JP2024018324A - vehicle warning device - Google Patents

Abstract

To provide a vehicle alarm device capable of making a driver quickly recognize an existence of an overtaking vehicle under a jam road state.SOLUTION: A vehicle alarm device comprises: a circumference information acquisition part that acquires rear side information of a vehicle V; a notification device that is operated in a mode in which a driver of the vehicle V can visually and audibly recognize; and a notification control device that notifies an existence of an alarm object by making the notification device operate in a predetermined notification mode in the case where the existence of the alarm object in rear dead angle regions AL1 and AR1 and rear access notification regions AL2 and AR2, which are defined to the rear side of the vehicle V on the basis of the rear side information. In the case where the existence of a first alarm object Vc is recognized, the notification control device makes the notification device operate under the first mode, and switches the notification mode from the first mode to a second mode in the case where the existence of a second alarm object Vf with a possibility of an overtaking between the vehicle V and the first alarm object Vc during the operation of the notification device under the first mode is recognized.SELECTED DRAWING: Figure 2B

Description

The present invention relates to a vehicle warning device. More specifically, the present invention relates to a vehicle warning device that notifies a driver of the presence of a warning target on the rear side of a vehicle.

In recent years, in order to improve traffic safety, blind spot information systems (hereinafter abbreviated as "BSI systems") are being installed in vehicles (see Patent Document 1). In the BSI system disclosed in Patent Document 1, a predetermined area on the rear side of the vehicle corresponding to the driver's blind spot is monitored using a radar or a camera, and when it is recognized that another vehicle exists within this area, For example, an image indicating the presence of another vehicle may be displayed on the indicator. According to the invention described in Patent Document 1, the driver can quickly recognize the presence of another vehicle on the rear side by visually recognizing the indicator.

Japanese Patent Application Publication No. 2022-88809

Here, an example of the operation of the conventional BSI system will be described using a case where the vehicle is traveling on a congested road with two lanes in each direction as shown in FIG. 2B. In the example shown in FIG. 2B, the BSI system mounted on the host vehicle V recognizes another vehicle Vc traveling to the side at approximately the same speed as the host vehicle V as a warning target, and displays an image on the indicator. In addition, the presence of the other vehicle Vc is notified to the driver.

Further, when both lanes are congested as shown in FIG. 2B, the motorcycle Vf may slip between the two lanes. However, the conventional BSI system does not assume the existence of such a passing vehicle, so it recognizes another vehicle Vc as a warning target and warns the driver of the existence of this warning target. Even if the motorcycle 9c approaches the host vehicle V, the presence of the motorcycle Vf cannot be notified to the driver. Therefore, the driver of the own vehicle V cannot recognize the existence of the motorcycle Vf until the motorcycle Vf approaches the own vehicle V sufficiently or until the motorcycle Vf overtakes the own vehicle V.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle warning device that allows a driver to quickly recognize the presence of a passing vehicle under congested road conditions.

(1) The vehicle warning device according to the present invention (for example, the vehicle warning device 3 described below) includes a surrounding information acquisition unit (for example, the surrounding information acquisition unit described below) that acquires surrounding information of a vehicle (for example, a vehicle V described below). 4), a notification device (for example, notification device 5 described later) that operates in a manner that the driver of the vehicle can recognize visually or audibly, and a notification device that detects a warning target on the rear side of the vehicle based on the surrounding information. and a notification control device (for example, notification control device 6 described below) that notifies the presence of the warning target by operating the notification device in a predetermined notification mode when the presence is recognized, the notification control device , when recognizing the existence of the first alarm target, activates the notification device under the first aspect, and while the notification device is activated under the first aspect, the vehicle and the first warning target When the presence of a second alarm target that may slip between the two is recognized, the notification mode is switched from the first mode to the second mode.

(2) In this case, while the notification control device is operating the notification device under the first aspect or the second aspect, the notification control device may cause a direction indicator switch (for example, When the operation of the direction indicator switch 14) is detected, it is preferable to switch the notification mode from the first or second mode to the third mode.

(3) In this case, the notification device includes an image display device (for example, an image display device 52 described below) that displays an image on a display screen that can be recognized by the driver, and the notification control device according to the first aspect Under the second mode, a notification image suggesting the presence of the first alarm target (for example, notification image P described later) is displayed on the display screen, and under the second mode, the notification image is changed from the first mode. It is preferable that the notification image be displayed at a higher brightness than in the second aspect, or that the notification image be displayed in a blinking manner under the third aspect.

(4) In this case, the notification device includes an image display device (for example, an image display device 52 described below) that displays an image on a display screen that is visible to the driver, and the notification control device according to the first aspect Under the second mode, a notification image suggesting the presence of the first alarm target is displayed on the display screen, under the second mode, the notification image is blinked, and under the third mode, the notification image is displayed on the display screen. It is preferable to blink at a shorter period than in the second mode.

