Vehicle alarm device

Abstract

A vehicle alarm device, when the right direction indicator is switched from off to on, generates an alarm by emitting a buzzer sound and vibrating the steering wheel with a steering wheel vibration actuator when a monitoring target object is present within the right monitoring range. When a lane change of one lane from the original lane to the first right adjacent lane is completed while the right direction indicator remains on, the vehicle alarm device does not generate the alarm even if a monitoring target object is present within the right monitoring range unless either the distance between the right side of the vehicle and the right dividing line of the first right adjacent lane falls below a threshold distance or the time until entering the second right adjacent lane falls below a threshold time.

Description

Technical Field

[0001] The present invention relates to a vehicle warning device that generates a warning to a driver when it is determined that an object (target) to which the driver of the vehicle should pay attention exists behind or to the side of the vehicle. Background Art

[0002] Conventionally, a vehicle periphery monitoring device called a blind spot monitor is known (for example, see Japanese Patent Application Laid-Open No. 2003-291689). Hereinafter, the blind spot monitor is referred to as a "BSM." In this specification, for convenience, a vehicle equipped with a BSM is referred to as the "own vehicle."

[0003] like Figure 10 As shown, the BSM lights up the indicator provided in the right side mirror of the own vehicle HV when another vehicle OV1 is located in a predetermined right monitoring range RA behind the right side of the own vehicle HV, and when there is another vehicle that is expected to enter the right monitoring range RA within the threshold entry time. The right monitoring range RA includes, for example, a blind spot area that is not reflected in the right side mirror of the own vehicle HV. Similarly, the BSM lights up the indicator provided in the left side mirror of the own vehicle HV when another vehicle is located in a predetermined left monitoring range LA behind the left side of the own vehicle HV, and when there is another vehicle OV2 that is expected to enter the left monitoring range LA within the threshold entry time. The left monitoring range LA includes, for example, a blind spot area that is not reflected in the left side mirror of the own vehicle HV (for example, refer to Japanese Patent Application Laid-Open No. 2020-121575 and Japanese Patent Application Laid-Open No. 2018-116516). Hereinafter, the right monitoring range RA and the left monitoring range LA are referred to as "monitoring ranges" when there is no need to distinguish them from each other, and other vehicles within the monitoring range and other vehicles expected to enter the monitoring range within the threshold entry time are referred to as "monitoring target objects" when there is no need to distinguish them from each other. Summary of the Invention

[0004] In addition, if Figure 11 As shown, the driver of the own vehicle HV usually makes a specific direction (in Figure 11 In this case, when there is a monitoring range relative to the specific direction (in the example of the right direction), the direction indicator flashes. Figure 11In the example of a monitoring target object (e.g., another vehicle OV3) within the right monitoring range RA, it is desirable to more reliably make the driver aware of (recognize) the presence of the monitoring target object. Therefore, the inventors have studied the possibility of "in such a situation, not only changing the state of the indicator provided in the side mirror from a lit state to a flashing state, but also generating an alarm by, for example, emitting an alarm sound from the alarm generating device Bz or vibrating the steering wheel."

[0005] However, as will be described below, there are cases where the driver becomes annoyed by the above-mentioned warning.

[0006] Specifically, as shown in Figure 12A , when the driver of the host vehicle HV changes lanes to the right, they first begin flashing the right (specific) direction indicator. The driver then continues flashing the right direction indicator while changing lanes for one lane from the first lane (original lane) L1 to the second lane (first right adjacent lane) L2. In the example shown in Figure 12A , since the host vehicle HV is within the first lane L1, there are no monitoring targets within the monitoring range on the specific direction side (i.e., the right monitoring range RA), and therefore, no warning is issued.

[0007] Then, after a certain period of time, as shown in FIG12B , the host vehicle HV completes the lane change from the first lane L1 to the second lane L2. Immediately after the lane change, although the right direction indicator continues to flash, the driver of the host vehicle HV does not intend to change lanes from the second lane L2 to the third lane L3 (the second right adjacent lane) and intends to travel in the second lane L2.

[0008] However, since the right direction indicator is flashing, the above-mentioned warning is issued when there is a monitoring target object (e.g., another vehicle OV4) relative to the monitoring range on the specific side (i.e., the right monitoring range RA). As a result, the driver who does not intend to change lanes from the second lane L2 to the third lane L3 may be annoyed by the warning.

[0009] The present invention is made to solve the above-mentioned problems and provides a vehicle warning device that can issue a warning effective to the driver of the own vehicle and reduce the possibility of the warning being annoying to the driver when the own vehicle changes lanes while flashing the direction indicator.

[0010] In order to achieve the above-mentioned object, a vehicle alarm device according to one technical solution of the present invention comprises:

[0011] The sensors (10, 30) are configured to obtain information on an object on the rear side of a vehicle (own vehicle HV);

[0012] A camera (51) for photographing an area in front of the vehicle and generating image data of the area in front;

[0013] an alarm generating device (20, 40, 61, 62) configured to generate an alarm for a driver of the vehicle; and

[0014] A control unit (12, 32, 52, 60) obtains direction indicator information as information related to the operating status of the direction indicator for the left direction of the vehicle and the direction indicator for the right direction of the vehicle, and when it is determined based on the direction indicator information that the direction indicator for a specific direction, either the left direction or the right direction of the vehicle, is flashing (step 510: yes, step 910: yes), and when it is determined based on the object information that an alarm target object exists (step 530: yes, step 930: yes), causes the alarm generating device to generate the alarm (step 540, step 940), wherein the alarm target object includes at least one of a first object located in a predetermined area behind the specific direction side of the vehicle and a second object estimated to enter the predetermined area within a predetermined time.

