JPH10166976A - Rear lateral warning device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a contact with a passing vehicle beforehand by making an object detecting means detect an object, discriminating whether or not a warning discrimination means conducts warning from the output of a relative position calculating means and a relative speed calculating means, and if not, making a warning means continue warning for a prescribed time. SOLUTION: This rear lateral warning device for vehicle outputs, to a controller, the signal of an object detecting means B fitted at a rear bumper for vehicle. The controller calculates a relative position between an object and a vehicle with a relative position calculating means B1 from the position signal of the object detecting means B, and a relative speed calculating means B2 calculates relative speed to the object. A warning discrimination means A1 discriminates whether or not the object detecting means B detects the object and conducts warning from the output (position, distance, relative speed) of the relative position calculating means B1 and the relative speed calculating means B2. If not, a warning extension means A2 makes a warning means (red lamp 21 and buzzer 22) continue warning for a prescribed time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

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

[0003] The driver of a traveling vehicle can secure the visibility of the direct visibility area a1 and the rearview mirror visibility area a2 without moving his / her eyes very much, so that the visibility of both areas can be relatively easily secured. However, the visibility of the left rear side area a3 and the right rear side area a4, which would slightly shift the line of sight, was easily negligible. For this reason, there is a problem in that the driver always easily keeps the entire field of view of the vehicle at 360 °, and particularly, it is desired that the driver easily secure the rear side field of view when changing lanes or turning left.

[0004] Therefore, there has been proposed a device for detecting an object in the rear side area of the vehicle by an object detecting means instead of the driver to draw the driver's attention and to improve the running safety of the vehicle. For example, radio wave radars are arranged on the left and right side walls of the vehicle and the left and right sides of the rear bumper, and the obstacle detection means is activated when the turn signal is activated, and the obstacle detection means detects an obstacle such as another vehicle behind the vehicle. An obstacle detection device that issues an alarm when detected is disclosed in JP-A-4-58179 and JP-A-1-161.
No. 599.

In this case, at the time of the turn signal operation, a detection signal of a specific radio wave radar selected according to the vehicle speed among a plurality of radio wave radars is adopted, and an obstacle in an area covered by the selected radio wave radar is detected. An alarm is issued and the alarm is released when the approaching vehicle goes out of the detection area. Further, Japanese Patent Laid-Open Publication No. Hei 3-5252 discloses that a collision determination with another vehicle existing in the beam area is performed, and a collision determination with another vehicle deviating from the beam area is performed based on a relative distance in the beam area. And an apparatus for performing based on speed.

As described above, each radar as the object detecting means disclosed in JP-A-4-58179 and JP-A-1-161599 is fixed at a relatively narrow detection angle with respect to a vehicle in a detection range. For this reason, in order to secure the entire field of view of the rear side of the vehicle, in particular, all the fields of the left rear side area a3 and the right rear side area a4 shown in FIG. Object detection means. Further, in the rear side warning device of the vehicle disclosed in Japanese Patent Application Laid-Open No. Hei 3-5252, in order to determine a rear-end collision with another vehicle deviating from a relatively narrow beam area, a beam based on a relative distance and a speed in the beam area is determined. The method of estimating the behavior of other vehicles that deviated from the area was adopted.

[0007]

However, in these conventional rear-side alarm systems for vehicles, when the approaching vehicle goes out of the detection area, the alarm is released. Alternatively, JP-A-3-525
Estimate the behavior of other vehicles that deviate from the inside of the beam area based on the relative distance and speed in the beam area as in the rear side warning device of No. 2 and cancel the alarm when there is no danger of rear-end collision. I have.

[0008] As described above, the conventional rear-side alarm device of a vehicle cancels an alarm based on data of an approaching vehicle immediately before the vehicle exits the detection area or when another vehicle leaves the detection area.
For this reason, if the beam area is relatively narrow toward the rear, and if the other vehicle passes on the overtaking lane from right behind the own vehicle, the other vehicle will be right before the own vehicle. Then, the alarm is released once out of the beam area. In such a device, the warning is not activated when another vehicle passes by passing near the side of the vehicle, and if the vehicle changes lane carelessly without noticing this, the possibility of contact with the other vehicle may occur. Is a problem.

