 via a signal line. Also, the communication terminal 39 is connected to the HMI section 90 via a local CAN signal line. Thereby, communication is performed between the apparatus body 20 and the HMI section 90 via the local CAN signal line. Note that CAN is a registered trademark.

Since the device main body 20 is a retrofit device, it is generally not easy to connect to a network (for example, a CAN network) in the vehicle. Therefore, the device main body 20 is equipped with sensor signal input terminals 27 and 28, a vehicle speed signal input terminal 29, a lamp signal input terminal 30, and a brake signal input terminal 31 by wire harnesses in order to take in the minimum necessary signals. Various signals are acquired by connecting to a sensor, etc.

The control unit 50 includes a CPU 51 and a semiconductor memory 52 including ROM and RAM (hereinafter referred to as "memory 52"). Each function of the control unit 50 is realized by the CPU 51 executing a program stored in a non-transitional substantive recording medium. In this embodiment, the memory 52 corresponds to a non-transitional substantive recording medium storing programs. Also, by executing this program, a method corresponding to the program is executed. Note that the control unit 50 may have one microcomputer, or may have a plurality of microcomputers.

The relay switch 70 includes a first contact 71 , a second contact 72 , an output side contact 73 , a movable piece 74 and a coil 75 .
The first contact 71 is connected to the accelerator signal input terminal 22 via the signal line 42 . The second contact 72 is connected to the second signal generator 63 via the signal line 44 . The output side contact 73 is connected to the accelerator signal output terminal 34 via the signal line 46 .

One end of the movable piece 74 is connected to the output side contact 73 . The opposite end of the movable piece 74 selectively connects with one of the first contact 71 and the second contact 72 . That is, the movable piece 74 can move to a position (hereinafter referred to as the "first position") where the first contact 71 and the output side contact 73 are connected, and can also move the second contact 72 and the output side contact 73. It can also be moved to a connecting position (hereinafter referred to as “second position”).

Coil power supply 61 is connected between one end of coil 75 and controller 50 . The coil power supply 61 supplies power to the coil 75 when turned on by the control unit 50 , and does not supply power to the coil 75 when turned off by the control unit 50 .

The coil 75 is energized when the coil power source 61 is on, current flows, and magnetic force is generated. When the coil power source 61 is turned off, the coil 75 is in a non-energized state and does not generate magnetic force.

The movable piece 74 moves from the first position to the second position or from the second position to the first position by the magnetic force generated by the coil 75 . That is, the position of the movable piece 74 can be switched by controlling the energization of the coil 75 . In this embodiment, the movable piece 74 is positioned at the first position when the coil 75 is not energized, and is positioned at the second position when the coil 75 is energized.

The second signal generator 63 generates a second signal indicating a second accelerator opening, which is a predetermined accelerator opening. In this embodiment, the second accelerator opening is 0%.
Therefore, when the movable piece 74 is positioned at the first position, the output signal output from the apparatus body 20 to the driving force control section 200 is the first signal, and the movable piece 74 is positioned at the second position. , the output signal is the second signal.

As shown in FIG. 4, the HMI unit 90 is formed in a substantially rectangular parallelepiped housing 95, and includes a function off switch 91, a sound output unit 92, an LED display unit 93, and an image display unit 94. Prepare. The function off switch 91 , the sound output section 92 , the LED display section 93 and the image display section 94 are each provided on the side surface of the housing 95 .

The function off switch 91 is a switch operated by the driver. When the driver turns on the function off switch 91 , an on signal is input to the controller 50 . Upon acquiring the ON signal, the control unit 50 prohibits the execution of the notification suppression process and the acceleration suppression process. When the driver does not want to execute the notification suppression process and the acceleration suppression process, the driver may turn on the function off switch 91 .

The sound output unit 92 is a device that outputs a warning sound. If the control unit 50 determines that an obstacle exists within a predetermined distance from the vehicle, the control unit 50 outputs to the HMI unit 90 a command to issue a warning to the effect that the obstacle exists. When the HMI section 90 receives the command from the control section 50, the sound output section 92 emits a warning sound such as a beep beep.