(5) In this case, the image display device displays an image on at least one of the exterior rearview mirrors (for example, exterior rearview mirrors 51L and 51R described below) provided on both sides of the vehicle in the vehicle width direction. It is preferable to let

(6) In this case, the notification device further includes a sound control device (for example, a sound control device 54 described below) that causes a speaker (for example, a speaker 53 described below) provided in the vehicle interior of the vehicle to emit a warning sound. Preferably, the notification control device makes the volume of the warning sound louder under the second or third aspect than in the first aspect.

(7) In this case, the notification device further includes a sound control device (for example, a sound control device 54 to be described later) that causes a speaker (for example, a speaker 53 to be described later) provided in the cabin of the vehicle to emit a warning sound. Preferably, the notification control device makes the sounding period of the warning sound shorter under the second or third aspect than in the first aspect.

(1) In the present invention, when the notification control device recognizes the presence of a warning target on the rear side of the vehicle based on the surrounding information of the vehicle, the notification control device operates the notification device in a predetermined notification mode to detect the presence of the warning target. inform the driver. In particular, in the present invention, when the notification control device recognizes the existence of the first warning target, it notifies the driver of the existence of the first warning target by activating the notification device under the first mode. Further, when the notification control device recognizes the existence of a second warning target that may slip between the vehicle and the first warning target while operating the notification device under the first mode, the notification control device changes the notification mode. Switch from the first mode to the second mode. As described above, according to the present invention, by switching the notification mode from the first mode to the second mode, the driver can quickly detect the presence of the second alarm target that may slip between the vehicle and the first alarm target. traffic safety can be improved.

(2) In the present invention, when the notification control device detects operation of the direction indicator switch toward the first alarm target side while operating the notification device under the first aspect or the second aspect, the notification control device The mode is switched from the first or second mode to the third mode. As a result, for example, if the driver attempts to change lanes in the direction in which the first or second warning target is traveling without recognizing the existence of the first or second warning target, the notification control device will switch to the third mode. Since the notification device is activated under the above conditions, the driver can quickly recognize the existence of the first or second warning target.

(3) In the present invention, under the first aspect, the notification control device causes the display screen to display a notification image suggesting the existence of the first alarm target, and under the second aspect, displays this notification image on the display screen. display with higher brightness than the mode. This allows the driver to quickly recognize that there is a first warning target on the rear side of the vehicle, and that there is a second warning target that may slip between the vehicle and the first warning target. be able to. Furthermore, under the third aspect, the notification control device displays this notification image at a higher brightness than the second aspect or blinks this notification image, thereby directing the driver in the direction in which the driver is trying to move. The presence of the first or second alarm target can be more strongly recognized than in the first or second aspect.

(4) In the present invention, under the first aspect, the notification control device causes the display screen to display a notification image suggesting the existence of the first alarm target, and under the second aspect, causes this notification image to blink. . This allows the driver to quickly recognize that there is a first warning target on the rear side of the vehicle, and that there is a second warning target that may slip between the vehicle and the first warning target. be able to. Furthermore, under the third mode, the notification control device flashes the notification image at a shorter cycle than the second mode, so that the driver can see the first or second warning target in the direction in which the driver is moving. The presence of the second aspect can be more strongly recognized than in the first or second aspect.

(5) When checking the surroundings of the vehicle in order to change lanes, the driver often visually checks the rearview mirror outside the vehicle. Therefore, the image display device can efficiently recognize the presence of the warning target by displaying an image on at least one of the mirror surfaces of the exterior rearview mirrors provided on both sides of the vehicle in the vehicle width direction.

(6) In the present invention, under the second or third aspect, the notification control device informs the driver of the presence of the first or second warning target by making the volume of the warning sound louder than in the first aspect. can be strongly recognized.

(7) In the present invention, under the second or third aspect, the notification control device informs the driver of the first or second warning target by making the period of sounding the warning sound shorter than in the first aspect. It can make one's presence strongly recognized.

1 is a diagram schematically showing the configuration of a vehicle warning device according to an embodiment of the present invention and a vehicle equipped with the vehicle warning device. FIG. 2 is a plan view of a vehicle traveling on a road with two lanes on each side and a plurality of other vehicles surrounding the vehicle, viewed from above. FIG. 2 is a plan view of a vehicle traveling on a road with two lanes on each side and a plurality of other vehicles surrounding the vehicle, viewed from above. FIG. 6 is a diagram illustrating an example of display of a notification image on the mirror surface of the right vehicle exterior rear view mirror. 12 is a flowchart illustrating a specific procedure of a right rear notification process for notifying a driver of the presence of a warning target in a right rear blind spot area or a right rear approach warning area of a vehicle. 5 is a time chart showing the transition of the notification mode when the right rear notification process shown in FIG. 4 is executed under the conditions shown in FIGS. 2A and 2B.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle warning device according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram schematically showing the configuration of a vehicle warning device 1 according to the present embodiment and a vehicle V on which this vehicle warning device 1 is mounted. The upper part of FIG. 1 shows a plan view of the vehicle V, and the lower part of FIG. 1 shows a side view of the vehicle V. In the following, a case will be described in which the vehicle V is a so-called right-hand drive four-wheeled vehicle in which the driver's seat in which the driver is seated is provided on the right side in the vehicle width direction when viewed along the traveling direction. It is not limited to this. The vehicle may be a so-called left-hand drive four-wheeled vehicle in which the driver's seat is provided on the left side in the vehicle width direction when viewed along the traveling direction.

