JPH08102000A - Inter-vehicle distance alarm device - Google Patents

Abstract

PURPOSE: To provide an inter-vehicle distance alarm device capable of preventing a driver from being bothered by an alarm more than needed, implanting an appropriate inter-vehicle distance feeling in the driver and issuing the accurate alarm so as not to frighten the driver when it is required to draw attention. CONSTITUTION: This inter-vehicle distance alarm device provided with an inter- vehicle distance detection means 1, a car speed detection means 3 and an alarming means 4, etc., is provided with an alarm judgement means 2 for judging whether or not it is a follow-up mode from a relative speed, not outputting a normal primary alarm after outputting the primary alarm once at the time of the follow-up mode and canceling the follow-up mode and outputting the normal primary alarm only at the time of an approaching state when a relative speed difference is more than a prescribed value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance warning device, and more particularly, it is often installed in large vehicles and the like, and detects relative speed between an own vehicle and a preceding vehicle, an inter-vehicle distance, an own vehicle speed, etc. The present invention relates to an inter-vehicle distance warning device that issues a predetermined warning according to each situation when a predetermined warning area is reached.

[0002]

2. Description of the Related Art The main cause of a rear-end collision caused by a truck or the like, which transports a long distance, is a driver's dozing driving or a casual driving. Under such circumstances, an inter-vehicle distance warning device is currently being developed, which detects the inter-vehicle distance between the own vehicle and the preceding vehicle and issues a warning to the driver when the distance becomes a certain distance or less. . The device emits a laser beam toward the front of the own vehicle, receives the laser beam reflected by the reflector on the rear surface of the front vehicle, and obtains the inter-vehicle distance from the time difference, and the inter-vehicle distance is a predetermined distance. In the following cases, the buzzer in the passenger compartment will sound.

However, even if the vehicle-to-vehicle distance between the front vehicle and the host vehicle is an area where an alarm should be issued, if the speed difference between the front vehicle and the host vehicle is within a certain range, that is, a so-called following state. In such a case, there is little danger, and on the contrary, if a warning is frequently issued in this state, it may be annoying to the driver and cause distraction.

With respect to the above problems, Japanese Patent Laid-Open No. 172946/1993
According to the publication, a primary warning is not generated or only a part of the primary warning is generated in the following traveling state, and an inter-vehicle distance warning device capable of avoiding a state where the primary warning is continuously issued during the following traveling is disclosed. Proposed.

[0005]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In the inter-vehicle distance warning device described in Japanese Patent No. 72946,
If the secondary warning area is entered from the following running state, the secondary alarm will be suddenly issued. In this way, when the driver does not notice that the own vehicle is slowly approaching the front vehicle in the following traveling state and the secondary alarm is suddenly output, the driver is upset and can take appropriate measures. There was a problem that I could not do it. Also, for example, suddenly another vehicle interrupts,
Even when the vehicle immediately follows the vehicle, the primary alarm is not issued, which is not only unpleasant for the driver, but also there is a problem that it is difficult to recognize an accurate inter-vehicle distance. Further, for example, when the driver loses sight of the preceding vehicle on a curve or the like and then catches the preceding vehicle, if the vehicle approaches slowly, the primary alarm will not be issued, and similarly to the above, there is a problem that it is difficult for the driver to recognize an accurate inter-vehicle distance. In addition, for example, when the vehicle follows the preceding vehicle with a subtle distance value kept in or out of the warning area, an alarm sounds or sounds even though the vehicle is traveling at a substantially constant distance from the preceding vehicle. Not only does this cause discomfort to the driver, but the driver may become accustomed to the alarm, or the power may be turned off due to discomfort, so that the purpose of the device may not be fulfilled. there were.

The present invention has been made in view of the above-mentioned problems, and the driver is not annoyed more than necessary by an alarm, and an appropriate sense of inter-vehicle distance can be planted in the driver. It is an object of the present invention to provide an inter-vehicle distance warning device capable of issuing a proper warning so that a driver does not get upset when attention is required.

[0007]

In order to achieve the above object, an inter-vehicle distance alarm device (1) according to the present invention is an inter-vehicle distance alarm device including an inter-vehicle distance detecting means, a vehicle speed detecting means, an alarm means and the like. , It is judged from the relative speed whether or not it is in the follow-up mode, and if the primary alarm is output even once in the follow-up mode, the primary alarm is not normally output thereafter, and when the relative speed difference is equal to or more than the predetermined value Only, it is characterized in that it is provided with alarm determination means for canceling the following mode and outputting a normal primary alarm.