The LED display unit 93 is a device that displays a warning using LED lamps 93a and 93b. As described above, when the control unit 50 determines that an obstacle exists within a predetermined distance from the vehicle, the control unit 50 outputs to the HMI unit 90 a command to issue a warning that an obstacle exists. When the HMI unit 90 receives a command from the control unit 50, the LED lamps 93a and 93b of the LED display unit 93 are turned on to display a warning. Specifically, when a command to issue a warning to the effect that an obstacle exists in front of the vehicle is output, the LED lamp 93a located above the LED display unit 93 when the HMI unit 90 is installed in the vehicle. is illuminated. Further, when a command is output to issue a warning to the effect that an obstacle exists behind the vehicle, the LED lamp 93b positioned below the LED display unit 93 is lit when the HMI unit 90 is installed in the vehicle. be.

The image display unit 94 is a device that displays a warning using an image, for example, a character image. The image display unit 94 may include, for example, a liquid crystal display or an organic EL display. Control unit 50 outputs to HMI unit 90 a command to issue a warning prompting the user to release the accelerator pedal when executing the acceleration suppression process. The HMI section 90 displays a warning on the image display section 94 upon receiving the command from the control section 50 . The warning is, for example, "Release the accelerator".

[2. process]
Next, the notification suppression process executed by the control unit 50 will be described using the flowchart of FIG. This notification suppression process is periodically executed while the accessory switch is on. Note that the notification suppression process is not executed while the function off switch 91 is on.

First, in S11, the control unit 50 detects the traveling direction of the vehicle based on the signal indicating the ON/OFF state of the back lamp output from the back lamp sensor 16. FIG. That is, the control unit 50 detects backward movement when the signal indicates the ON state of the back lamp, and detects forward movement when the signal indicates the OFF state of the back lamp. Since the connection to the CAN network is not easy, the device main body 20 cannot acquire a signal from the shift sensor that detects the position of the shift lever. Therefore, the control unit 50 detects the traveling direction of the vehicle based on the signal indicating the ON/OFF state of the back lamp.

Subsequently, in S12, the control unit 50 determines whether or not an obstacle exists within a predetermined distance in the traveling direction of the vehicle based on the signal output from the forward monitoring sensor 13 or the rearward monitoring sensor 14. In this embodiment, when the traveling direction of the vehicle is forward, the control unit 50 determines whether an obstacle exists within 3.5 m in front of the vehicle based on the signal output from the forward monitoring sensor 13. determine whether Further, when the vehicle travels backward, the control unit 50 determines whether or not an obstacle exists within 3.5 m behind the vehicle based on the signal output from the rear monitoring sensor 14. do.

If the control unit 50 determines in S12 that an obstacle exists within the predetermined distance in the traveling direction of the vehicle, the process proceeds to S13.
In S13, the controller 50 increments the continuous detection time t (t=t+1), which is the time during which the obstacle has been detected.

Subsequently, in S14, the controller 50 determines that the detected distance, which is the distance to the obstacle detected in the current cycle, is the minimum distance between the obstacle and the vehicle after the obstacle was detected. It is determined whether or not the distance is greater than or equal to the minimum distance. The minimum distance value is initially set to a sufficiently large value and updated to the detected distance in S15, which will be described later. Therefore, when the distance to the obstacle spreads once and then shrinks, even if the detection distance is less than the distance to the obstacle detected in the previous cycle, the detection distance is greater than or equal to the minimum distance value. can be determined.

When the control unit 50 determines in S14 that the detected distance is not equal to or greater than the minimum distance value, the process proceeds to S15. That is, when the control unit 50 determines in S14 that the distance to the obstacle is shorter than the minimum distance value, the process proceeds to S15.

In S15, the control unit 50 updates the minimum distance value to the detected distance.
Subsequently, in S16, the control unit 50 causes the sound output unit 92 and the LED display unit 93 to output a warning that an obstacle exists, and then terminates the notification suppression process in FIG. That is, when the vehicle is approaching an obstacle without stopping, it is highly likely that the vehicle will collide with the obstacle. is output. Specifically, when a warning to the effect that an obstacle exists in front of the vehicle is output, as shown in FIG. Lamp 93a is lit. Also, when a warning is output to the effect that an obstacle exists behind the vehicle, as shown in FIG. Lights up.