Further, in a case where the beam area is a relatively narrow area toward the rear and the warning is canceled based on the data of the approaching vehicle immediately before the vehicle exits the detection area, the overtaking vehicle detects the beam of the own vehicle. Once the warning is released outside the area and the passing vehicle passes immediately beside the vehicle after a lapse of a predetermined time, the vehicle changes lanes without noticing this and the other vehicle The possibility of contact arises and is problematic. SUMMARY OF THE INVENTION It is an object of the present invention to provide a rear side warning device for a vehicle, which can provide a warning so as to prevent contact with an overtaking vehicle beforehand and can improve the reliability of warning.

[0010]

SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, a first aspect of the present invention relates to a vehicle for detecting the approach of an object located on the rear side of a host vehicle and issuing a warning to a driver. In the side alarm device, an object detection unit that detects the object,
A relative position calculator for calculating a relative position between the object and the host vehicle from an output of the object detector; a relative speed calculator for calculating a relative speed between the object and the host vehicle from an output of the object detector; Alarm determining means for detecting whether the object is detected and determining whether or not to perform an alarm from the outputs of the relative position calculating means and the relative speed calculating means; and an alarm for giving an alarm based on the output of the alarm determining means Means,
An alarm extension unit that keeps generating an alarm for a predetermined time when the alarm determination unit determines that an alarm is not to be issued.

Therefore, the object detecting means detects the object located on the rear side of the own vehicle, the relative position calculating means calculates the relative position between the object and the own vehicle, and the relative speed calculating means calculates the relative position between the object and the own vehicle. Calculate the speed, and then, the warning determination means determines whether or not to perform a warning from the relative position and relative speed of the object and the own vehicle, and the warning means performs a warning based on the output,
In particular, the warning extension means keeps generating a warning for the warning means for a predetermined time when the warning determination means determines that the warning is not performed. Furthermore, in particular, using a scanning type object detecting means,
If an area of approximately 180 ° on the rear side of the vehicle is set as the detection area,
Immediately before the high end of the overtaking vehicle deviates from the detection area, the front part of the overtaking vehicle can be confirmed with a direct view, and the overtaking of the overtaking vehicle can be continuously confirmed.

According to a second aspect of the present invention, in the vehicle rear side alarm device according to the first aspect, the alarm extension means is configured to determine the predetermined time in accordance with an output of the relative speed calculation means. It is characterized by being. Therefore, the alarm extension means determines the predetermined time according to the relative speed between the object and the own vehicle.If the relative speed is high, the predetermined time is shortened. The alarm will continue to be fired for a relatively long period of time with potential contact.

[0013]

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

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

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

The rotation speed of the mirror 124 and the transmission / reception cycle of the transmission / reception circuit unit 122 are set as appropriate. For example, the rotation angle θ, which is the transmission / reception angle, in the horizontal direction for each control cycle Δt of the transmission / reception circuit unit 122 is set. The rotation speed of the mirror 124 is set so as to change by the unit rotation angle, and the distance L to the object for each unit rotation angle in the scan area e0 180 ° behind the vehicle (see FIG. 8) during one rotation of the mirror 124. Transmission / reception circuit unit 122 so that
Scan control mode is set. The scan laser radar 12 used in the present apparatus is such that the scan area e0 (see FIG. 8), which is the detectable area, can surely cover the alert area E1.

As described above, the scanning type object detecting means sequentially detects the distance L information to the object from the scanning area e0 or the like in the horizontal direction in the field of view behind the vehicle at predetermined rotation angles θ sequentially. Any other means may be used as long as it refers to the scan laser radar 12 or the like configured to be able to capture, and other object detection means having the same configuration as the scan laser radar 12 in FIG. 1 may be used.