In order to achieve the above object, the inter-vehicle distance warning device (2) according to the present invention is an inter-vehicle distance warning device including inter-vehicle distance detecting means, vehicle speed detecting means, warning means, etc. If it is determined whether the tracking mode is set and the primary alarm is output even once in the tracking mode, the primary alarm is not normally output thereafter and the tracking mode is released only when the secondary alarm area is entered. It is characterized in that it comprises an alarm determination means for outputting a normal primary alarm.

In order to achieve the above-mentioned object, a vehicle distance warning device (3) according to the present invention is a vehicle distance warning device including a vehicle distance detection means, a vehicle speed detection means, a warning means, etc. If it is determined whether the tracking mode is set and the primary alarm is output even once in the tracking mode, 1
The sensitivity of the next alarm is set to the 1-rank proximity mode, and thereafter, the alarm determination means for canceling the follow-up mode and outputting the normal primary alarm only when the relative speed difference is approaching the predetermined value or more is provided. It has a feature.

In order to achieve the above object, the inter-vehicle distance alarm device (4) according to the present invention is an inter-vehicle distance alarm device including inter-vehicle distance detecting means, vehicle speed detecting means, alarm means, etc. If it is determined whether the tracking mode is set and the primary alarm is output even once in the tracking mode, 1
The sensitivity of the next alarm is set to the 1 rank proximity mode, and then 2
It is characterized in that it is provided with an alarm determination means for canceling the follow-up mode and outputting a normal primary alarm only when the next alarm area is entered.

[0011]

According to the above-described inter-vehicle distance warning device (1), it is judged from the relative speed whether or not the follow-up mode is set, and if the primary warning is output even once in the follow-up mode, the normal primary warning is given thereafter. Is not output, and the driver is not bothered by the alarm for a long time. Further, when the relative speed difference is equal to or more than the predetermined value, the follow-up mode is released and the normal primary alarm is output, and the secondary alarm is not suddenly issued, so that the driver is not upset.

According to the inter-vehicle distance warning device (2) described above, it is determined from the relative speed whether or not the follow-up mode is set, and when the follow-up mode is issued, the primary warning is output even once.
After that, the normal primary alarm is not output, and when the secondary alarm area is entered, the follow-up mode is released and the normal primary alarm is output. Therefore, the same operation as in the case of the inter-vehicle distance alarm device (1) is performed. Will be obtained.

According to the inter-vehicle distance warning device (3) described above, it is determined from the relative speed whether or not the follow-up mode is set, and when the follow-up mode is issued, the primary warning is output even once.
When the sensitivity of the primary alarm is set to the 1-rank proximity mode, and when the relative speed difference approaches a predetermined value or more thereafter, the tracking mode is canceled and the normal primary alarm is output.
The same action as in the case of the inter-vehicle distance warning device (1) can be obtained.

According to the inter-vehicle distance warning device (4) described above, it is judged from the relative speed whether or not the follow-up mode is set, and when the follow-up mode is issued, the primary warning is output even once.
When the sensitivity of the primary alarm is set to the 1-rank proximity mode, and when the secondary alarm area is entered thereafter, the follow-up mode is canceled and the normal primary alarm is output. Therefore, the following inter-vehicle distance alarm device (1) The same effect as in the case of is obtained.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an inter-vehicle distance measuring apparatus according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram schematically showing an inter-vehicle distance measuring device according to an embodiment. In FIG. 1, reference numeral 1 denotes an inter-vehicle distance detecting means, which irradiates a transmitted wave such as light or radio wave forward, and from the transmitted wave and a reflected wave which is returned from a vehicle in front (hereinafter referred to as a front vehicle) and returns. ,
An electric signal proportional to the distance from the own vehicle to the preceding vehicle is output as a distance pulse. The inter-vehicle distance detecting means 1 includes a pulse drive circuit 13, a light emitting element 12, and a transmitting lens 1.
1, a receiving lens 11, a light receiving element 15, an amplifier circuit 16, a flip-flop 17, a pulse magnification circuit 18, a pulse counting unit 19, and a clock 20. 2 in the figure
Is a warning determination means composed of a microcomputer 21, 3 is a vehicle speed detection means including a wheel speed sensor 22, and 4 is a warning means composed of a buzzer 23.