On the other hand, when the control unit 50 determines in S14 that the detected distance is equal to or greater than the minimum distance value, the process proceeds to S17.
In S17, the control unit 50 determines whether or not the obstacle continuous detection time t is equal to or longer than a predetermined time.

If the control unit 50 determines in S17 that the obstacle continuous detection time t is not equal to or longer than the predetermined time, the process proceeds to S18.
In S18, the control unit 50 causes the sound output unit 92 and the LED display unit 93 to output a warning to the effect that an obstacle exists, and then ends the notification suppression processing in FIG.

On the other hand, when the controller 50 determines in S17 that the obstacle continuous detection time t is longer than or equal to the predetermined time, the process proceeds to S19.
In S19, the control unit 50 causes the sound output unit 92 and the LED display unit 93 to stop outputting a warning to the effect that an obstacle exists, and then terminates the notification suppression processing in FIG. That is, in a state in which the possibility of a collision with an obstacle is low, such as the distance to the obstacle not changing or the vehicle moving away from the obstacle, if the warning continues for a predetermined period of time and the attention is sufficiently called. , the warning from the sound output unit 92 and the LED display unit 93 is not output. In other words, even if the possibility of collision with an obstacle is low, the state of outputting the warning continues until the obstacle continues to exist for a predetermined period of time.

On the other hand, when the control unit 50 determines in S12 that there is no obstacle within the predetermined distance in the traveling direction of the vehicle, the process proceeds to S20.
In S20, the controller 50 resets the obstacle continuous detection time t to zero and initializes the minimum distance value to a sufficiently large value.

Subsequently, in S21, the control unit 50 puts the sound output unit 92 and the LED display unit 93 into a state in which the warning to the effect that an obstacle exists is not output. After that, the notification suppression process of FIG. 5 is terminated.
In addition, in the erroneous depression suppression device 100 of the present embodiment, in addition to the notification suppression processing described above, the control unit 50 performs acceleration suppression processing when the accelerator pedal is further depressed while an obstacle is being detected. Execute. In this acceleration suppression process, if an obstacle exists within 3.5 m in the traveling direction and the accelerator opening detected by the accelerator pedal sensor 11 is equal to or greater than a predetermined value, the control unit 50 74 is moved from the first position to the second position. That is, the control state of the vehicle transitions from the normal control state in which the driving force of the vehicle is controlled according to the first accelerator opening to the acceleration suppression control state in which the driving force of the vehicle is controlled according to the second accelerator opening. Let As a result, when an obstacle is detected within 3.5m in the direction of travel, even if the accelerator pedal is accidentally depressed, the system will be controlled so that it will be in the same state as when the accelerator pedal is not depressed. be done. Note that the control unit 50 causes the image display unit 94 to output a warning prompting the user to release the accelerator pedal when executing the acceleration suppression process.

[3. effect]
According to the embodiment detailed above, the following effects are obtained.
(3a) In this embodiment, when it is determined that the detected distance of an obstacle existing within a predetermined distance in the traveling direction of the vehicle is equal to or greater than the minimum distance value, the warning to the effect that an obstacle exists is not output. becomes. For this reason, for example, in a situation where the vehicle is stopped at a traffic light, a parking lot, a gas station, etc., even if a warning is output because the distance to other vehicles or pedestrians is close, even if the distance to them is If it does not change or if the distance increases, the warning will not be output. Further, for example, when the vehicle is traveling slowly in a traffic jam and the distance to the vehicle in front is close, even if the distance to the vehicle in front fluctuates slightly beyond the minimum distance value, the warning will not be output. . Therefore, unnecessary warnings can be suppressed when the possibility of collision with an obstacle is low. As a result, it is possible to prevent unnecessary warnings from giving discomfort to the passengers of the vehicle, so that the driver's satisfaction can be improved.

