JPH0717348A - Diagonally behind monitoring system - Google Patents

Abstract

PURPOSE:To improve the safety in the drive of a vehicle by transmitting an alarm to a driver when another vehicle comes close diagonally from behind during the traveling of the own vehicle and the danger in the vehicle course change is expected. CONSTITUTION:During the traveling of a vehicle, the distance and the angle for an another vehicle positioned on the rear/side of the own vehicle are detected by a position sensor 1, and a controller 6 calculates the relative speed of the vehicle on the rear/side, and detects the danger in the vehicle course change, and when the tendency of the vehicle course change is detected from the signals supplied from a steering wheel angle sensor 3 and a turn signal device 4, an alarm buzzer 7, alarm lamp 8, and a doot mirroi driving decice 9 are operated to give an alarm to a driver, and at the same time, a door mirror is driven to permit a driver to recognize the vehicle diagonally behind.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention raises the safety of vehicle driving by issuing a warning to the driver when another vehicle approaches from the rear side while the vehicle is running and there is a danger of changing lanes. For the system.

[0002]

2. Description of the Related Art A conventionally known lane change warning device is
As disclosed in Japanese Utility Model Laid-Open No. 62-189679, a radar device detects a rear side obstacle of a traveling vehicle and issues an alarm when an echo occurs from a predetermined distance and direction. However, with this device, an alarm will be issued if another vehicle exists within a predetermined distance and direction from the own vehicle, so another vehicle slower than the own vehicle will move sideways backward and An alarm will be issued even when you enter. In other words, an alarm is issued even when there is no danger in changing lanes, so there is a problem with the reliability of the alarm, and as a result, there is a problem that the existence value as an alarm device is low, and when an alarm is issued. In order to confirm another vehicle approaching by the driver of the vehicle, it is necessary to greatly move the line of sight by turning the neck backward, etc., and there is a risk that the above confirmation may be dangerous while the vehicle is traveling.

[0003]

SUMMARY OF THE INVENTION According to the present invention, when another vehicle approaches from the rear while the vehicle is traveling, and there is a danger of actually changing lanes or the like, an alarm is issued to the driver to issue an alarm. It is intended to further enhance the reliability and make it easier to check the other vehicles.

[0004]

In order to achieve this object, a rear side monitoring system according to the present invention is a position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of a vehicle. The controller is provided with a controller and an alarm device that calculate a relative speed with respect to the other vehicle according to the output of the same position sensor, and the alarm device is activated in response to a command from the controller based on the relative speed. .

Further, the rear side monitoring system according to the present invention is a position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of the vehicle, and the other vehicle according to the output of the position sensor. And a rear-view mirror drive device for calculating a relative speed with respect to the rear-view mirror drive device, and the rear-view mirror drive device is operated in response to a command from the controller based on the relative speed.

Further, the rear side monitoring system according to the present invention is a position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of the vehicle, and the other vehicle according to the output of the position sensor. The controller includes a controller for calculating a relative speed with respect to the vehicle, a steering sensor for detecting a steering operation of a vehicle or an operation of a turn signal, and an alarm device, and the alarm according to a command from the controller based on the relative speed and the signal from the steering sensor. The device is configured to operate.

Further, the rear side monitoring system according to the present invention is a position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of the vehicle, and the other vehicle according to the output of the position sensor. It has a controller that calculates the relative speed of the vehicle, a steering sensor that detects the steering of the vehicle or the operation of a turn signal, and a rearview mirror drive device, and that responds to a command from the controller that is based on the relative speed and the signal from the steering sensor. The rear-view mirror drive device is configured to operate.

[0008]

In the above-mentioned rear side monitoring system, the vehicle is equipped with a position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of the vehicle, and a controller is provided for the rear side according to the output of the position sensor. Since the relative speed with other vehicles is calculated, the danger of lane change can be easily detected from the relative speed with other vehicles on the rear side, and the alarm device is activated according to the command from the controller, Can give the right warning about the danger of change.