The vehicle V includes a plurality of direction indicators 11L, 11R, 12L, and 12R provided outside the vehicle, a steering wheel 13 that is steered by the driver, and a direction indicator switch 14 provided near the steering wheel 13. , an external sensor unit 2 provided on the vehicle body, and a vehicle warning device 3 that notifies the driver of the presence of a moving object around the vehicle V based on the detection signals of the direction indicator switch 14 and the external sensor unit 2. , is provided.

The front left direction indicator 11L is provided on the left side of the front part of the vehicle V when viewed along the traveling direction, and the rear left direction indicator 12L is provided on the left side of the rear part of the vehicle V when viewed along the traveling direction. It is set in. Further, the front right direction indicator 11R is provided on the right side of the front part of the vehicle V when viewed along the traveling direction, and the rear right direction indicator 12R is provided on the right side of the rear part of the vehicle V when viewed along the traveling direction. Located on the right side. A control device (not shown) blinks the left direction indicators 11L and 12L when the driver tilts the direction indicator switch 14 upward, and when the driver operates the direction indicator switch 14 downward. and blinks the right direction indicators 11R and 12R.

The external sensor unit 2 includes a front camera unit 20, a rear camera unit 21, a plurality of (for example, five) lidar units 22a, 22b, 22c, 22d, and 22e, and a plurality of (for example, five) radar units 23a. , 23b, 23c, 23d, and 23e.

The front camera unit 20 is a camera that photographs the front of the vehicle V. The front camera unit 20 is mounted, for example, on the roof of the vehicle V at a position close to the front window on the interior side of the vehicle. The image photographed by the front camera unit 20 is transmitted to the surrounding information acquisition section 4 of the vehicle warning device 3, which will be described later.

The rear camera unit 21 is a camera that photographs the rear of the vehicle V. The rear camera unit 21 is mounted, for example, on the roof of the vehicle V at a position near the rear window on the interior side of the vehicle. The image photographed by the rear camera unit 21 is transmitted to the surrounding information acquisition section 4.

Each of the lidar units 22a to 22e is a lidar (LIDAR) that detects objects around the vehicle V by measuring scattered light from the object in response to pulsed laser irradiation. The first lidar unit 22a is provided at the right corner of the front portion of the vehicle V when viewed along the traveling direction, and detects an object slightly to the right in front of the periphery of the vehicle V. The second rider unit 22b is provided at the left corner of the front part of the vehicle V when viewed along the traveling direction, and detects an object slightly to the left in front of the periphery of the vehicle V. The third rider unit 22c is provided at the center of the rear part of the vehicle V in the vehicle width direction, and detects objects behind the vehicle V. The fourth rider unit 22d is provided on the rear side of the right side of the vehicle V, and detects an object on the right side and slightly rear side of the periphery of the vehicle V. The fifth lidar unit 22e is provided on the rear side of the left side of the vehicle V, and detects an object on the left side and slightly rear side of the periphery of the vehicle V. Detection signals from these rider units 22a to 22e are transmitted to the surrounding information acquisition section 4.

The radar units 23a to 23e are millimeter wave radars that detect objects around the vehicle V by measuring reflected waves from the objects in response to millimeter wave irradiation, respectively. The first radar unit 23a is provided on the right corner side of the front part of the vehicle V when viewed along the traveling direction, and detects an object slightly to the right in front of the periphery of the vehicle V. The second radar unit 23b is provided on the left corner side of the front part of the vehicle V when viewed along the traveling direction, and detects an object slightly to the left in front of the periphery of the vehicle V. The third radar unit 23c is provided at the center of the front part of the vehicle V in the vehicle width direction, and detects objects in front of the vehicle V. The fourth radar unit 23d is provided at the right corner of the rear portion of the vehicle V when viewed along the direction of travel, and detects objects on the rear and slightly right side of the periphery of the vehicle V. The fifth radar unit 23e is provided at the left corner of the rear portion of the vehicle V when viewed along the traveling direction, and detects an object slightly to the left of the rear around the vehicle V. Detection signals from these radar units 23a to 23e are transmitted to the surrounding information acquisition section 4.