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

The display device 14 comprises a display circuit section 141 to which the output of the radar drive circuit 13 is input, and a display section 142 such as a CRT driven by the circuit section. Display circuit section 1
Reference numeral 41 denotes a warning area E1 to E4 described later on a display unit 142 (only the warning areas E1 and E3 are shown here) as shown in FIG. Moreover, display sequentially □ point to the corresponding position on the display screen the position of the rear of the object at each rotation angle theta _n. Further, the own vehicle speed V1 (taken from the controller 15) is added to the relative speed Δvy to obtain an obstacle speed (other vehicle speed) V2, and the speed V2 is numerically displayed at the center of the display unit 142. Note that here, the relative speed Δvy in the vehicle front-rear direction Y will be simply referred to as the relative speed Δv, and the description of the relative speed Δvx in the vehicle width direction X will be omitted for simplification of the description.

As shown in FIG. 8, the alert area E here
1, E2 are set in advance for the own vehicle. That is, at a position (for example, 10 m) where the driver cannot confirm the rearview mirror of a vehicle approaching from the rear side behind the rear end of the vehicle body, a distance (for example, 5 m) including at least a lane adjacent in the vehicle width direction X from the vehicle body side wall. A) is a warning area E that detects a four-wheeled vehicle that is the main detection target when the lane is changed in a rectangular area up to a position separated by
1, E2. Further, as shown in FIG.
In order to prevent the motorcycle from getting caught when turning left or right at an intersection, etc., the driver cannot see the motorcycle approaching from the rear side from the rear end of the vehicle body with the rearview mirror (for example, 5m), and the vehicle width from the side wall of the vehicle body The alert area E3 is the left rear rectangular area up to the position (about 2 m from the side wall of the vehicle in the vehicle width direction X) affected by the entanglement when turning right and left at the intersection in the direction X, and the alert area is the alert area E3 in the same manner. Set as E4.

The warning area E3 is set to prevent a motorcycle or the like, which is a main detection target, from being involved when a left turn is made in a right-hand traffic. Here, E3 is set at the time of turning left and E4 is set at the time of turning right. However, the detection area may be reduced only at the time of turning left on the left side or right turning on the right side. The main part of the controller 15 is constituted by a microcomputer, and a control program and a relative speed Δv-inter-vehicle distance D map (see FIG. 6) to be described later are stored and processed in a ROM (not shown). Position (X _n , Y _n ) of the rear object (obstacle) from the radar drive circuit 13
The signal and the relative speed Δv are input, and the vehicle speed sensor 1
From 6, the speed signal V1 of the own vehicle, turn signal switch 1
Turn signal W _L from 7, W _R, back lamps backward signal SR from the switch 19 is inputted, amber Iroto 20 is a warning light, the drive circuits 23 and 24 of the red lamp 21 and the buzzer 22 serving as warning means , 25 can be output.

As shown in FIG. 3, the controller 15 is a scanning laser radar 1 which is a scanning type object detecting means.
2 based on the position (X _n , Y _n ) of the object and the relative speed Δv from the following:
Functions as 2. Note that the scan laser radar 12 functions as an object detection unit B, a relative position calculation unit B1, and a relative speed calculation unit B2. Here, the object detecting means B is for detecting an object (other vehicle or the like) located on the rear side of the own vehicle 10, and is constituted by the scan laser radar 12.

The relative position calculating means B1 calculates a relative position (distance L) between the object and the vehicle from an object position (X _n , Y _n ) signal output from the scan laser radar 12 constituting the object detecting means B.
Is calculated. The relative speed calculator B2 calculates a relative speed Δv with respect to the object, which is the output of the scan laser radar 12 constituting the object detector B. The alarm determining means A1 detects the object (the position (X _n , Y _n ), the distance L, the output of the relative position calculating means B1 and the relative speed calculating means B2).
It is determined from the relative speed Δv) whether or not to issue an alarm.