Also, the controller activates the rear-view mirror drive device by detecting the danger of lane change from the relative speed with the rear-side other vehicle, and drives the rear-side other vehicle that should be watched by changing the angle of the rear-view mirror. The person can easily confirm.

Further, the controller detects the danger of a lane change from the relative speed of the rear side vehicle to the other vehicle, and the steering sensor detects the steering of the vehicle or the steering to the side from the operation of the turn signal, and the signal is controlled by the controller. When the danger of another lane change to the other vehicle on the rear side is actually approaching, the alarm device is activated by the controller's command to warn the lane change danger, and at the same time, or By operating the rear-view mirror drive device, the driver can easily check the rear side other vehicle to be warned by changing the angle of the rear-view mirror.

[0011]

EXAMPLES Examples of the present invention will be specifically described below. FIG. 1 shows the overall configuration of a rear side monitoring system in a vehicle, which includes a stereo CCD camera, a position sensor 1 for detecting the position of another vehicle to the right rear, a vehicle speed sensor 2 for detecting the speed of the own vehicle, A steering wheel angle sensor 3 that detects the steering angle of the steering wheel, a turn signal device 4, a door mirror angle sensor 5 that detects the up / down and left / right tilt angles of the door mirror, a controller 6 that receives signals from each of the above sensors, and a command from the controller 6. It has an alarm buzzer 7, an alarm lamp 8 and a door mirror driving device 9 which are respectively activated by.

As shown in FIG. 2, the stereo CCD camera in the position sensor 1 divides its pixel into 9 parts at intervals of 5 ° in the angle range of 45 ° from the rear of the vehicle to the right side, and each pixel has 5 parts. The presence or absence of another vehicle is monitored for each window of °, and if the presence of another vehicle is detected by the nth (n = 0 to 8) th window, the distance between the two video cameras is known, as is known. Is 1, the focal length of the video camera is f, and the amount of image shift in each camera is d1 and d2, the linear distance Ln from the position sensor 1 to the other vehicle is Ln = 1f
/ (D1 -d2), the distance Ln and the window number. The other vehicle position on the rear side can be accurately detected from the angle n.

That is, the position sensor 1 uses a communication format of 9600 baud rate, 8-bit data, 1 stop bit, and no parity, as 2 bytes of data per window, 4 bits for the window number n and 12 bits for the above. The distance Ln is displayed in units of 0.1 m, and all the data in a total of 9 windows is input to the controller 6 by serial communication within a transfer cycle of 100 ms and a transfer interval of 1 byte each within 10 ms.

Known vehicle speed sensors 2 and steering wheel angle sensors 3 are used to input a speed signal of the own vehicle and a parallel signal of the steering wheel angle to the controller 6, respectively. When the right turn switch is closed, the turn signal device 4 sends a rectangular wave pulse signal to the controller 6, and the door mirror angle sensor 5 sends voltage signals proportional to the horizontal angle and the vertical angle of the right door mirror to the controller 6, respectively. Send to.

The main algorithm of this rear side monitoring system is as shown in the flow chart of FIG.
When the vehicle is running, which is represented by the signal from the vehicle speed sensor 2, first, in step 10, initial settings such as variable deletion and interrupt setting are performed, and then the process proceeds to step 11, where all 9 windows in the CCD camera are detected from the position sensor 1. Distance data L0 to L8 from another vehicle on the rear side is input to the controller 6.

In the next step 12, in the controller 6, from the rear end of the vehicle, the CCD camera No. The front-rear direction distance Pn to the rear side other vehicle detected in the n window is
Pn = Ln × cos (42.5−5n) ° −a (where a is the distance from the CCD camera mounting position to the rear end of the vehicle), and this calculation is performed for all 9 windows. Each is done.