The vehicle warning device 3 includes a surrounding information acquisition unit 4 that obtains surrounding information of the vehicle V, a notification device 5 that operates in a manner that the driver of the vehicle V can recognize visually or audibly, and a warning device that detects the surroundings of the vehicle V based on the surrounding information. The vehicle includes a notification control device 6 that notifies the driver of the presence of the warning target by activating the notification device 5 in a predetermined notification mode when the presence of the warning target on the rear side is recognized.

The surrounding information acquisition unit 4 performs sensor fusion processing on detection results by some or all of the front camera unit 20, rear camera unit 21, lidar units 22a to 22e, and radar units 23a to 23e, thereby detecting the vehicle. Ambient information regarding the state of the surroundings of the vehicle V, especially information such as the position, shape, type, speed, etc. of roads and objects that exist on the left and right rear sides of the vehicle V (hereinafter, these are also collectively referred to as "rear side information") It is a computer that obtains the The surrounding information acquisition unit 4 transmits the acquired rear and side information to the notification control device 6, for example.

The notification device 5 operates in a manner that the driver of the vehicle V can visually or audibly recognize, thereby notifying the driver of various information. More specifically, the notification device 5 includes a left exterior rear view mirror 51L and a right outside rear view mirror 51R provided on both sides of the vehicle V in the vehicle width direction, and a rear view mirror 51L and a right outside rear view mirror 51R provided on both sides of the vehicle V in the vehicle width direction. An image display device 52 that displays an image on at least one of mirrors 51L and 51R, a speaker 53 provided in the vehicle interior, and a warning sound produced by the speaker 53 based on a command from the notification control device 6. and a sound control device 54 for controlling the sound.

In addition, although the case where the notification device 5 operates in a manner that can be recognized both visually and audibly by the driver will be described below, the present invention is not limited to this. The notification device 5 may operate in a manner that the driver can recognize only visually or only auditorily. Furthermore, although a case will be described below in which the image display device 52 uses the mirror surfaces of the vehicle exterior rear view mirrors 51L and 51R as a display screen, the present invention is not limited to this. The image display device 52 may use a monitor, a windshield, or the like provided in the vehicle interior as a display screen, and display images on this display screen.

Based on the rear and side information transmitted from the surrounding information acquisition unit 4, the notification control device 6 determines whether the vehicle V is a moving body existing at the rear or side and a first alarm target condition or a second alarm target condition, which will be described later. A vehicle that satisfies the above conditions is recognized as a warning target, and when this warning target is recognized, the existence of this warning target is notified to the driver by activating the notification device 5 in a predetermined notification mode.

FIGS. 2A and 2B are top views of a vehicle V traveling on a road with two lanes on each side and other vehicles Va, Vb, Vc, Vd, Ve, and Vf existing around the vehicle V, viewed from above. Note that FIG. 2B shows a state several seconds after the state shown in FIG. 2A.

Here, the first alarm target condition defined for a moving object existing on the rear side of the vehicle V is within the left rear blind spot area AL1 or the right rear blind spot area AR1 defined on both the left and right rear sides of the vehicle V. It is to exist within. As shown in FIGS. 2A and 2B, the left rear blind spot area AL1 and the right rear blind spot area AR1 are areas that are blind spots for the driver of the vehicle V, that is, areas outside the vehicle V as viewed from the driver. This refers to an area that is difficult to be reflected in the mirror surfaces of the rear view mirrors 51L and 51R. That is, when there are other moving bodies within the rear blind spot areas AL1 and AR1, the notification control device 6 recognizes the moving bodies that exist within these rear blind spot areas AL1 and AR1 as warning targets. Therefore, in the example shown in FIGS. 2A and 2B, the notification control device 6 mounted on the vehicle V recognizes the other vehicle Vc existing within the right rear blind spot area AR1 as a warning target.

In addition, the second alarm target condition defined for a moving object existing on the rear side of the vehicle V is within the left rear approach warning area AL2 or the right rear approach alarm area defined on both the left and right rear sides of the vehicle V. It must exist within AR2 and satisfy predetermined proximity warning conditions. Here, the approach warning condition is that the approaching speed with respect to the vehicle V is equal to or higher than a predetermined speed. Further, as shown in FIGS. 2A and 2B, the left rear approach warning area AL2 includes the above-mentioned left rear blind spot area AL1 and is set to be longer than this left rear blind spot area AL1 by a predetermined distance toward the rear in the traveling direction of the vehicle V. It will be done. Further, the right rear approach warning area AR2 includes the above-mentioned right rear blind spot area AR1, and is defined to be longer than the right rear blind spot area AR1 by a predetermined distance toward the rear side in the traveling direction of the vehicle V. That is, the notification control device 6 recognizes a moving object that exists within the rear approach warning areas AL2, AR2 and approaches the vehicle V at an approach speed higher than a predetermined speed as a warning target. Therefore, in the example shown in FIG. 2B, the notification control device 6 mounted on the vehicle V detects that the vehicle V and another vehicle Vc that exists within the right rear approach warning area AR2 and have already been recognized as warning targets as described above. Another vehicle Vf, which is a motorcycle, that attempts to pass through the gap is recognized as a warning target.