[0015] The alarm generating device is, for example, a sound generating device (61) capable of generating (emitting) an alarm sound. In this case, the alarm can be generated by causing the sound generating device to generate the alarm sound.

[0016] The alarm generating device is, for example, a steering wheel vibration actuator (62) capable of vibrating a steering wheel of a vehicle. In this case, the alarm can be generated by vibrating the steering wheel using the steering wheel vibration actuator.

[0017] Furthermore, the warning generating device is, for example, an indicator (20, 40) provided in a side mirror of the vehicle. In this case, the warning can be generated by flashing the indicator.

[0018] Furthermore, the control unit is configured as follows:

[0019] When it is determined based on the direction indicator information and the image data that the following specific state has occurred (step 520: Yes, step 920: Yes), it is determined based on the image data whether an alarm permission condition including at least one of the first condition and the second condition is satisfied, and when it is determined that the alarm permission condition is not satisfied, the alarm generating device is not caused to generate the alarm even if it is determined that the alarm target object is present ("No" in steps 550 and 560, "No" in steps 950 and 960),

[0020] The specific state is a state in which the direction indicator in the specific direction continues to flash after the vehicle completes a lane change from a first lane to a second lane adjacent to the first lane in the specific direction while flashing the direction indicator in the specific direction.

[0021] The first condition is a condition that is satisfied when a distance between a lane dividing line dividing the second lane and a third lane adjacent to the second lane in the specific direction and the side surface of the vehicle on the specific direction side is less than a threshold distance (step 550, step 950).

[0022] The second condition is a condition that is satisfied when the time until the side surface of the vehicle on the specific direction side starts to enter the third lane is equal to or shorter than a threshold time (steps 560 and 960 ).

[0023] According to this aspect, when the specific state occurs, if the alarm permission condition including at least one of the first condition and the second condition is not satisfied, an alarm is not generated even if it is determined that the alarm target object exists.

[0024] As a result, if the driver of a vehicle changes lanes by one lane from the original lane (i.e., lane 1) while flashing the direction indicator and intends to drive in the lane after the lane change (i.e., lane 2), the alarm will not be generated even if it is determined that an alarm target object exists in the lane adjacent to the lane after the lane change (i.e., lane 3). This can reduce the possibility of generating alarms that annoy the driver.

[0025] On the other hand, if a driver makes a lane change of one lane from the original lane (i.e., lane 1) while flashing the direction indicator, and then makes another lane change of one lane (i.e., from lane 2 to lane 3), there is a high probability that at least one of the first and second conditions will be met. Thus, the vehicle warning device of the above technical solution can generate an effective warning for drivers making lane changes spanning two or more lanes.

[0026] In one technical solution of the present invention, the control unit is configured as follows:

[0027] When it is determined that the specific state has occurred, it is determined whether the first condition is satisfied (step 550, step 950),

[0028] If it is determined that the first condition is not satisfied, it is determined that the alarm permission condition is not satisfied.

[0029] According to this technical solution, even when the driver is making a lane change spanning two or more lanes, an alert can be issued as needed if the vehicle approaches the lane adjacent to the lane after the lane change (i.e., the third lane) after a lane change spanning one lane. This ensures that an effective alert is issued even when a lane change spanning two or more lanes is made. On the other hand, if the driver intends to make a lane change spanning one lane, the likelihood of the vehicle approaching the lane adjacent to the lane after the lane change (i.e., the second lane) is low. Therefore, the likelihood of an alert that annoys the driver is reduced.

[0030] Furthermore, in this case, the control unit is configured as follows:

[0031] When it is determined that the specific state has occurred, it is further determined whether the second condition is satisfied (step 560, step 960).

[0032] Even when it is determined that the first condition is not satisfied (that is, when it is not determined that the first condition is satisfied), if it is determined that the second condition is satisfied, it is determined that the alarm permission condition is satisfied.

[0033] When it is determined that the alarm permission condition is satisfied and it is determined that the alarm target object exists, the alarm generating device is caused to generate the alarm.

[0034] According to this technical solution, if the driver makes a lane change spanning two or more lanes in a relatively short period of time, the second condition is satisfied before the vehicle makes a lane change spanning one lane and approaches the lane adjacent to the lane after the lane change (i.e., the second lane) (i.e., before the first condition is satisfied). Therefore, when a lane change spanning two or more lanes is made in a relatively short period of time, an effective and reliable warning can be generated in advance. On the other hand, if the driver intends to make a lane change spanning one lane, the second condition is less likely to be satisfied. This reduces the likelihood of warnings that may annoy the driver.

[0035] In one technical solution of the present invention, the control unit is configured as follows:

[0036] Obtain the lane width of the road on which the vehicle is traveling,

[0037] The threshold time is changed so that the narrower the lane width, the shorter the threshold time.

[0038] This technical solution makes it possible to accurately determine at an earlier timing whether the driver intends to change lanes across two or more lanes, even when lane widths vary. Furthermore, the lane width can be acquired based on the image data or by acquiring the current driving position in the lane and obtaining lane width information corresponding to the driving position via a storage device or communication.