Further, in step 13, the number of the vehicle The relative speed Vn to the rear side other vehicle detected in the n window is 9
It is calculated for each of the windows, and in the next step 14, within a certain distance from the own vehicle, and
Another vehicle that is a warning target is extracted because it approaches the right rear of the own vehicle at a certain relative speed or more. In addition, step 1
If it is determined in 5 that there is no other vehicle on the rear side that is to be watched, and it is determined that there is no other vehicle to watch,
The controller 6 that has gone through the above steps is step 16
At, an off command is output to the alarm buzzer 7 and the alarm lamp 8, and a door mirror return command is output to the door mirror drive device 9, and the process returns to step 11.

When it is determined in step 15 that there is another vehicle on the rear side of the warning target, the process proceeds to step 17, and the steering wheel angle signal from the steering wheel angle sensor 3 and the turn signal device 4 are transmitted.
The steering signal of the pulse signal from is received, and in the next step 18, the necessity of the alarm is determined depending on whether the driver steers to the right or is going to steer, and is not going to steer to the right. Therefore, if the alarm is not required, the process returns to step 11. However, if the alarm is required because the vehicle is being steered to the right, the controller 6 that has gone through the above steps causes the alarm buzzer 7 and An ON command is output to the alarm lamp 8 to operate the alarm lamp 8 to warn the driver of the danger of rightward steering, and to output an operation command of the door mirror to the door mirror driving device 9, and to output an angle signal from the door mirror angle sensor 5. From the horizontal angle and the vertical angle of the right side door mirror that the controller 6 has memorized until then, the driver can target On the other hand, by operating each door mirror motor, the direction of the right side door mirror is appropriately operated up, down, left and right so that another vehicle can be brought into the field of view. Done.

Next, the calculation flow of the relative speed Vn between the own vehicle and the other vehicle on the rear side in the controller 6 will be described with reference to FIGS. 4 to 9. First, in step 20 of FIG. 4, the window of the stereo CCD camera is first described. No. Relative velocity calculation by the same window is started from n = 0, and step 2
In step 1, it is judged whether or not the relative velocity calculation processing by the same window of all 9 windows is completed, and if the processing of all windows is not completed, step 2
Proceed to 2 and the same No. It is checked whether the front-rear direction distance Pn to the other vehicle on the rear side in the n-window exceeds the measurable distance of 50 m by the CCD camera, and if it is within that distance, in the next step 23, No. Flag FPn as another vehicle on the rear side exists in the n window
= 1 is set and the process proceeds to the next step 24.

In step 24, No. It is checked whether or not the previous flag FPn (-1) = 1 for the n window. If it is 1, it is determined that another vehicle on the rear side exists in the same window and the process proceeds to step 25. From the previous front-rear direction distance Pn (-1) to the other vehicle on the rear side in the n window and the same distance Pn this time, the same No. Relative speed V in the front-rear direction with respect to the rear side other vehicle in the n window
n is calculated and the process proceeds to step 26.

In step 26, it is checked whether or not the absolute value of the relative speed Vn is larger than 90 km / h. Assuming that the relative speed of n windows can be calculated, the flag FVn = 1 is set and No. The window number Cn = n of the distance Pn (−1) used last time for calculating the relative speed of n windows is stored, and the No. In the n window, the flag FCn = 1 when the previously calculated distance Pn (-1) is used for the relative speed calculation is set, and in the next step 28, the window No. Step 2 with n + 1
Return to 1.

In step 22, if Pn exceeds the measurable distance by the CCD camera of 50 m, it is determined that there is an error and the process proceeds to step 29, and the flag FPn = 0 is set and the flag FVn = 0 is set in step 28. Go to.

In step 24, the flag FPn (-
If 1) = 1 is not satisfied, the relative speed Vn cannot be calculated, so the process proceeds to step 30 to set the flag FVn = 0, and if the absolute value of the relative speed Vn is greater than 90 km / h in step 26, was there any error? Alternatively, if the same vehicle as the previous time is not targeted, as in the case where something that was not captured by the CCD camera suddenly appeared, the process proceeds to step 30 in the same manner as above, and the flag FVn = 0 is set. Step 28
Then, the above cycle is repeated to calculate the relative speed Vn of the other vehicle on the rear side in the same window.