When the notification control device 6 recognizes the existence of a warning target according to the above-described procedure based on the rear and side information transmitted from the surrounding information acquisition unit 4, the notification control device 6 uses the two A notification image indicating the presence of the alarm object is displayed in a predetermined manner on the mirror surface of the one of the two exterior rear view mirrors 51L and 51R where the alarm object exists, and a warning sound is emitted in a predetermined manner from the speaker 53. This notifies the driver of the existence of the warning target. That is, when the notification control device 6 recognizes the presence of a warning target within the left rear blind spot area AL1 or the left rear approach warning area AL2, the notification control device 6 displays a notification image on the mirror surface of the left vehicle exterior rear view mirror 51L or displays the notification image on the speaker 53. Produce a warning sound. In addition, when the notification control device 6 recognizes the presence of a warning target within the right rear blind spot area AR1 or the right rear approach warning area AR2, the notification control device 6 displays a notification image on the mirror surface of the right exterior rearview mirror 51R or issues a warning on the speaker 53. Make sounds.

FIG. 3 is a diagram illustrating a display example of the notification image P on the mirror surface of the right vehicle exterior rearview mirror 51R. More specifically, FIG. 3 shows a case where the notification image P is displayed on the mirror surface of the right exterior rear view mirror 51R of the vehicle V traveling in the position shown in FIG. 2B.

As shown in FIG. 3, on the mirror surface of the right external rear view mirror 51R of the vehicle V, there are other vehicles Vc existing within the right rear blind spot area AR1, other vehicles Vd following this vehicle Vc, and the vehicle V The other vehicle Vb, which is the following vehicle, and the other vehicle Vf, which is trying to pass between the vehicle V and the other vehicle Vc, are reflected. When the notification control device 6 recognizes the other vehicle Vc or the other vehicle Vf as a warning target through the above-described procedure, the notification control device 6 detects the driver from the mirror surface of the right vehicle rear view mirror 51R in which a plurality of other vehicles are reflected. By superimposing and displaying a notification image P suggesting the presence of these warning targets in the upper right corner when viewed, the driver is notified of the existence of the warning targets.

FIG. 4 is a flowchart showing the specific procedure of the right rear notification process for notifying the driver of the presence of a warning target within the right rear blind spot area AR1 or the right rear approach warning area AR2 of the vehicle V. The right rear notification process shown in FIG. 4 is repeatedly executed by the notification control device 6 at a predetermined control cycle after the driver operates a start switch (not shown) and the vehicle V becomes ready to travel. The specific procedure of the left rear notification process that notifies the driver of the presence of a warning target in the left rear blind spot area AL1 or left rear approach warning area AL2 of the vehicle V is almost the same as the right rear notification process shown in FIG. Since they are the same, illustration and detailed description will be omitted.

First, in step ST1, the notification control device 6 recognizes a warning target existing in the right rear blind spot area AR1 or the right rear approach warning area AR2 based on the rear and side information transmitted from the surrounding information acquisition unit 4. The alarm target recognition process is executed, and the process moves to step ST2.

In this warning target recognition process, the notification control device 6 first extracts a moving object existing within the right rear approach warning area AR2 based on the rear and side information. Next, the notification control device 6 determines for each extracted moving object whether or not any of the first and second warning target conditions described above is satisfied, and the Recognizes the body as an alarm target. Note that hereinafter, the number of moving objects recognized as warning targets by this warning target recognition process will be referred to as the number of recognized objects.

Next, in step ST2, the notification control device 6 determines whether the number of recognized devices is 0 or not. If the determination result in step ST2 is YES, that is, if there is no warning target within the right rear blind spot area AR1 or the right rear approach warning area AR2 of the vehicle V, the notification control device 6 moves to step ST3. In step ST3, the notification control device 6 ends the right rear notification process without activating the notification device 5.

Further, if the determination result in step ST2 is NO, that is, if at least one alarm target exists within the right rear blind spot area AR1 or the right rear approach warning area AR2 of the vehicle V, the notification control device 6 performs step ST4. Move to.

In step ST4, the notification control device 6 determines whether the number of recognized devices is one. If the determination result in step ST4 is YES, that is, if there is only one warning target within the right rear blind spot area AR1 or the right rear approach warning area AR2 of the vehicle V, the notification control device 6 moves to step ST5. . Further, if the determination result in step ST4 is YES, that is, if two or more alarm targets exist within the right rear blind spot area AR1 or the right rear approach warning area AR2 of the vehicle V, the notification control device 6 proceeds to step ST7. Move.

In step ST5, the notification control device 6 determines whether the direction indicator switch for the recognized alarm target side (that is, the driver's right hand side) is turned on. If the determination result in step ST5 is NO, the notification control device 6 moves to step ST6.