Here, when detecting an object, a relative speed Δv-inter-vehicle distance L1 map as shown in FIG. 6 is created in advance, and an inter-vehicle distance L1 (relative distance) at which contact between the object and the vehicle can be avoided. It is desirable to variably set the relative speed Δv in the vehicle longitudinal direction Y according to the magnitude of the relative speed Δv. FIG. 6 shows a threshold line M indicating the contact limit between the object and the vehicle. Here, the inter-vehicle distance L1 at which the driver of the succeeding vehicle is considered to be able to avoid contact with the normal technique at the relative speed Δv is sequentially set as a limit value. That is, when the threshold line M is longer than the threshold line M, it is considered that contact can be avoided, and hereinafter, it can be considered that there is a risk of contact. Further, the threshold line M1 has a relatively high relative speed Δv of the overtaking vehicle, and when the vehicle is in the area below the threshold line M1, the time required for the overtaking vehicle to pass the own vehicle (about 1 second) is short, The case where the time related to the headway changing operation of the own vehicle is longer is shown.

When the alarm judging means A1 judges that the alarm is not to be issued, the alarm extending means A2 keeps the alarm means (red light 21 and buzzer 22) generating an alarm for a predetermined time Tα.
In this case, a warning can be continuously generated for a predetermined time Tα until the vehicle directly enters the field of view even if an object such as a passing vehicle is no longer detected. In particular, the alarm extension means A2 here determines the predetermined time Tα according to the output (relative speed Δv) of the relative speed calculation means B2. In this case, a relative speed Δv-predetermined time Tα map as shown in FIG. 7 is created in advance, and the predetermined time Tα at which contact with the overtaking vehicle can be avoided is variably set according to the relative speed Δv. Here, as the relative speed Δv increases, the predetermined time Tα is shortened, a constant minimum value Tα2 is set above the relative speed Δv2, and a constant maximum value Tα1 is set below the relative speed Δv1.

Next, the alarm control routine of FIG.
The operation of the rear side alarm device of the vehicle according to the present invention will be described along the alarm extension time setting routine of FIG. The controller 15 starts a main routine (not shown) of the rear side alarm device of the vehicle in response to the turning on of an engine key (not shown), checks each function and determines a failure, and performs alarm control at a predetermined step in the main routine. A routine and an alarm extension time setting routine are executed.

When the alarm control routine of FIG. 10 is reached, at step a1, the latest representative point po (Xo, Yo) of an obstacle such as an approaching vehicle determined by the radar drive circuit 13 is read. The vehicle speed V1 of the vehicle and the relative speed Δv obtained by the radar drive circuit 13 are detected. In step a3, the vehicle speed V1 of the own vehicle and the relative speed Δv are added to calculate the approaching vehicle speed V2. Next, in step a4, it is determined whether or not the approaching vehicle, that is, the representative point po (Xo, Yo) is in the alert area E1, E2 (filter processing), and the representative point po (Xo, Yo) is determined in the alert area E1, E
If it is in step 2, go to step a5; otherwise, go to step a5.
Proceed to 6.

In step a5, assuming that the approaching vehicle is in the warning areas E1 and E2, first, the vehicle speed V1 of the own vehicle is compared with the set vehicle speed va. That is, here, the speed at which the lane change is determined to be performed (for example, the set vehicle speed va = 20 km /
h) If the vehicle is traveling at or above the speed, at step a7, the speed (for example, the set vehicle speed v) at which it is determined that a right or left turn at an intersection is to be performed
a = 20 km / h) if it is less than step a8
Proceed to.