If it is determined in step 21 that n ≧ 9 because all windows have been processed, the process proceeds to step 31 in FIG. Relative velocity calculation by adjacent windows is started from n = 0, and it is determined in step 32 whether the relative velocity calculation processing by all nine adjacent windows is completed. If the processing of all windows is not finished, step 3
Go to No. 3, same No. It is checked whether or not another vehicle on the rear side exists in the n window, and if it exists, step 3
4 and moved to the same No. It is checked whether or not the relative speed Vn with the other vehicle on the rear side can be calculated in the n window.
If the calculation has not been completed, the process proceeds to step 35.

In step 35, the rightmost window of n = 0 is removed, and the process proceeds to the next step 36. In step 36,
No. on the right side It is checked whether or not the previous flag FPn-1 (-1) = 1 for the n-1 window is checked, and if the flag is set, it is determined that there is a rear side other vehicle in the window on the right side of the previous step 37. Go to No. on the right. Previous distance Pn- in the n-1 window
It is checked whether 1 (-1) is not used for the relative speed calculation, and if not used, the process proceeds to step 38, and the No. 1 on the inner left side from the right adjacent window. After moving to the n window, the relative speed A of the other side vehicle is The previous front-rear direction distance P to the other vehicle on the rear side in the n-1 window
n-1 (-1) and this No. It is calculated from the front-rear direction distance Pn to the other vehicle on the rear side in the n window, and the process proceeds to the next step 39.

Further, in step 35, when n = 0 is the rightmost window, when there is no previous rear side other vehicle in the window adjacent to the right in step 36, and in step 37, the previous distance P of the window adjacent to the right is P.
When n-1 (-1) is used for the relative velocity calculation, the process proceeds to step 40 and the relative velocity A = 1.
The speed is set to 00 km / h, and the process proceeds to step 39.

In step 39, the window other than the innermost window is removed, and the process proceeds to the next step 41. In step 41, it is checked whether or not the rear side other vehicle existed in the inner side adjacent window last time. The process moves to step 42 in FIG. It is checked whether the previous distance Pn + 1 (-1) in the n + 1 window is not used for the relative speed calculation. If it is used, the process proceeds to step 43, and the right side number from the inner adjacent window is displayed. After moving to the n window, the relative speed B of the other vehicle on the side is no. The previous front-rear direction distance Pn + 1 (-1) to another vehicle on the rear side in the n + 1 window and the current No. It is calculated from the front-rear direction distance Pn to the other vehicle on the rear side in the n window, and the routine proceeds to step 44.

In the case of the innermost window of n = 8 in step 39, when there is no other vehicle on the rear side in the window adjacent to the inner side in step 41 last time, and in step 42, the number of the inner side adjacent vehicle is n. When the previous distance Pn + 1 (-1) in the n + 1 window is not used for the relative speed calculation, the routine proceeds to step 45, where the relative speed B is set to 100 km / h, and the routine proceeds to step 44.

In step 44, the relative speed A of the other vehicle on the rear side, which has been moved from the windows on both sides,
The magnitude of the absolute value of B is compared, and when the absolute value of the relative speed A is large, the routine proceeds to step 46, where No. The relative speed of the rear side vehicle in the n-window to that of another vehicle
And No. The window number Cn of the distance Pn (-1) used last time for calculating the relative speed of n windows is stored as n + 1, and the process proceeds to the next step 47.

In step 44, the absolute value of the relative speed B of the rear side other vehicle moving from the inner side adjacent window is larger than the absolute value of the relative speed A of the rear side other vehicle moving from the right side adjacent window. If it is larger, proceed to step 48 and go to No. The relative speed to the other vehicle on the rear side in the n-window is set to A, which has the smaller absolute value, and No. The distance Pn (-used last time to calculate the relative speed of n windows
The window number Cn in 1) is stored as n-1, and the process proceeds to the next step 47.