The wheel speed sensor 22 is connected to the micro computer 21, a buzzer 23 is connected to the micro computer 21, and the micro computer 21 further includes a pulse drive included in the inter-vehicle distance detecting means 1. The circuit 13, the pulse counting unit 19, and the like are connected. The pulse drive circuit 13 is connected to the light emitting element 12 formed of a laser diode, and the laser pulse output from the light emitting element 12 driven by the pulse drive circuit 13 is condensed by the transmission lens 11 and is then targeted. It is supposed to be radiated toward. In addition to the above, the pulse drive circuit 13 is also connected to the set terminal 17a of the flip-flop 17 via the set signal line 13a.

The light receiving element 15 is connected to the amplifier circuit 16,
The amplifier circuit 16 is connected to the reset terminal 17b of the flip-flop 17 via the reset signal line 16a, and the reflected signal from the target focused by the receiving lens 14 is passed through an infrared filter (not shown). Is input to the light receiving element 15 and is converted into an electric signal by the light receiving element 15.

The output side of the flip-flop 17 is connected to a pulse multiplier circuit 18, the pulse multiplier circuit 18 is connected to a pulse counting unit 19 to which a clock circuit 20 is connected, and the pulse counting unit 19 is a micro. Computer 2
Connected to 1.

The inter-vehicle distance warning device constructed as described above operates as follows. The microcomputer 12 controls ON / OFF of the pulse drive circuit 13, and the pulse drive circuit 13 outputs a pulse signal for driving the light emitting element 12. The pulse signal is converted into a laser pulse by the light emitting element 12, condensed by the transmitting lens 11, and emitted from the transmitting lens 11 toward the target. The pulse signal output from the pulse drive circuit 13 drives the light emitting element 12 as described above, and is also input to the flip-flop 17 via the set signal line 14a to set the flip-flop 17.

The reflected light reflected by the target is collected by the light receiving lens 14 and after the background noise made of ambient light such as sunlight and artificial lighting is removed by an infrared filter (not shown), It is input to the light receiving element 15 and converted into an electric pulse signal. The pulse signal is amplified by the amplifier circuit 16 and then input to the flip-flop 17 via the reset line 16a to reset the flip-flop 17. At this time, the flip-flop 17 outputs a distance pulse signal proportional to the distance from the own vehicle to the preceding vehicle, which becomes high by the set signal and becomes low by the reset signal. The distance pulse signal is input to the pulse constant-magnification circuit 18, is time-expanded to a constant magnification in order to increase the distance resolution capability, is then output from the pulse constant-magnification circuit 18 to the pulse counter 19, and is oscillated from the clock circuit 20. The pulse width of the time expanded distance pulse signal is counted based on the generated clock signal. Next, the counting result is input to the microcomputer 21, and the distance to the target is converted from the value expressed in time to the actual distance value.

Since the distance pulse signal is the time during which light travels back and forth to the vehicle ahead, this time difference is multiplied by the speed of light and divided by 2 to obtain the distance value from the own vehicle to the preceding vehicle. is there. In addition, the micro computer 21
In step 1, the relative speed with respect to the preceding vehicle is obtained by differentiating the distance value, a wheel speed pulse is further input from the wheel speed sensor 22, and the own vehicle speed is calculated.

Similarly, in the microcomputer 21, an alarm range is calculated from the inter-vehicle distance value, the relative speed and the own vehicle speed, and the relationship between the inter-vehicle distance value and the relative speed and the own vehicle speed is within the alarm range. If it is, a signal is sent to the alarm means 4 and the buzzer 23 is sounded.