When it is determined that the vehicle is traveling at or above the set vehicle speed va and the process proceeds to step a7, it is determined whether or not the approaching vehicle in the warning areas E1 and E2 is in a braking avoidable state.
Current relative speed Δv between the approaching vehicle and the vehicle in the vehicle longitudinal direction Y
And the relative distance (inter-vehicle distance) D, and determines whether or not the approaching vehicle is in the braking avoidable area (area above the M line) along the relative speed Δv-inter-vehicle distance D map shown in FIG.
In a state where the approaching vehicle can avoid braking, the alarm process is kept off and the process returns to the main routine. Conversely, if the approaching vehicle is not in a state where braking can be avoided, the process proceeds to step a9. Here, it is determined whether the turn signal W _L in the direction that there is approaching vehicles, operation of the W _R has been made, proceed to the not performed step a10, turns on the amber Iroto 16, there is approaching vehicles Turn signal W _L , W _R
Is performed, the process proceeds to step a11, the red light 21 and the buzzer 22 are turned on, and the process proceeds to step a12.
To turn on the alarm flag FLG and proceed to the main routine.

On the other hand, in step a5, when the vehicle speed V1 of the own vehicle is lower than the set vehicle speed va, the process proceeds to step a8. Here, to determine the presence or absence of the operation of the turn signal W _L, W _R, as it is without the operation returns to the main routine, the process proceeds to step a13 at the time of turning right or left of the operation Yes, here in response to the turn signal W _L, W _R is , Alert area (step a
(E1, E2) used in step 4 is changed to the alert area (E3 or E4), and the process proceeds to step a14.

At step a14, the alert area (E3 or E3)
The set value Δ is a speed at which the relative speed ΔV with respect to an approaching vehicle such as a motorcycle existing in 4) is a speed for judging the approach of an object faster than a pedestrian.
V (e.g., 4 km / h) or more, and if an object faster than a pedestrian is approaching, the process proceeds to step a11, and a red light 21 and a red light 21 are provided to inform the driver of danger such as the involvement of a motorcycle when turning right or left. The buzzer 22 is turned on, otherwise the process returns to the main routine.

On the other hand, at step a4, the representative point po (Xo,
If Yo) is not in the alert areas E1 and E2, step a6
Proceed to. In step a6, if the alarm flag FLG is off (FLG = 0), it is determined that the object has not been detected, and the process returns to the main routine. If it is on (FLG = 1), the process proceeds to step a15. At step a15, it is determined whether or not the timer TIM is in a start state. If the timer TIM has been started, the process directly proceeds to step a17. On the other hand, when the timer is not started, the process proceeds to step a16, and the timer TIM of the set predetermined time Tα obtained by executing the alarm extension time setting routine shown in FIG. 11 is started.
Go to 7.

The alarm extension time setting routine shown in FIG. 11 is executed in advance in the main routine. That is, in the alarm extension time setting routine shown in FIG. 11, the latest relative speed Δv is fetched in step b1, and the
In step 2, a predetermined time Tα is calculated from the current relative speed Δv along the relative speed Δv-predetermined time Tα map in FIG. 7, and in step b3, the predetermined time Tα is set in the timer TIM, and the process returns to the main routine. Upon reaching step a17 of the alarm control routine of FIG.
It is determined whether or not M exceeds a predetermined time Tα, which is the current set value. When the timer TIM exceeds a predetermined time Tα, step a18 is performed.
To turn off the alarm flag FLG, and then to step a19 to turn off all alarms, cancel the alarm extension control, clear the timer TIM, and return to the main routine.

By performing the alarm extension control in this manner, for example, the rearward portion Cf of the overtaking vehicle C is determined until the overtaking vehicle deviates from the warning areas E1 and E3 and it is determined that the predetermined time Tα that can avoid contact has elapsed. The driver drives the red light 21 and the buzzer 22 continuously until the driver gets out of the alert areas E1 and E3 and then reaches a state where the driver can look straight ahead at the front part Cf of the overtaking vehicle. You can call attention. In the case of a left turn, the driving of the red light 21 and the buzzer 22 is similarly extended for a predetermined time Tα, and the overtaking vehicle, mainly a motorcycle, is reliably monitored, and contact can be avoided.