In step 47, it is checked whether or not the absolute value of the relative speed Vn is larger than 90 km / h. If the absolute value is not reached, in the next step 49, No. Assuming that the relative speed of n windows can be calculated, the flag FVn = 1 is set and No. The distance Pn (-used last time to calculate the relative speed of n windows
Flag FC (C
n) = 1 is set, and in the next step 50, the window No. Is set to n + 1 and the process returns to step 32.

In step 33, the same No. If no other vehicle on the rear side exists in the n window, or step 34
In the same No. If the relative speed Vn to the other vehicle behind and behind can be calculated in the n window, step 5 is performed, respectively.
When the absolute value of the relative speed Vn of the rear side other vehicle moved from the adjacent window is greater than 90 km / h in step 47, there is some error or the CCD camera has been up to that time. If something that did not appear suddenly appeared, assuming that the same vehicle as the last time was not targeted, proceed to step 51,
The flag FVn = 0 is set, and the routine proceeds to step 50, where the above cycle is repeated and the relative speed Vn of the rear side other vehicle that has moved from the windows on both sides is calculated.

When it is determined in step 32 that n ≧ 9 because all windows have been processed,
In step 52 of FIG. 7, the window No. n = 0
The relative velocity averaging process is started from step S53, and it is determined in step 53 whether or not all nine windows have been averaged. It is checked in the n window whether or not the relative speed Vn with the rear side other vehicle is calculated, and if it is calculated, the routine proceeds to step 55.

In step 55, No. It is checked whether or not the relative speed V (Cn) of the Cn window has been calculated last time, and it is determined that the relative speed V (Cn) (-1) has been calculated. Flag FV (Cn) (-1) =
If 1 is set, the process proceeds to step 56, and
No. It is checked whether or not the relative speed V (Cn) of the Cn window has been calculated twice before, and it is determined that the relative speed V (Cn) (-2) has been calculated.
If V (Cn) (-2) = 1 is set, step 5
No. 7, and No. 7 Cn window relative velocity V
It is checked whether (Cn) has been calculated three times before, and the flag FV (Cn) (-3) = 1 is set because the relative speed V (Cn) (-3) has been calculated. If so, the process proceeds to step 58, and further, No. It is checked whether the relative velocity V (Cn) of the Cn window has been calculated four times before, and the relative velocity V (Cn) is calculated.
Flag FV (Cn) as if (-4) had been calculated
If (-4) = 1 is set, the process proceeds to step 59.

In step 59, the moving average value AVn of each relative speed calculated five times in total is calculated, and in the next step 60, the window number. N + 1 as step 53
Return to.

In step 54, the same No. If the relative speed Vn with the rear side vehicle is not calculated in the n window, the process proceeds to step 60, and in step 55, No. If the relative velocity V (Cn) of the Cn window has not been calculated previously, the routine proceeds to step 61, where the moving average value AVn of the relative velocity is set to Vn and the routine proceeds to step 60. If the relative velocity V (Cn) of the Cn window has not been calculated twice, the process proceeds to step 62. In step 62, the moving average value AVn of each relative velocity calculated twice in total is calculated and the process proceeds to step 60. Transition, and N in step 57
o. If the relative velocity V (Cn) of the Cn window has not been calculated three times before, the process proceeds to step 63 and step 6
In step 3, the moving average value AVn of each relative speed calculated three times in total is calculated, and the process proceeds to step 60. Cn window relative velocity V
If (Cn) has not been calculated four times before, step 6
4, the moving average value AVn of each relative speed calculated four times in total is calculated in step 64, and step 6 is executed.
By moving to 0, the relative flow Vn is calculated as much as possible by the above flow up to four times before, and the moving average value is calculated to obtain the accuracy of the relative speed Vn.