In step ST6, the notification control device 6 operates the notification device 5 in the first mode to notify the driver of the existence of this warning target, and ends the right rear notification process. More specifically, under the first mode, the notification control device 6 displays a notification image P suggesting the presence of a warning target on the mirror surface of the right exterior rearview mirror 51R, as illustrated in FIG. 3, for example. This notifies the driver of the existence of the warning target. Note that under this first aspect, it is preferable that the notification control device 6 always lights up the notification image P at a predetermined brightness. Further, in this embodiment, a case will be described in which the notification control device 6 does not emit a warning sound under the first aspect in order to avoid bothering the driver, but the present invention is not limited to this. The notification control device 6 may generate the warning sound at a volume and at a sounding cycle that does not bother the driver.

In step ST7, the notification control device 6 determines whether the direction indicator switch for the recognized alarm target side (that is, the driver's right hand side) is turned on. If the determination result in step ST7 is NO, the notification control device 6 moves to step ST8.

In step ST8, the notification control device 6 determines whether or not there is a warning target that may slip between the vehicle V and another warning target among all the recognized warning targets. More specifically, the notification control device 6 first identifies the warning target located closest to the right rear blind spot area AR1 from among all the recognized warning targets as a parallel vehicle, and The distance in the vehicle width direction between the side surface of the vehicle V on the warning target side and the side surface of the parallel vehicle on the vehicle V side is calculated based on the direction information. Next, the notification control device 6 calculates the vehicle width lengths and speed differences with respect to the vehicle V of all warning targets except for parallel vehicles, based on the rear side information. Next, the notification control device 6 determines that among all the alarm targets excluding parallel vehicles, the vehicle width length is shorter than the distance in the vehicle width direction between the vehicle V and the parallel vehicle, and the speed difference is less than a predetermined speed difference threshold. If there is a large object, it is determined that there is a warning target that may pass between the vehicle V and the vehicle running parallel to it.

The notification control device 6 determines that if the determination result in step ST8 is NO, that is, there is a warning target that may slip between the vehicle V and another warning target among all the recognized warning targets. If it is determined not to do so, the process moves to step ST6, and the notification device 5 is operated in the first mode to notify the driver of the existence of these warning targets.

If the determination result in step ST8 is YES, the notification control device 6 determines that there is a warning target that may slip between the vehicle V and another warning target among all the recognized warning targets. If so, the process moves to step ST9. In step ST9, the notification control device 6 operates the notification device 5 in a second mode different from the first mode described above to notify the driver of the existence of a warning target that may pass through, and performs the right rear notification process. end. More specifically, under the second mode, the notification control device 6 displays a notification image P suggesting the presence of a warning target on the mirror surface of the right vehicle exterior rear view mirror 51R, as in the first mode. Notify the driver of the existence of the warning target. Note that under this second mode, the notification control device 6 preferably displays the notification image P at a higher brightness than the first mode in order to notify the driver of the existence of a warning target that may pass through. Further, as described above, when the notification image P is always turned on under the first mode, the notification control device 6 may cause the notification image P to blink at a predetermined period under the second mode. In addition, in order to notify the driver of the existence of a warning target that may pass through, the notification control device 6 displays the notification image P as described above and at a higher volume than the first aspect or a shorter volume than the first aspect. A warning sound may be emitted at the sound generation cycle.

If the determination result in step ST5 or step ST7 is YES, that is, in a state where at least one alarm target is recognized, the notification control device 6 operates to turn on the direction indicator switch for this alarm target. If so, the process moves to step ST10. In step ST10, the notification control device 6 operates the notification device 5 in a third mode different from the first and second modes described above to strongly notify the driver of the existence of the warning target, and performs the right rear notification process. finish. More specifically, under the third mode, similarly to the first and second modes, the notification control device 6 displays a notification image P suggesting the presence of a warning target on the mirror surface of the right vehicle exterior rearview mirror 51R. This notifies the driver of the existence of the warning target. Note that under this third mode, the notification control device 6 preferably displays the notification image P with higher brightness than the second mode in order to strongly notify the driver of the existence of the warning target. Further, as described above, when making the notification image P blink at a predetermined period under the second aspect, the notification control device 6 causes the notification image P to blink at a shorter period than the second aspect under the third aspect. Good too. Furthermore, in order to strongly notify the driver of the existence of the warning target, the notification control device 6 not only displays the notification image P as described above but also issues a warning at a louder volume than the first mode or with a shorter sounding cycle than the first mode. Sounds may also be pronounced. Furthermore, in order to notify the driver of the existence of the warning target more strongly than in the second mode, the notification control device 6 generates the warning sound at a higher volume than in the second mode or at a shorter sounding cycle than in the second mode. Good too.

Next, the transition of the notification mode when the right rear notification process shown in FIG. 4 is executed under the conditions shown in FIGS. 2A and 2B will be described with reference to the time chart shown in FIG. 5. In the time chart of FIG. 5, at time t0, vehicle V and other vehicles Va to Vf are in positions as shown in FIG. 2A, and after time t1, vehicle V and other vehicles Va to Vf are in positions as shown in FIG. 2B. It shall exist in the position.