(3b) In the present embodiment, even when it is determined that the detected distance of an obstacle existing within a predetermined distance in the traveling direction of the vehicle is equal to or greater than the minimum distance value, the obstacle continues to exist. until a predetermined time elapses, the output of the warning to the effect that an obstacle exists is continued. Therefore, it is possible to sufficiently alert the driver to the presence of an obstacle in front of or behind the vehicle.

(3c) In the present embodiment, when the obstacle detection distance is equal to or greater than the minimum distance value and the obstacle continuous detection time t is equal to or greater than a predetermined time, both the sound output unit 92 and the LED display unit 93 No warning will be output. As a result, when the possibility of collision with an obstacle is low, it is possible to suppress both visual and auditory discomfort given to the occupant of the vehicle.

In the present embodiment, S11 corresponds to processing as an input section, S12 corresponds to processing as a distance specifying section, and S14, S16 to S19, and S21 correspond to processing as a warning section.

[4. Other embodiments]
Although the embodiments of the present disclosure have been described above, it is needless to say that the present disclosure is not limited to the above embodiments and can take various forms.

(4a) In the above-described embodiment, the configuration in which the warning to the effect that an obstacle exists continues to be output until the obstacle continuous detection time t elapses for a predetermined period of time. You may make it the state which a warning is not output without waiting. That is, the predetermined time may be zero.

(4b) In the above embodiment, the forward monitoring sensor 13 and the rearward monitoring sensor 14 with relatively short detectable distances were exemplified, but the forward monitoring sensor 13 and the rearward monitoring sensor 14 are sensors with relatively long detectable distances. may be In this case, in S12 of the notification suppression process described above, the control unit 50 determines whether or not there is an obstacle existing in a short distance from the vehicle among the obstacles detected in the traveling direction of the vehicle. . Further, in the above-described embodiment, ultrasonic sensors are used as the forward monitoring sensor 13 and the rearward monitoring sensor 14 used for detecting obstacles, but laser radar, millimeter wave radar, cameras, etc. may be used, for example. When a camera is used to detect obstacles, for example, the principle of triangulation may be used to recognize obstacles in a three-dimensional space and determine the distance.

(4c) In the above embodiment, as a warning to the effect that an obstacle exists, a warning sound is emitted from the sound output unit 92 and the LED lamps 93a and 93b of the LED display unit 93 are lit. , a warning may be displayed by the image display unit 94 . Further, for example, the sound output unit 92, the LED display unit 93, and the image display unit 94 may be used together in any combination. Further, in the above embodiment, when the obstacle detection distance is equal to or greater than the minimum distance value and the obstacle continuous detection time t is equal to or greater than the predetermined time, both the sound output unit 92 and the LED display unit 93 give a warning. is not output, for example, the warning from the LED display unit 93 may remain output. That is, when the detection distance of the obstacle is equal to or greater than the minimum distance value and the continuous detection time t of the obstacle is equal to or greater than the predetermined time, only the warning from the sound output unit 92 may not be output. In other words, when the detection distance of the obstacle is equal to or greater than the minimum distance value and the continuous detection time t of the obstacle is equal to or greater than the predetermined time, at least if the warning is not output by the sound output unit 92, the traveling direction While providing the driver with a warning to the effect that an obstacle still exists in the vehicle through only the sight, it is possible to suppress the audible discomfort given to the occupants of the vehicle.

(4d) In the above embodiment, the configuration in which the detected distance is compared with the minimum distance value was exemplified. For example, the detected distance detected in the current cycle is compared with the detected distance detected in the previous cycle. It may be configured to be In this case, when it is determined that the detection distance detected in the current cycle is greater than or equal to the detection distance detected in the previous cycle, the warning to the effect that an obstacle exists is not output.

(4e) Obstacle detection may not be performed when the traveling speed of the vehicle is a predetermined value or higher, for example, 35 km/h or higher.
(4f) Control unit 50 and techniques described in this disclosure may be provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be implemented by a computer. Alternatively, the controller 50 and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the controller 50 and techniques described in this disclosure are a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. may be implemented by one or more dedicated computers configured by Computer programs may also be stored as computer-executable instructions on a computer-readable non-transitional tangible storage medium. The method of realizing the function of each unit included in the control unit 50 does not necessarily include software, and all the functions may be realized using one or more pieces of hardware.