When it is judged that n ≧ 9 because the processing of all the windows is completed in step 53, the process proceeds to step 65 of FIG. 8 and in step 65, the relative speed V
In order to update the past three records for n and rotate the control loop, m = -3, the process proceeds to the next step 66,
In step 66 it is checked whether m is positive,
If m is negative, the process moves to step 67 and the window No. n
The processing is started from = 0, and in the next step 68, it is judged whether or not the processing of all 9 windows is completed,
If all windows have not been processed, the process proceeds to step 69 and the same No. It is checked whether or not another vehicle on the rear side exists in the n window, and if it exists, the process proceeds to step 70 and the same No. It is checked in the n window whether or not the relative speed Vn with respect to the other vehicle on the rear side can be calculated. If the relative speed Vn has been calculated, the routine proceeds to step 71.

In step 71, No. The flag FV (Cn) (m) indicating that the relative velocity V (Cn) of the Cn window is calculated after m times is set to No. The flag is updated to FVn (m-1) indicating that the relative speed Vn (m-1) is calculated after m-1 times in the n window, and No. The relative speed V (Cn) (m) after m times in the Cn window is set to No. m-1 in n windows
The relative speed after rotation is updated to Vn (m-1), and the process proceeds to the next step 72, where the window No. N + 1 as step 6
Return to 8.

In step 69, the same No. If no other vehicle on the rear side exists in the n window, or step 70
In the same No. If the relative speed Vn with the other vehicle on the rear side cannot be calculated in the n window, step 72 is performed, respectively.
Further, if it is determined that n ≧ 9 because there is input from all windows in step 68, m is set to m + 1 in the next step 73, and the process returns to step 66.

If m is positive in step 66, the process proceeds to step 74 in FIG. The processing is started from n = 0, and in the next step 75, it is judged whether or not the processing of all 9 windows is completed. If the processing of all windows is not completed, the routine proceeds to step 76, where the same No. It is checked whether or not another vehicle on the rear side exists in the n window. If there is no other vehicle on the rear side, the process proceeds to step 77 and the same No. It is checked whether or not the relative velocity Vn with respect to the other vehicle on the rear side can be calculated in the n window. If the relative velocity Vn cannot be calculated, the process proceeds to step 78. In step 76, the same No. If another vehicle on the rear side exists in the n window, the process similarly proceeds to step 78.

In step 78, each flag FV is
n (-1), FVn (-2), FVn (-3), FVn
(-4) is cleared and the process proceeds to the next step 79, and at step 77, the same No. If the relative speed Vn to the rear side other vehicle can be calculated in the n window, the process proceeds to step 79, and in step 79, the window number. N +
The process returns to step 75 as 1. If it is determined in step 75 that n ≧ 9 because the processing of all windows is completed, the routine ends.

Even when the other vehicle in the left rear of the own vehicle is monitored, it is possible to exert the same effect by the configuration and control exactly the same as the above, and the system for the other vehicle in the left rear is displayed. The description is omitted.

As described above, the distance in the front-rear direction to the other vehicle on the rear side, the angle at which the other vehicle on the rear side exists, and the relative speed with respect to the other vehicle on the rear side are always accurately detected. When you change lanes, the approach situation of other vehicles behind the
In any case, including when there is an interruption of another vehicle to the rear side, it can be surely grasped, and the steering wheel angle sensor 3
It is also known that the driver steers or is about to steer in the direction of the other vehicle on the rear side, which is the target of warning, by the steering wheel angle signal from the vehicle and the pulse signal from the turn signal device 4. The controller 6 detects the degree of danger of steering and activates the alarm buzzer 7 and the alarm lamp 8 to warn the driver of the danger of changing lanes, and the door mirror drive 9 drives the horizontal direction of the door mirror on the side where another vehicle exists. By adjusting the angle and the vertical angle, it is possible to easily check the other vehicle on the rear side without moving the driver's line of sight greatly, and the blind spot of the door mirror can be eliminated.