[0039] In the above description, to facilitate understanding of the invention, constituent elements of the invention corresponding to the embodiments are given reference numerals used in the embodiments in parentheses. However, the constituent elements of the invention are not limited to the embodiments specified by the reference numerals. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0041] Figure 1 This is a schematic system configuration diagram of a vehicle alarm device according to an embodiment of the present invention.

[0042] Figure 2 It is a top view of the vehicle and its surroundings, showing a left rear side radar, a right rear side radar, a front camera, and monitoring ranges (right monitoring range and left monitoring range).

[0043] Figure 3 This is a front view of the left side mirror with indicator.

[0044] Figure 4 It shows Figure 1 The flowchart shown is a routine executed by the CPU of the ECU for the rear left side.

[0045] Figure 5 It shows Figure 1 The flowchart shown is a routine executed by the CPU of the ECU for the rear left side.

[0046] 6A and 6B are plan views of the own vehicle and its surroundings, illustrating a situation in which the own vehicle performs a lane change.

[0047] 7A and 7B are plan views of the own vehicle and its surroundings, illustrating a situation in which the own vehicle performs a lane change.

[0048] 8A and 8B are plan views of the own vehicle and its surroundings, illustrating a situation in which the own vehicle performs a lane change.

[0049] Figure 9 It shows Figure 1The flowchart shown is a routine executed by the CPU of the ECU for the rear left side.

[0050] Figure 10 It is a plan view of the own vehicle and its surroundings, showing the "right monitoring range and left monitoring range" of the own vehicle, etc.

[0051] Figure 11 It is a plan view of the own vehicle and its surroundings showing the "right monitoring range and left monitoring range" of the own vehicle that starts changing lanes while blinking the direction indicator.

[0052] 12A and 12B are plan views of a host vehicle and its surroundings, illustrating a situation in which an unnecessary warning is issued to the host vehicle that changes lanes while blinking a direction indicator. DETAILED DESCRIPTION

[0053] (constitute)

[0054] Figure 1 The vehicle alarm device 1 according to the embodiment of the present invention shown in FIG. 1 (hereinafter referred to as “this alarm device 1 ”) is mounted on Figure 2 The host vehicle HV is shown.

[0055] like Figure 1 As shown, the alarm device 1 includes: a left rear side radar device 10, a left side mirror indicator 20, a right rear side radar device 30, a right side mirror indicator 40, a front camera device 50, an alarm execution ECU 60, a buzzer 61, a steering wheel vibration actuator 62, a left direction indicator switch 63, a right direction indicator switch 64 and a control gateway ECU 70.

[0056] Hereinafter, the left-side mirror indicator 20 is referred to as the "left mirror indicator 20." The right-side mirror indicator 40 is referred to as the "right mirror indicator 40." Furthermore, when there is no need to distinguish between the left and right mirror indicators 20 and 40, the left and right mirror indicators 20 and 40 are each referred to simply as a "mirror indicator." The control gateway ECU 70 is referred to as the CGW ECU 70.

[0057] The rear left side radar device 10 includes a rear left side radar 11 and a rear left side ECU 12 .

[0058] In this manual, "ECU" refers to an electronic control unit (ECU) with a microcomputer as its primary component, also known as a controller. The microcomputer includes a CPU (processor), ROM, RAM, nonvolatile memory, and interface pins. The CPU implements various functions by executing instructions (programs, routines) stored in ROM. The left rear ECU 12 and some or all of the multiple ECUs described below can also be integrated into a single ECU.

[0059] like Figure 2 As shown, the left rear side radar 11 is fixed to the left rear corner of the vehicle HV. The left rear side radar 11 transmits radio waves from the left rear corner of the vehicle body to a detection range L Dar that has a predetermined horizontal angle relative to a reference axis (radar axis) pointing diagonally to the left rear of the vehicle body. This detection range L Dar includes the left monitoring area LA.

[0060] The left monitoring area LA includes an area that the driver cannot visually confirm (see) using the left side mirror 21 (i.e., a blind spot area on the left side). The left monitoring area LA is the range between a vertical plane extending in the vehicle width direction at a first distance d1 (e.g., 1 meter) forward from the rear end of the own vehicle HV and a vertical plane extending in the vehicle width direction at a second distance d2 (e.g., 3 meters) rearward from the rear end of the own vehicle HV. The left monitoring area LA also includes the range between a vertical plane extending in the vehicle front-to-rear direction at a third distance d3 (e.g., 0.5 meter) to the left from the left side of the own vehicle HV and a vertical plane extending in the vehicle front-to-rear direction at a fourth distance d4 (e.g., 3.5 meters) to the left from the left side of the own vehicle HV.

[0061] If a target object (object) exists within the detection range LDa of the left rear radar 11, it reflects the radio waves transmitted from the left rear radar 11. This results in a reflected wave, which the left rear radar 11 receives. The left rear radar 11 transmits information about the transmitted radio waves and the received reflected waves to the left rear ECU 12 at predetermined intervals.

[0062] Based on information transmitted from the left rear radar 11, the left rear ECU 12 acquires object information regarding objects within the detection range L Dar of the left rear radar 11. This object information, referred to as "left rear object information," includes the object's position (relative distance and direction), relative speed, and object width relative to the left rear radar 11. This function of generating object information is also known as the surrounding object recognition function. The left rear ECU 12 determines that an object is a vehicle (another vehicle) if its width falls within a predetermined range (between widths WL and WH).