(4g) The function of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Also, part of the configuration of the above embodiment may be omitted. Also, at least a part of the configuration of the above embodiment may be added, replaced, etc. with respect to the configuration of the other above embodiment.

(4h) In the present disclosure, in addition to the above-described pedal error suppression device 100, the control unit 50 that is a component of the pedal error suppression device 100, a program for causing a computer to function as the control unit 50, and this program are recorded. It can be implemented in various forms such as media and notification suppression methods.

13 Forward monitoring sensor 14 Backward monitoring sensor 16 Back lamp sensor 20 Apparatus main body 50 Control unit 90 HMI unit 100 Misstep suppression device 200 Driving force control unit.

Claims (6)

A stepping error suppression device (100) configured to be mounted on a vehicle,
an input unit (S11) configured to input back lamp information indicating ON/OFF of the back lamp from the vehicle;
a distance specifying unit (S12) configured to input information about obstacles around the vehicle from the vehicle and specify a distance to the obstacle;
A warning unit (S14, S16) configured to output a warning to the effect that the obstacle exists when it is determined that the obstacle exists within a predetermined distance in the traveling direction of the vehicle indicated by the back lamp information. ~ S19, S21) and
with
The warning part
The distance to the obstacle existing within the predetermined distance is determined to be constant or widened, and the detection of the obstacle continues after it is determined that the obstacle exists within the predetermined distance. If it is determined that the continuous detection time is equal to or longer than the predetermined time , stop outputting the warning ,
If it is determined that the distance to the obstacle existing within the predetermined distance is constant or widened, and if it is determined that the continuous detection time is not equal to or longer than the predetermined time, the output of the warning is continued. Error suppressor. The stepping error suppression device according to claim 1 ,
The warning unit determines that the distance to the obstacle is constant or increasing when the distance to the obstacle is equal to or greater than the minimum distance to the obstacle after the obstacle is detected. Stepping mistake prevention device. A stepping error suppression device (100) configured to be mounted on a vehicle,
an input unit (S11) configured to input back lamp information indicating ON/OFF of the back lamp from the vehicle;
a distance specifying unit (S12) configured to input information about obstacles around the vehicle from the vehicle and specify a distance to the obstacle;
A warning unit (S14, S16) configured to output a warning to the effect that the obstacle exists when it is determined that the obstacle exists within a predetermined distance in the traveling direction of the vehicle indicated by the back lamp information. ~ S19, S21) and
with
The warning part
when it is determined that the distance to the obstacle existing within the predetermined distance is constant or widens, stopping the output of the warning ;
When the distance to the obstacle is equal to or greater than the minimum value of the distance to the obstacle after the obstacle is detected, it is determined that the distance to the obstacle is constant or widening, and the stepping error suppression is performed. Device. The stepping error suppression device according to any one of claims 1 to 3,
The warning part
Output an audible warning and a visual warning as the warning,
A stepping error suppressing device that stops outputting only the auditory warning when it is determined that the distance to the obstacle existing within the predetermined distance is constant or widens. A stepping error suppression device (100) configured to be mounted on a vehicle,
an input unit (S11) configured to input back lamp information indicating ON/OFF of the back lamp from the vehicle;
a distance specifying unit (S12) configured to input information about obstacles around the vehicle from the vehicle and specify a distance to the obstacle;
A warning unit (S14, S16) configured to output a warning to the effect that the obstacle exists when it is determined that the obstacle exists within a predetermined distance in the traveling direction of the vehicle indicated by the back lamp information. ~ S19, S21) and
with
The warning part
Output an audible warning and a visual warning as the warning,
A stepping error suppressing device that stops outputting only the auditory warning when it is determined that the distance to the obstacle existing within the predetermined distance is constant or widens. The stepping error suppression device according to any one of claims 1 to 3,
The warning part
Output an audible warning and a visual warning as the warning,
A stepping error suppressing device that stops outputting the auditory warning and the visual warning when it is determined that the distance to the obstacle existing within the predetermined distance is constant or widening.

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