Further, even if another vehicle approaches the rear side of the own vehicle, the controller 6 determines that there is no danger if the lane is not changed, and the alarm buzzer 7 and the alarm lamp 8 are used.
Since it does not operate and the angle of the door mirror is not changed unnecessarily, the reliability of the alarm is high and the field of view by the door mirror is stable. Therefore, the driver's oversight of the approaching vehicle can be reliably covered, and the approaching vehicle can be easily confirmed, so that the safety and easiness of the vehicle operation can be significantly improved as compared with the conventional case.

Depending on the vehicle, it is needless to say that either the alarm buzzer or the alarm lamp may be omitted, or the door mirror may be replaced with a fender mirror. It is not always necessary to divide the pixels of the CCD camera for detecting the like, etc. in the horizontal direction at equal angles. Depending on the situation, the inside angle may be set larger than the outside angle or vice versa. It is also possible to monitor the relative speed of the other vehicle at an appropriate fixed angle on the rear side of the own vehicle, issue an appropriate alarm when a danger is detected as described above, and / or operate the angle of the mirror. Alternatively, or even if the alarm or the angle operation of the mirror is performed while the vehicle is stopped, the same operational effects as those of the above-described embodiment are obtained. It is those that can be.

[0046]

In the rear-side monitoring system according to the present invention, the front-rear distance to the rear-side other vehicle, the angle at which the rear-side other vehicle exists, and the relative speed with the rear-side other vehicle are always accurate. When the vehicle changes lanes, the approach situation of the other vehicle on the rear side, which is the target of warning, can be surely grasped, and if there is a danger, the alarm device is activated to respond to that danger. It is possible to change the rearview mirror angle on the dangerous side appropriately by issuing a warning and / or actuating the rearview mirror drive device.Therefore, there is a risk that the driver may overlook another vehicle on the rear side approaching. In addition, since it is possible to easily check the other vehicle on the rear side approaching without moving the driver's line of sight significantly, it is possible to greatly improve the safety and easiness of vehicle control compared with the conventional method. You can

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an embodiment of the present invention.

FIG. 2 is an explanatory view of the main operation of the above embodiment.

FIG. 3 is a main control flowchart of the above embodiment.

FIG. 4 is a main part control flowchart of the above embodiment.

FIG. 5 is a main part control flowchart of the above embodiment.

FIG. 6 is a main part control flowchart of the above embodiment.

FIG. 7 is a main part control flowchart of the above embodiment.

FIG. 8 is a main part control flowchart of the above embodiment.

FIG. 9 is a main part control flowchart of the above embodiment.

[Explanation of symbols]

 1 position sensor 2 vehicle speed sensor 3 steering wheel angle sensor 4 turn signal device 5 door mirror angle sensor 6 controller 7 alarm buzzer 8 alarm lamp 9 door mirror drive device

Claims (4)

[Claims] 1. A position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of the vehicle, a controller and an alarm device for calculating a relative speed with the other vehicle according to an output of the position sensor. And a rear side monitoring system configured to activate the alarm device in response to a command from the controller based on the relative speed. 2. A position sensor for detecting a distance or a distance and an angle to another vehicle existing on a rear side of the vehicle, a controller and a rearview mirror for calculating a relative speed with the other vehicle according to an output of the position sensor. A rear-side monitoring system including a driving device and configured to operate the rear-view mirror driving device in response to a command from the controller based on the relative speed. 3. A position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of the vehicle, a controller for calculating a relative speed with the other vehicle according to an output of the position sensor, and a controller for the vehicle. A rear side provided with a steering sensor and an alarm device for detecting the operation of a steering or turn signal, and the alarm device being activated in response to a command from the controller based on the relative speed and the signal from the steering sensor. Monitoring system. 4. A position sensor for detecting a distance or a distance and an angle to another vehicle existing on the rear side of the vehicle, a controller for calculating a relative speed with the other vehicle according to an output of the position sensor, and a controller for the vehicle. A steering sensor and a rear-view mirror drive device for detecting an operation of a steering or turn signal are provided, and the rear-view mirror drive device is operated in response to a command from the controller based on the relative speed and a signal from the steering sensor. Lateral lateral monitoring system.