[0063] The left rear side ECU 12 not only realizes the surrounding object recognition function, but also realizes the BSM function 12a described later. BSM is an abbreviation for "Blind Spot Monitor".

[0064] like Figure 3 As shown, the left mirror indicator 20 is composed of an LED embedded in a portion of the mirror area of the left side mirror 21. When the LED is illuminated, the driver can visually confirm that the LED is illuminated. Furthermore, the illuminated left mirror indicator 20 is shown enlarged within the dotted circle ENL. The left mirror indicator 20 illuminates or flashes in response to an instruction signal from the left rear ECU 12.

[0065] like Figure 1 As shown, the right rear side radar device 30 includes a right rear side radar 31 and a right rear side ECU 32 .

[0066] like Figure 2 As shown, the right rear side radar 31 is fixed to the right rear corner of the vehicle HV. The right rear side radar 31 transmits radio waves from the right rear corner of the vehicle body to a detection range RDar having a predetermined horizontal angle relative to a reference axis (radar axis) pointing diagonally to the right rear of the vehicle body. This detection range RDar includes the right monitoring range RA.

[0067] also, Figure 2 The "detection ranges LDar and RDar" shown indicate the angles of the detection ranges of the left rear side radar 11 and the right rear side radar 31, respectively, but do not indicate the distances of the detection ranges of the left rear side radar 11 and the right rear side radar 31. The distances of the respective detection ranges are, for example, several tens of meters.

[0068] The right monitoring range RA includes an area that the driver cannot visually confirm using the right side mirror 41 (i.e., a blind spot area on the right side). The right monitoring range RA is the range between a vertical plane extending in the vehicle width direction at a first distance d1 from the rear end of the own vehicle HV to the front, and a vertical plane extending in the vehicle width direction at a second distance d2 from the rear end of the own vehicle HV to the rear. The right monitoring range RA also includes the range between a vertical plane extending in the vehicle front-to-rear direction at a third distance d3 from the right side of the own vehicle HV to the right, and a vertical plane extending in the vehicle front-to-rear direction at a fourth distance d4 from the right side of the own vehicle HV to the right.

[0069] If a target object exists within the detection range RDar of the right rear side radar 31, it reflects the radio waves transmitted from the right rear side radar 31. This results in a reflected wave, which the right rear side radar 31 receives. The right rear side radar 31 transmits information about the transmitted radio waves and the received reflected waves to the right rear side ECU 32 at predetermined intervals.

[0070] Based on information transmitted from the right rear radar 31, the right rear ECU 32 acquires object information regarding objects within the detection range RDar of the right rear radar 31. This object information, referred to as "right rear object information," includes the object's position (relative distance and relative direction), relative speed, and object width relative to the right rear radar 31. If the object's width falls within a predetermined range, the right rear ECU 32 determines that the object is a vehicle (another vehicle). Thus, the right rear ECU 32, like the left rear ECU 12, also has a surrounding object recognition function.

[0071] Figure 1 The right mirror indicator 40 shown in FIG. 1 has a bilaterally symmetrical structure with the left mirror indicator 20. Figure 2 The right mirror indicator 40 is configured as a portion of an LED in a region where the mirror is provided, and is lit or blinking in response to an instruction signal from the right rear ECU 32 .

[0072] The left rear ECU 12 and the right rear ECU 32 are connected in a master / slave relationship via a local bus (not shown) to enable mutual transmission and reception of information. In this example, the left rear ECU 12 is the master and the right rear ECU 32 is the slave.

[0073] The front camera device 50 includes a front camera 51 and an image ECU 52 .

[0074] like Figure 2As shown, the front camera 51 is disposed above and in the center of the front windshield of the own vehicle HV. The front camera 51 captures the scene (including the road surface and landmarks) in front of the own vehicle HV at predetermined intervals and acquires image data.

[0075] The image ECU 52 analyzes the image data sent from the front camera 51 and generates image information. The image information includes the following information.

[0076] A center deviation distance, which is the distance between the left-right center portion of the front wheel axle of the own vehicle HV and the center line (lane center line) of the lane in which the own vehicle HV is traveling (ie, the traveling lane).

[0077] The angle (yaw angle) formed between the front and rear axle directions of the own vehicle HV and the center line of the lane.

[0078] The right margin distance DR (see Figure 2 ). In addition, the right margin distance DR may be the distance between the right side surface of the own vehicle HV and the right end of the right white line as the right dividing line of the driving lane or the center line of the white line.

[0079] The speed of the own vehicle HV in the lane width direction toward the right adjacent lane (right lateral speed Rspd).

[0080] The left margin distance DL (see Figure 2 ) In addition, the left margin distance DL may be the distance between the left side surface of the own vehicle HV and the left end of the left white line as the left dividing line of the driving lane or the center line of the white line.

[0081] The speed of the own vehicle HV in the lane width direction toward the left adjacent lane (left lateral speed Lspd).

[0082] Figure 1 The illustrated alarm execution ECU 60 is connected to a buzzer 61 , a steering wheel vibration actuator 62 , a left direction indicator switch 63 , and a right direction indicator switch 64 .

[0083] The buzzer 61 is a sound generating device (alarm generating device) capable of generating (emitting) an alarm sound to the driver of the own vehicle HV in response to an instruction signal from the alarm execution ECU 60 .