The operation of the microcomputer 21 of the inter-vehicle distance warning device according to the first embodiment constructed as described above will be described with reference to FIG.
It will be described based on the flowchart shown in FIG. First, in step 1, it is judged from the changes in the relative speed and the distance value obtained as described above whether or not the preceding vehicle has the same target. If it is determined that they are not the same target, the operation proceeds to step 7 to enter the normal mode, and if it is determined that they are the same target, the operation proceeds to step 2 to determine whether the relative speed is 5 km / h or less. If it is determined that the relative speed is greater than 5 km / h, the process proceeds to step 7 to enter the normal mode, and if it is determined that the relative speed is less than 5 km / h, the process proceeds to step 3 where the same target is, for example, 3 sec or more. It is determined whether or not they are continuously captured. When it is determined that the continuous time of the same target is, for example, less than 3 sec, the process proceeds to step 7, and the normal mode is set, and when it is determined that the continuous time is, for example, 3 sec or more, the follow-up mode is set (S4). Next, at step 5, it is judged whether or not the primary alarm has been issued from the buzzer 23 of the alarm means 4, and if the primary alarm has not been issued, the routine proceeds to step 7 to enter the normal mode and the primary alarm has already been issued. If so, the process proceeds to step 6 and the relative speed is, for example, 8
It is determined whether or not it is equal to or higher than km / h. If it is determined that the relative speed is, for example, 8 km / h or more, the process proceeds to step 7 and the normal mode is set, and the relative speed is, for example, 8 km.
If it is determined that the value is less than / h, the process returns to step 1.
Then, when it is determined that the process proceeds to step 7, that is, when the normal mode is set, the primary alarm process is first performed (S
8) Then, a secondary alarm process is performed (S9).

As a result, if the primary alarm is output even once in the follow-up mode, the primary alarm is not normally output thereafter.
The normal primary alarm will be output only when the relative speed difference is approaching the predetermined value or more, and even if the driver does not notice that the own vehicle is slowly approaching the front vehicle in the following traveling state, the primary primary alarm is output. Since the alarm is omitted and the secondary alarm is not issued suddenly, the driver can take appropriate measures without being upset. Further, for example, when another vehicle suddenly interrupts, it is determined that the target is not the same target in step 1 even if the vehicle is immediately in the following traveling state, the process proceeds to step 7, and the normal mode is set.
Since the next alarm is issued, the driver can recognize the correct inter-vehicle distance without feeling uncomfortable. Also,
For example, if you lose sight of the vehicle in front of you on a curve or the like and then catch the vehicle in front of you, the procedure goes to step 7 again and the primary alarm is issued, so that the driver recognizes the correct inter-vehicle distance as described above. can do. Furthermore, for example, if the vehicle is following the preceding vehicle while keeping a delicate distance value in or out of the alarm area, once the primary alarm is issued, the alarm will not sound carelessly after that. , The driver will not feel uncomfortable, there will be no fear that the driver will be accustomed to the warning or the power will be turned off due to the discomfort, and the purpose of the inter-vehicle distance warning device will be fulfilled. .

As described above, according to the inter-vehicle distance warning device of the first embodiment, the driver is not annoyed more than necessary by the warning, and moreover, an appropriate inter-vehicle distance can be planted to the driver. In addition, when it is necessary to call attention, a proper warning can be issued so that the driver does not get upset.

Here, the primary warning is issued to warn the driver and the secondary alarm is issued to warn the driver of a danger. The alarm processing is to judge whether or not the preceding vehicle is in the warning area. The above shows that the alarm is issued.

Next, the operation of the microcomputer 21 of the inter-vehicle distance warning device according to the second embodiment will be described with reference to the flow chart shown in FIG. Up to step 5, the operation is the same as that of the microcomputer 21 described with reference to FIG.
In step 5, it is judged whether or not the primary alarm has been issued from the buzzer 23 of the alarm means 4, and if the primary alarm has not been issued, the operation proceeds to step 7 to enter the normal mode and the primary alarm has already been issued. In this case, the process proceeds to step 16 and it is determined whether the preceding vehicle is in the secondary warning area. If it is determined that the area is outside the secondary alarm area, the process returns to step 1. When it is determined that the current position is within the secondary alarm area, the process proceeds to step 7 to enter the normal mode, first the primary alarm process is performed (S8), and then the secondary alarm process is performed (S8).
9).

As a result, even if the primary alarm is output even once in the following mode, the primary alarm is not normally output thereafter.
Only when the vehicle enters the secondary alarm area, the normal primary alarm is output, the driver is not upset, and the same effect as in the case of the inter-vehicle distance warning device according to the first embodiment can be obtained. it can.

The contents relating to the primary alarm and the secondary alarm are the same as described above.