Further, in the apparatus shown in FIG. 1, the scan laser radar 12 is used to set the detection area to an area of approximately 180 ° on the rear side of the vehicle body, so that the rear end Cr of the overtaking vehicle C deviates from the warning area E1. Immediately before, the front portion Cr of the overtaking vehicle can be confirmed with a direct view, so that the overtaking of the vehicle C can be continuously confirmed, and the traveling safety is further improved. In the above process, the alarm extension time setting routine shown in FIG.
Although the predetermined time Tα at which contact can be avoided is calculated, instead of this, the predetermined time Tα may be set to a constant value, and the predetermined times Tα of the alert area E1 and the alert area E2 may be set to different constant values. In these cases, the control can be particularly simplified.

[0036]

As described above, according to the first aspect of the present invention, it is determined whether or not to give a warning based on the relative position and relative speed of the object and the own vehicle, and a warning is given based on the determination. The alarm continues to be generated for a predetermined time after the condition is deviated. In this way, when the overtaking vehicle is out of the warning condition, for example, when the vehicle is out of the warning area and overtakes the own vehicle, the object such as the overtaking vehicle is out of the warning condition, and the warning is continued for a predetermined time. Because it keeps generating, the warning can continue to be generated for a predetermined time until the overtaking vehicle directly enters the field of view, preventing the own vehicle from changing lanes and coming into contact with the overtaking vehicle without noticing the overtaking vehicle As a result, the reliability of the alarm is increased, and the alarm is issued by relatively simple control, so that the implementation is facilitated.

According to a second aspect of the present invention, in the rear side alarm device of the first aspect, the predetermined time is shortened when the relative speed between the object and the own vehicle is large, and the predetermined time is reduced when the relative speed is small. Keep the alarm on for a relatively long period of time, possibly with contact with the overtaking vehicle. For this reason, useless alarms can be eliminated, and when the relative speed is low, alarms can be continuously issued for a relatively long period of time, thereby improving alarm reliability.

[Brief description of the drawings]

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

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

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

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

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

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

FIG. 7 is a characteristic diagram of a predetermined time-relative speed used by a control system in the rear side alarm device of FIG. 1;

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

FIG. 9 is an explanatory diagram of a warning area for turning right and left used by the rear side warning device of FIG. 1;

FIG. 10 is a flowchart of an alarm control routine used by the control system of the rear side alarm device of FIG. 1;

FIG. 11 is a flowchart of an alarm extension time setting routine used by the control system of the rear side alarm device of FIG. 1;

FIG. 12 is a diagram illustrating a detection area of a conventional rear side alarm device.

[Explanation of symbols]

Reference Signs List 10 vehicle 11 rear bumper 12 scan laser radar 122 transmission / reception circuit unit 13 radar drive circuit 14 display device 15 controller 18 door mirror 20 amber color light 21 red light 22 buzzer Δv relative speed A1 alarm determination means A2 alarm extension means B object detection means B1 relative position Calculation means B2 Relative speed calculation means C Overtaking vehicle E1 Warning area E3 Warning area X Vehicle width direction Y Vehicle longitudinal direction W _L turn signal W _R turn signal

Claims (2)

[Claims] 1. A rear-side alarm device for a vehicle that detects approach of an object located on the rear side of a host vehicle and warns a driver, wherein: an object detection unit that detects the object; and an object detection unit. Relative position calculating means for calculating a relative position between the object and the own vehicle from an output of the relative speed calculating means for calculating a relative speed between the object and the own vehicle from an output of the object detecting means; and An alarm determining unit that detects an object and determines whether to perform an alarm based on an output of the relative position calculating unit and the relative speed calculating unit; an alarm unit that performs an alarm based on an output of the alarm determining unit; A rear side alarm device for a vehicle, comprising: an alarm extension unit that continues to generate an alarm for a predetermined time in the alarm unit when the alarm determination unit determines that an alarm is not to be issued. 2. The rear-side alarm device according to claim 1, wherein the alarm extension unit is configured to determine the predetermined time in accordance with an output of the relative speed calculation unit. Warning device for the rear side of a running vehicle.