[0084] The steering wheel vibration actuator 62 is an alarm generating device that can vibrate the steering wheel of the own vehicle HV (not shown) based on an instruction signal from the alarm execution ECU 60, thereby giving an alarm to the driver of the own vehicle HV by vibration. The steering wheel vibration actuator 62 can also be an electric motor and a drive circuit of an electric power steering device (not shown).

[0085] When a well-known direction indicator lever provided on a steering column (not shown) is rotated from a neutral position to the left (counterclockwise) and maintained at a predetermined left position, the left direction indicator switch 63 outputs a high signal. When the direction indicator lever is located outside the predetermined left position, the left direction indicator switch 63 outputs a low signal.

[0086] The right direction indicator switch 64 outputs a high signal when the direction indicator lever rotates rightward (clockwise) from the neutral position and is maintained at the predetermined right position. The right direction indicator switch 64 outputs a low signal when the direction indicator lever is not at the predetermined right position.

[0087] The high signal and the low signal outputted from the left direction indicator switch 63 and the right direction indicator switch 64 are sometimes referred to as direction indicator information.

[0088] Furthermore, as is well known, if the driver turns the direction indicator lever to the left while it is maintained in the neutral position, the direction indicator lever moves to a predetermined left position. Thereafter, the direction indicator lever remains in the predetermined left position even when the driver is not pushing the direction indicator lever. If the steering wheel is rotated to the right by a predetermined angle while the direction indicator lever is maintained in the predetermined left position, the direction indicator lever moves to the neutral position. Similarly, if the driver turns the direction indicator lever to the right while it is maintained in the neutral position, the direction indicator lever moves to a predetermined right position. Thereafter, the direction indicator lever remains in the predetermined right position even when the driver is not pushing the direction indicator lever. If the steering wheel is rotated to the left by a predetermined angle while the direction indicator lever is maintained in the predetermined right position, the direction indicator lever moves to the neutral position.

[0089] The CGW ECU 70 is an ECU that controls the transmission and reception of information between multiple ECUs. The CGW ECU 70 is connected to the left rear side ECU 12, the right rear side ECU 32, and the image ECU 52 via a first communication line C1, and to the alarm execution ECU 60 via a second communication line C2. This allows these ECUs to exchange information via the CGW ECU 70, the first communication line C1, and the second communication line C2.

[0090] The left direction indicator switch 63 and the right direction indicator switch 64 are connected to a direction indicator control circuit 80. The direction indicator control circuit 80 is connected to a left direction indicator (left direction indicator lamp) 81 and a right direction indicator (right direction indicator lamp) 82. The direction indicator control circuit 80 flashes the left direction indicator 81 while receiving a high signal from the left direction indicator switch 63. The direction indicator control circuit 80 flashes the right direction indicator 82 while receiving a high signal from the right direction indicator switch 64.

[0091] (Work)

[0092] The CPU of the left rear side ECU 12 (hereinafter referred to as "CPU") executes the following command every time a predetermined time has passed. Figure 4 、 Figure 5 and Figure 9 The routine shown in the flowchart is as follows. Thus, the left rear side ECU 12 realizes the BSM function 12a (refer to Figure 1 ).

[0093] <BSM control when direction indicator is disconnected>

[0094] Therefore, when the right time comes, the CPU Figure 4 The process starts at step 400 and proceeds to step 410 to determine whether both the left direction indicator 81 and the right direction indicator 82 are disconnected (off). That is, the CPU determines whether a low signal is received from the left direction indicator switch 63 and a low signal is received from the right direction indicator switch 64.

[0095] If both the left direction indicator 81 and the right direction indicator 82 are off, the CPU determines "yes" in step 410 and proceeds to step 420, where it determines whether a monitoring target object exists relative to the right monitoring area RA based on the right rear side object information. Specifically, the CPU determines that a monitoring target object exists relative to the right monitoring area RA if it determines that another vehicle (part or all of the other vehicle) serving as an object is within the right monitoring area RA (i.e., a first object exists) and / or if another vehicle serving as an object is predicted to enter the right monitoring area RA within a threshold entry time (TTCth) (i.e., a second object exists). Furthermore, the CPU detects an object traveling from behind the host vehicle HV toward the right monitoring area RA and calculates the time Ten until the object enters the right monitoring area RA based on the relative speed of the object and the distance between the host vehicle HV and the object. The CPU then determines whether the second object exists relative to the right monitoring area RA by determining whether the time Ten is shorter than the threshold entry time (TTCth). The method of determining whether the second target object exists is also implemented in other steps in which similar determinations are performed.

[0096] If a monitoring target object exists relative to the right monitoring area RA, the CPU determines "Yes" in step 420 and proceeds to step 430, where it illuminates the right mirror indicator 40 (maintaining the illuminated state). The illumination of the right mirror indicator 40 does not constitute an alarm in this embodiment. The CPU then proceeds to step 440. In contrast, if a monitoring target object does not exist relative to the right monitoring area RA, the CPU determines "No" in step 420 and proceeds directly to step 440.