Next, the operation of the microcomputer 21 of the inter-vehicle distance warning system according to the third embodiment will be described with reference to the flow chart shown in FIG. Up to step 5, the operation is the same as that of the microcomputer 21 described with reference to FIG.
In step 5, it is judged whether or not the primary alarm has been issued from the buzzer 23 of the alarm means 5, and if the primary alarm has not been issued, the operation proceeds to step 7 to enter the normal mode and the primary alarm has already been issued. In that case, the process proceeds to step 17, and the proximity mode is set. In this proximity mode, the inter-vehicle distance is set to be smaller than that in the follow-up mode, and it means a mode in which an alarm is not issued unless the inter-vehicle distance is further reduced. When the proximity mode (S17) is entered, the routine proceeds to step 18, where it is determined whether the relative speed is 8 km / h or more. Relative speed is 8 km /
When it is determined that the speed is equal to or more than h, the process proceeds to step 7, and the normal mode is set. When it is determined that the relative speed is less than 8 km / h, the process returns to step 1. When the normal mode is set (S7), the process proceeds to step 8, the primary alarm process is performed (S8), and then the secondary alarm process is performed (S9).

As a result, if the primary alarm is output even once in the follow-up mode, the sensitivity of the primary alarm becomes 1 from the follow-up mode.
The normal primary alarm is output only when the vehicle is placed in the rank gradual proximity mode and thereafter the relative speed is close to the predetermined value or more, and the same as in the case of the inter-vehicle distance warning device according to the first embodiment. The effect can be obtained.

The contents relating to the primary alarm and the secondary alarm are the same as described above.

Next, the operation of the microcomputer 21 of the inter-vehicle distance warning system according to the fourth embodiment will be described with reference to the flow chart shown in FIG. Up to step 5, the operation is the same as that of the microcomputer 21 described with reference to FIG.
In step 5, it is judged whether or not the primary alarm has been issued from the buzzer 23 of the alarm means 5, and if the primary alarm has not been issued, the operation proceeds to step 7 to enter the normal mode and the primary alarm has already been issued. In that case, the process proceeds to step 17, and the proximity mode is set. When the proximity mode (S17) is entered, the routine proceeds to step 19, where it is judged whether or not it is within the secondary alarm area. When it is determined that the position is within the secondary alarm region, the process proceeds to step 7, and the normal mode is set. When it is determined that the region is outside the secondary alarm region, the process returns to step 1. When the normal mode is set (S7), the process proceeds to step 8, the primary alarm process is performed (S8), and then the secondary alarm process is performed (S8).
9).

As a result, if the primary alarm is output even once in the follow-up mode, the sensitivity of the primary alarm is set to the mode in which the rank is gentle and the normal alarm is output only when the secondary alarm area is entered. The next warning is output, and the same effect as that of the inter-vehicle distance warning device according to the first embodiment can be obtained.

[0035]

As described in detail above, in the inter-vehicle distance warning device (1) according to the present invention, in the inter-vehicle distance warning device including the inter-vehicle distance detecting means, the vehicle speed detecting means, the alarm means, etc. If it is judged from the speed whether it is in the follow-up mode and the primary alarm is output even once in the follow-up mode, the normal primary alarm is not output thereafter and only when the relative speed difference is equal to or more than the predetermined value, Since the alarm determination means for canceling the follow-up mode and outputting the normal primary alarm is provided, the primary alarm is issued even if the driver does not notice that the own vehicle is slowly approaching the preceding vehicle in the following traveling state. Is omitted and the secondary alarm is not issued suddenly, the driver can take appropriate measures without being upset. Further, for example, when another vehicle suddenly interrupts, even if the vehicle immediately follows to the follow-up running state, it is determined in step 1 that the target is not the same target, the process proceeds to step 7, the normal mode is set, and the primary alarm is issued. Therefore, the driver can recognize an accurate inter-vehicle distance without feeling uncomfortable. Further, for example, when a driver loses sight of a preceding vehicle on a curve or the like and then catches the preceding vehicle, the procedure goes to step 7 again to enter the normal mode and the primary alarm is issued.
As described above, the driver can recognize the accurate inter-vehicle distance. Furthermore, for example, if the vehicle is following the preceding vehicle while keeping a delicate distance value in or out of the alarm area, once the primary alarm is issued, the alarm will not sound carelessly after that. , The driver does not feel uncomfortable, there is no fear that the driver will be accustomed to the warning or the power is turned off due to the discomfort, and the warning purpose of the inter-vehicle distance warning device is fulfilled. Become. As is clear from these effects, the warning does not disturb the driver more than necessary, and it is possible to plant an appropriate inter-vehicle distance to the driver. An accurate warning can be issued so as not to be upset.