First, between times t0 and t1, the notification control device 6 performs a warning target recognition process (see step ST1 in FIG. 4) to identify a plurality of other vehicles Vb to Vf that are present behind and to the side of the vehicle V. From inside, another vehicle Vc existing within the right rear blind spot area AR1 is recognized as a first warning target. Note that between times t0 and t1, other vehicles Vb and Vf are outside the right rear approach warning area AR2, and therefore are not recognized as warning targets. Further, between times t0 and t1, other vehicles Vd and Ve exist within the right rear approach warning area AR2, but because their approaching speed with respect to vehicle V is less than a predetermined speed, they are not recognized as warning targets. In this way, between times t0 and t1, the notification control device 6 recognizes only the other vehicle Vc as a warning target, so by operating the notification device 5 in the first mode, the presence of this warning target is inform the person. More specifically, under the first mode, the notification control device 6 constantly lights up the notification image P on the mirror surface of the right exterior rear view mirror 51R at a predetermined first brightness, as illustrated in FIG. Notify the driver of the existence of the warning target.

Next, at time t1, as shown in FIG. 2B, another vehicle Vf enters the right rear approach warning area AR2 at a higher speed than the vehicle V. Therefore, after time t1, the notification control device 6 executes the warning target recognition process (see step ST1 in FIG. 4) to identify among the plurality of other vehicles Vb to Vf existing behind and to the side of the vehicle V. , the other vehicle Vc existing in the right rear blind spot area AR1 is continuously recognized as a first warning target, and the other vehicle Vf that has entered the right rear approach warning area AR2 is recognized as a second warning target. Note that after time t1, other vehicles Vb, Vd, and Ve are not recognized as warning targets for the same reason as between times t0 and t1.

Further, after time t1, the notification control device 6 determines that the vehicle width length of the other vehicle Vf recognized as the second warning target is shorter than the distance in the vehicle width direction between the vehicle V and the first warning target, and the speed difference is By determining that the speed difference is greater than the threshold value, it is determined that there is a possibility that this second warning target may slip between the vehicle V and the first warning target (see step ST8 in FIG. 4). Therefore, the notification control device 6 changes the notification mode from the first mode to the second mode in response to recognizing the existence of the second alarm target that may slip between the vehicle V and the first alarm target at time t1. By switching to this mode and continuing to operate the notification device 5 (see step ST9 in FIG. 4), the driver is notified of the existence of this second warning target. More specifically, under the second mode, the notification control device 6 blinks the notification image P between the above-mentioned first brightness and a second brightness set higher than the first brightness. The driver is notified of the existence of the second warning target. Note that under this second mode, the notification control device 6 may cause the speaker 53 to emit a warning sound.

After that, at time t2, the notification control device 6 detects that the direction indicator switches to the first and second alarm target sides have been turned on by the driver (see step ST7 in FIG. 4). For this reason, the notification control device 6 changes the notification mode from the second mode to the third mode in response to detecting that the direction indicator switches toward the first and second alarm target sides have been turned on at time t2. By switching to and continuing to operate the notification device 5 (see step ST10 in FIG. 4), the driver is notified that the first and second warning targets are present in the direction in which the driver intends to change lanes. More specifically, under the third mode, the notification control device 6 changes the notification image P between the above-mentioned second brightness and a third brightness set lower than the above-mentioned first brightness. By blinking at a shorter cycle than the above, the existence of these first and second warning targets is strongly notified to the driver. Note that under this third aspect, the notification control device 6 may cause the speaker 53 to emit a warning sound.

According to the vehicle warning device 3 according to this embodiment, the following effects are achieved.
(1) When the notification control device 6 recognizes the existence of a warning target on the rear side of the vehicle V based on the rear and side information of the vehicle V, the notification control device 6 operates the notification device 5 in a predetermined notification mode to detect the warning target. informs the driver of the presence of In particular, in this embodiment, when the notification control device 6 recognizes the existence of the first warning target, it notifies the driver of the existence of the first warning target by activating the notification device 5 under the first mode. . Further, when the notification control device 6 recognizes the existence of a second warning target that may slip between the vehicle V and the first warning target while operating the notification device 5 under the first mode, The notification mode is switched from the first mode to the second mode. As described above, according to the present embodiment, by switching the notification mode from the first mode to the second mode, the driver can recognize the existence of the second alarm target that may pass between the vehicle V and the first alarm target. Since the vehicle can be recognized quickly, traffic safety can be improved.

(2) If the notification control device 6 detects operation of the direction indicator switch 14 toward the first alarm target side while operating the notification device under the first mode or the second mode, the notification control device 6 changes the notification mode. Switching from the first or second mode to the third mode. As a result, for example, if the driver attempts to change lanes in the direction in which the first or second warning target is traveling without recognizing the existence of the first or second warning target, the notification control device 6 Since the notification device is activated under this mode, the driver can quickly recognize the existence of the first or second warning target.