[0097] In step 440, the CPU determines whether a monitoring target object exists relative to the left monitoring area LA based on the left rear side object information. Specifically, the CPU determines that a monitoring target object exists relative to the left monitoring area LA if it determines that another vehicle (part or all of the other vehicle) is within the left monitoring area LA (i.e., the first object exists) and / or if another vehicle is predicted to enter the left monitoring area LA within a threshold entry time (TTCth) (i.e., the second object exists). Furthermore, the CPU detects an object traveling from behind the host vehicle HV toward the left monitoring area LA and calculates the time Ten until the object enters the left monitoring area LA based on the relative speed of the object and the distance between the host vehicle HV and the object. The CPU then determines whether the second object exists relative to the left monitoring area LA by determining whether the time Ten is shorter than the threshold entry time (TTCth). The method for determining whether the second object exists is also implemented in other steps that perform similar determinations.

[0098] If a monitoring target object exists relative to the left monitoring area LA, the CPU determines "Yes" in step 440 and proceeds to step 450 to illuminate the left mirror indicator 20 (maintaining the illuminated state). The illumination of the left mirror indicator 20 does not constitute an alarm in this embodiment. The CPU then proceeds to step 495 to temporarily terminate this routine. Conversely, if a monitoring target object does not exist relative to the left monitoring area LA, the CPU determines "No" in step 440 and proceeds directly to step 495 to temporarily terminate this routine.

[0099] If either the left direction indicator 81 or the right direction indicator 82 is not turned off, the CPU makes a "No" determination in step 410 and directly proceeds to step 495 to temporarily terminate this routine.

[0100] As described above, when both the left direction indicator 81 and the right direction indicator 82 are off, the right mirror indicator 40 is illuminated if a monitoring target object is present within the right monitoring area RA, and the left mirror indicator 20 is illuminated if a monitoring target object is present within the left monitoring area LA. However, no warning is issued by the buzzer 61 or the steering wheel vibration actuator 62. Furthermore, neither the right mirror indicator 40 nor the left mirror indicator 20 generates a flashing warning. In other words, when both the left direction indicator 81 and the right direction indicator 82 are off, the CPU does not generate a warning to call the driver's attention.

[0101] <BSM control when the right direction indicator is on>

[0102] When the right time comes, the CPU Figure 5 The process begins at step 500 and proceeds to step 510 to determine whether the right direction indicator 82 is on (i.e., flashing) and the left direction indicator 81 is off (off). More specifically, the CPU determines whether a high signal is received from the right direction indicator switch 64 and a low signal is received from the left direction indicator switch 63.

[0103] If the determination condition in step 510 is not satisfied, the CPU makes a “No” determination in step 510 , directly proceeds to step 595 , and temporarily terminates this routine.

[0104] In contrast, when the determination condition of step 510 is met, the CPU determines "yes" in step 510 and proceeds to step 520. In step 520, the CPU determines, based on the image information sent from the image ECU 52, whether the own vehicle HV has completed a lane change from the original lane to the first right adjacent lane in the right direction during the "period during which the right direction indicator 82 continues to be on after the right direction indicator 82 changes from off to on." The original lane is the driving lane in which the own vehicle HV was traveling before the lane change began. The first right adjacent lane is the lane adjacent to the original lane in the right direction. The "period during which the right direction indicator 82 continues to be on after the right direction indicator 82 changes from off to on" is also referred to as the "specific period" in the right direction. The specific period in the right direction is the period during which the current on (flashing state) of the right direction indicator 82 continues.

[0105] When the right side of the vehicle HV aligns with the left end of the right dividing line of the original lane (e.g., right dividing line R·L1 of lane 1 L1) while the right indicator 82 is flashing, as shown in FIG6A , the CPU determines that a lane change to the right has been initiated. When the left side of the vehicle HV aligns with the right end of the left dividing line of the first right adjacent lane (e.g., left dividing line L·L2 of lane 2, which is adjacent to lane 1 in the right direction), as shown in FIG6B , while the right indicator 82 is flashing, after determining that a lane change to the right has been initiated, the CPU determines that the lane change for one lane to the right has been completed. Furthermore, the left dividing line L·L2 of lane 2 is the same dividing line as the right dividing line R·L1 of lane 1.

[0106] At this time, assuming that the vehicle HV has not completed the lane change for one lane to the right, the CPU Figure 5 The CPU determines "No" in step 520 and proceeds to step 530. In step 530, similarly to step 420, the CPU determines whether there is a monitoring target object (i.e., either the first object or the second object) relative to the right monitoring range RA based on the right rear side object information.

[0107] If there is a monitoring target object relative to the right monitoring range RA, the CPU makes a "Yes" determination at step 530 and proceeds to step 540 to generate an alarm as described below.

[0108] Set the right mirror indicator 40 to a flashing state.

[0109] The buzzer 61 generates an alarm sound.

[0110] The steering wheel is vibrated by the steering wheel vibration actuator 62 .

[0111] Then, the CPU proceeds to step 595 and temporarily ends this routine.

[0112] On the other hand, when there is no monitoring target object with respect to the right monitoring range RA, the CPU makes a "No" determination at step 530, directly proceeds to step 595, and temporarily ends this routine.

[0113] Therefore, during the period from when the right direction indicator 82 changes to a flashing state as shown in FIG6A to when the own vehicle HV completes a lane change of one lane in the right direction from the original lane (e.g., the first lane L1) to the first right adjacent lane (e.g., the second lane L2), the above-mentioned alarm is generated when it is determined that there is another vehicle OVa that is a monitoring target object relative to the right monitoring range RA.