Further, in the inter-vehicle distance warning device (2) according to the present invention, the inter-vehicle distance detecting means, the vehicle speed detecting means,
Also, in the inter-vehicle distance warning device equipped with the warning means and the like, it is judged from the relative speed whether or not the follow-up mode is set, and if the primary warning is output even once in the follow-up mode, the normal primary warning is not output thereafter. Since the alarm determination means for canceling the follow-up mode and outputting the normal primary alarm only when the secondary alarm area is entered is provided, the same effect as in the case of the inter-vehicle distance alarm device (1) is obtained. be able to.

Further, in the inter-vehicle distance warning device (3) according to the present invention, the inter-vehicle distance detecting means, the vehicle speed detecting means,
Also, in the inter-vehicle distance warning device including the warning means and the like, it is determined from the relative speed whether or not the following mode is set, and if the primary warning is output even once in the following mode, the sensitivity of the primary warning is set to the one-rank proximity mode. After that, since the following is provided with the alarm determination means for releasing the follow-up mode and outputting the normal primary alarm only when the relative speed difference is approaching the predetermined value or more, the inter-vehicle distance alarm device (1) The same effect as the case can be obtained.

Further, in the inter-vehicle distance warning device (4) according to the present invention, the inter-vehicle distance detecting means, the vehicle speed detecting means,
Also, in the inter-vehicle distance warning device including the warning means and the like, it is determined from the relative speed whether or not the following mode is set, and if the primary warning is output even once in the following mode, the sensitivity of the primary warning is set to the one-rank proximity mode. Since the following is provided with the alarm determination means for canceling the follow-up mode and outputting the normal primary alarm only when the vehicle enters the secondary alarm area, the same as in the case of the inter-vehicle distance alarm device (1). The effect of can be obtained.

[Brief description of drawings]

FIG. 1 is a system configuration diagram schematically showing an inter-vehicle distance warning device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of the microcomputer of the inter-vehicle distance warning device according to the first embodiment.

FIG. 3 is a flowchart showing the operation of the microcomputer of the inter-vehicle distance warning device according to the second embodiment.

FIG. 4 is a flowchart showing the operation of the microcomputer of the inter-vehicle distance warning device according to the third embodiment.

FIG. 5 is a flowchart showing the operation of the microcomputer of the inter-vehicle distance warning device according to the fourth embodiment.

[Explanation of symbols]

 1 inter-vehicle distance detecting means 2 alarm determining means 3 vehicle speed detecting means 4 alarm means

Claims (4)

[Claims] 1. An inter-vehicle distance warning device comprising an inter-vehicle distance detecting means, a vehicle speed detecting means, an alarm means, etc., determines whether or not a follow-up mode is set based on relative speed, and a primary alarm is issued even once even in the follow-up mode. After that, a normal primary alarm is not output thereafter, and an alarm determination means for canceling the follow-up mode and outputting a normal primary alarm only when the relative speed difference is approaching a predetermined value or more is provided. Inter-vehicle distance warning device. 2. An inter-vehicle distance warning device comprising an inter-vehicle distance detecting means, a vehicle speed detecting means, an alarm means, etc., determines whether or not a follow-up mode is set based on a relative speed, and even in the follow-up mode, a primary alarm is issued even once. Is output, the alarm determination means for releasing the follow-up mode and outputting the normal primary alarm only when the secondary alarm area is entered is not provided. Inter-vehicle distance warning device. 3. An inter-vehicle distance warning device including an inter-vehicle distance detecting means, a vehicle speed detecting means, an alarm means, etc., determines whether or not a follow-up mode is set based on a relative speed, and a primary alarm is issued even once even in the follow-up mode. Is output, the sensitivity of the primary alarm is set to 1
An inter-vehicle distance warning is provided, which is provided with a warning determination means for canceling the following mode and outputting a normal primary warning only when the vehicle is in the rank proximity mode and the relative speed difference is equal to or more than a predetermined value. apparatus. 4. An inter-vehicle distance warning device including an inter-vehicle distance detecting means, a vehicle speed detecting means, an alarm means, etc., determines whether or not a follow-up mode is set based on a relative speed, and a primary alarm is issued even once even in the follow-up mode. Is output, the sensitivity of the primary alarm is set to 1
An inter-vehicle distance warning device comprising a warning determination means for releasing the following mode and outputting a normal primary warning only when the vehicle enters the rank proximity mode and thereafter enters the secondary warning area.