(3) Under the first mode, the notification control device 6 causes the display screen to display a notification image P suggesting the presence of the first alarm target, and under the second mode, the notification control device 6 displays this notification image P in the first mode. display at a higher brightness. As a result, the driver quickly recognizes that the first warning target exists on the rear side of the vehicle, and that there is a second warning target that may slip between the vehicle V and the first warning target. can do. In addition, under the third mode, the notification control device 6 displays the notification image P at a higher brightness than the second mode or blinks the notification image P to remind the driver that the device is moving. The presence of the first or second warning target in the direction of the warning can be more strongly recognized than in the first or second aspect.

(4) Under the first mode, the notification control device 6 causes the display screen to display a notification image P suggesting the presence of the first alarm target, and under the second mode, causes this notification image P to blink. As a result, the driver quickly recognizes that the first warning target exists at the rear and side of the vehicle, and that there is a second warning target that may slip between the vehicle V and the first warning target. can do. Furthermore, under the third mode, the notification control device 6 flashes the notification image P at a shorter cycle than the second mode, thereby giving the driver a first or second warning in the direction in which the driver is moving. The presence of the object can be more strongly recognized than in the first or second aspect.

(5) When checking the surrounding situation of the vehicle in order to change lanes, the driver often visually checks the exterior rearview mirrors 51L and 51R. Therefore, the image display device 52 can efficiently recognize the presence of the alarm target by displaying an image on at least one of the exterior rear view mirrors 51L and 51R provided on both sides of the vehicle in the vehicle width direction. can.

(6) In the second or third mode, the notification control device 6 makes the volume of the warning sound louder than in the first mode, so that the driver is strongly aware of the existence of the first or second warning target. can be done.

(7) Under the second or third aspect, the notification control device 6 strongly alerts the driver to the existence of the first or second warning target by making the warning sound generation cycle shorter than in the first aspect. It can be recognized.

Although one embodiment of the present invention has been described above, the present invention is not limited to this. The detailed structure may be changed as appropriate within the spirit of the present invention.

V...Vehicle 14...Direction indicator switch 2...External sensor unit 3...Vehicle warning device 4...Surrounding information acquisition unit 5...Notification device 51L...Left vehicle exterior rearview mirror 51R...Right vehicle exterior rearview mirror 52...Image display device 53... Speaker 54... Sound control device 6... Notification control device

Claims (7)

a surrounding information acquisition unit that obtains surrounding information of the vehicle;
a notification device that operates in a manner that can be recognized visually or audibly by the driver of the vehicle;
and a notification control device that notifies the presence of the warning target by activating the notification device in a predetermined notification mode when the presence of the warning target on the rear side of the vehicle is recognized based on the surrounding information. A vehicle warning device,
The notification control device includes:
When recognizing the existence of a first alarm target, actuating the notification device under the first aspect;
If the presence of a second warning target that may pass between the vehicle and the first warning target is recognized while the notification device is activated under the first mode, the notification mode is changed to the first warning mode. A vehicle warning device characterized by switching from a first mode to a second mode. When the notification control device detects operation of a direction indicator switch toward the first alarm target side while operating the notification device under the first aspect or the second aspect, the notification control device The vehicle alarm system according to claim 1, wherein the vehicle alarm system switches from the first or second mode to the third mode. The notification device includes an image display device that displays an image on a display screen that can be recognized by the driver,
The notification control device includes:
Under the first aspect, displaying a notification image suggesting the presence of the first alarm target on the display screen;
Under the second aspect, the notification image is displayed at a higher brightness than the first aspect,
3. The vehicle alarm system according to claim 2, wherein under the third mode, the notification image is displayed with a higher brightness than the second mode, or the notification image is blinked. The notification device includes an image display device that displays an image on a display screen that is visible to the driver,
The notification control device includes:
Under the first aspect, displaying a notification image suggesting the presence of the first alarm target on the display screen;
Under the second aspect, the notification image is blinked;
The vehicle warning device according to claim 2, wherein under the third mode, the notification image is blinked at a shorter period than in the second mode. 5. The vehicle warning device according to claim 3, wherein the image display device displays an image on at least one mirror surface of an exterior rear view mirror provided on both sides of the vehicle in the vehicle width direction. The notification device further includes a sound control device that causes a speaker provided in the vehicle interior to emit a warning sound,
The vehicle alarm system according to claim 3 or 4, wherein the notification control device makes the volume of the warning sound louder under the second or third mode than in the first mode. The notification device further includes a sound control device that causes a speaker provided in the vehicle interior to emit a warning sound,
5. The vehicle warning system according to claim 3, wherein the notification control device makes the sounding cycle of the warning sound shorter under the second or third mode than under the first mode.

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