[0114] Then, it is assumed that after a predetermined time, the vehicle HV has completed a lane change from the original lane (for example, the first lane L1) to the first right adjacent lane (for example, the second lane L2) by one lane in the right direction. Immediately after the lane change is completed, the steering wheel is not fully turned to the left, so normally the right direction indicator 82 continues to flash. Therefore, the CPU Figure 5 The CPU makes a “yes” determination in step 510 and proceeds to step 520 . Then, the CPU makes a “yes” determination in step 520 and proceeds to step 550 .

[0115] In step 550, the CPU determines whether the right margin distance DR is less than a predetermined threshold right margin distance DRth. For example, as shown in FIG6B , the right margin distance DR is the distance between the right side of the own vehicle HV and the left end of the right dividing line of the lane (i.e., the first right adjacent lane) after completing a lane change from the original lane (e.g., the first lane L1) to the right (e.g., the left end of the right dividing line R·L2 of the second lane L2). The threshold right margin distance DRth is set to a value equal to the right margin distance DR that would indicate that the own vehicle HV is sufficiently close to the second right adjacent lane (e.g., the third lane L3), which is the lane adjacent to the first right adjacent lane in the right direction. For example, the threshold right margin distance DRth is set to a positive value smaller than the right margin distance DR when the own vehicle HV is traveling in the center of a lane on a typical motorway (e.g., a value approximately 1 / 5 to 1 / 4 of the lane width of the motorway). For convenience, the determination condition of step 550 is also referred to as the "first condition".

[0116] As shown in FIG6B , right after the vehicle HV has just completed a lane change from the original lane (e.g., the first lane L1) to the first right adjacent lane (e.g., the second lane L2) by one lane in the right direction, the right margin distance DR is larger than the threshold right margin distance DRth. In this case, the CPU Figure 5 The judgment in step 550 is “No” and the process goes to step 560 .

[0117] In step 560, the CPU calculates the right margin time TTR based on the image information. The right margin time TTR is the time required for the right side of the host vehicle HV to reach the left end of the right dividing line of the first right adjacent lane (i.e., the left dividing line of the second right adjacent lane). In the example shown in FIG6B , the right margin time TTR is the time required for the host vehicle HV to reach the left end of the right dividing line R·L2 of the second lane L2 (i.e., the left end of the left dividing line L·L3 of the third lane L3). In other words, the right margin time TTR is the time required for the host vehicle HV, which is traveling in the first right adjacent lane, to begin entering the second right adjacent lane.

[0118] More specifically, the CPU calculates the right margin time TTR by dividing the right margin distance DR by the right lateral speed Rspd (TTR = DR / Rspd). Then, in step 560, the CPU determines whether the right margin time TTR is less than or equal to a predetermined threshold time TRth. For convenience, the determination condition in step 560 is also referred to as the "second condition."

[0119] Typically, when the driver of the host vehicle HV attempts to change lanes from the original lane by one lane to the right, or attempts to change lanes by two or more lanes to the right over a longer period of time, the lateral speed (right lateral speed Rspd) required to move from the first right adjacent lane (e.g., the second lane L2) to the second right adjacent lane (e.g., the third lane L3) adjacent to the first right adjacent lane in the right direction is lower. In other words, in this case, the right margin time TTR is greater than the threshold time TRth.

[0120] Therefore, when the right margin time TTR is greater than the threshold time TRth, the CPU Figure 5 The judgment in step 560 is “No” and the process goes to step 570 .

[0121] At step 570 , the CPU determines whether or not there is a monitoring target object relative to the right monitoring range RA based on the right rear side object information, similarly to step 420 .

[0122] If there is no monitoring target object relative to the right monitoring range RA, the CPU makes a "No" determination at step 570 , directly proceeds to step 595 , and temporarily terminates this routine.

[0123] In contrast, if a monitoring target object exists relative to the right monitoring area RA, the CPU determines "yes" in step 570 and proceeds to step 580 to illuminate the right mirror indicator 40 (maintaining the illuminated state). In other words, in this case, the CPU does not generate the alarm by flashing the right mirror indicator 40. The CPU then proceeds to step 595, temporarily terminating this routine. Therefore, in this case, as shown in FIG6B , even if the right direction indicator 82 is flashing and a monitoring target object (the other vehicle OVb) exists relative to the right monitoring area RA, the aforementioned alarm is not generated.

[0124] On the other hand, if the driver of the host vehicle HV intends to make a lane change of two lanes or more from the original lane to the second right adjacent lane, the host vehicle HV gradually approaches the right dividing line of the first right adjacent lane (i.e., the left dividing line of the second right adjacent lane) after making a lane change of one lane. Specifically, as shown in FIG7A , if the host vehicle HV intends to make a lane change from the first lane L1 to the third lane L3, the host vehicle HV gradually approaches the right dividing line R·L2 of the second lane L2 (the left dividing line L·L3 of the third lane L3). In this case, as shown in FIG7B , the right margin distance DR between the right side of the host vehicle HV and the left end of the right dividing line of the first right adjacent lane becomes less than the threshold right margin distance DRth.

[0125] In this case, the CPU enters Figure 5 At step 550 shown, the CPU makes a "yes" determination in step 550 and proceeds to step 530. As a result, if the monitoring target object exists relative to the right monitoring range RA, an alarm is issued by flashing the right mirror indicator 40, sounding an alarm by the buzzer 61, and vibrating the steering wheel by the steering wheel vibration actuator 62 (see step 540).

[0126] Furthermore, if the driver of the own vehicle HV intends to change lanes by two lanes or more to the right in a short time (for example, intending to change lanes from the first lane L1 to the third lane L3 in a short time), the own vehicle HV approaches the right dividing line of the first right adjacent lane (for example, the right dividing line R·L2 of the second lane L2) in a short time after making the lane change by one lane. In this case, the right margin time TTR becomes less than or equal to the threshold time TRth.

[0127] Therefore, in this case, even if the right margin distance DR in the first right adjacent lane is larger than the threshold right margin distance DRth as shown in FIG8B (if a "No" determination is made in step 550), the CPU makes a "Yes" determination in step 560 and proceeds to step 530. As a result, if a monitoring target object exists relative to the right monitoring range RA, the process of step 540 is executed, thereby issuing the aforementioned warning.

[0128] Furthermore, if the CPU makes a "No" determination in step 530 and after executing the process of step 540, the CPU may determine whether or not a monitoring target object exists relative to the left monitoring area LA, similarly to step 440, and if such a monitoring target object is determined to exist, illuminate the left mirror indicator 20. Furthermore, if the CPU makes a "No" determination in step 570 and after executing the process of step 580, the CPU may determine whether or not a monitoring target object exists relative to the left monitoring area LA, similarly to step 440, and if such a monitoring target object is determined to exist, illuminate the left mirror indicator 20.

[0129] <BSM control when the left direction indicator is on>

[0130] When the right time comes, the CPU Figure 9 The process begins at step 900 and proceeds to step 910 to determine whether the left direction indicator 81 is on (i.e., flashing) and the right direction indicator 82 is off (off). More specifically, the CPU determines whether a high signal is received from the left direction indicator switch 63 and a low signal is received from the right direction indicator switch 64.

[0131] If the determination condition in step 910 is not satisfied, the CPU makes a “No” determination in step 910 , directly proceeds to step 995 , and temporarily terminates this routine.

[0132] In contrast, when the determination condition of step 910 is met, the CPU determines "yes" in step 910 and proceeds to step 920. In step 920, the CPU determines, based on the image information sent from the image ECU 52, whether the own vehicle HV has completed a lane change from the original lane to the first left adjacent lane during the "period during which the left direction indicator 81 continues to be on after the left direction indicator 81 changes from off to on." The first left adjacent lane is the lane adjacent to the left direction of the original lane. "The period during which the left direction indicator 81 continues to be on after the left direction indicator 81 changes from off to on" is also referred to as the "specific period" of the left direction. The specific period of the left direction is the period during which the current on (flashing state) of the left direction indicator 81 continues.

[0133] The CPU determines that a left lane change has begun when the left side of the host vehicle HV aligns with the right end of the left dividing line of the original lane (e.g., left dividing line L·L3 of lane 3) while the left direction indicator 81 is flashing. The CPU determines that a left lane change has begun when the right side of the host vehicle HV aligns with the left end of the right dividing line of the first left adjacent lane (e.g., right dividing line R·L2 of lane 2, which is adjacent to lane 3 in the left direction) while the left direction indicator 81 is flashing. The CPU determines that a left lane change has been completed for one lane. Furthermore, right dividing line R·L2 of lane 2 and left dividing line L·L3 of lane 3 are the same dividing line.

[0134] If the host vehicle HV has not completed the lane change for one lane to the left, the CPU determines "No" in step 920 and proceeds to step 930. In step 930, the CPU determines whether a monitoring target object (i.e., either the first object or the second object) exists relative to the left monitoring range LA based on the left rear side object information.

[0135] If there is a monitoring target object relative to the left monitoring range LA, the CPU makes a "Yes" determination at step 930 and proceeds to step 940 to generate an alarm as described below.

[0136] Set the left mirror indicator 20 to a flashing state.

[0137] The buzzer 61 generates an alarm sound.

[0138] The steering wheel is vibrated by the steering wheel vibration actuator 62 .

[0139] Then, the CPU proceeds to step 995 to temporarily terminate this routine.

[0140] On the other hand, when there is no monitoring target object with respect to the left monitoring range LA, the CPU makes a "No" determination at step 930, directly proceeds to step 995, and temporarily terminates this routine.

[0141] Therefore, during the period from when the left direction indicator 81 changes to a flashing state to when the own vehicle HV completes a lane change of one lane in the left direction from the original lane (e.g., the third lane L3) to the first left adjacent lane (e.g., the second lane L2), the above-mentioned alarm is generated when it is determined that there are other vehicles that are monitored objects relative to the left monitoring range LA.

[0142] The vehicle HV then completes a lane change from its original lane (e.g., the third lane, L3) to the first left adjacent lane (e.g., the second lane, L2). Immediately after completing the lane change, the left direction indicator 81 continues to flash. Therefore, the CPU determines "yes" in step 910 and proceeds to step 920. The CPU also determines "yes" in step 920 and proceeds to step 950.

[0143] In step 950, the CPU determines whether the left margin distance DL is less than a predetermined threshold left margin distance DLth. The left margin distance DL is the distance between "the left side of the own vehicle HV" and "the right end of the left dividing line of the lane (i.e., the first left adjacent lane) after completing the lane change from the original lane (e.g., the third lane L3) to the left direction for the amount of one lane (i.e., the right end of the left dividing line L·L2 of the second lane L2)". The threshold left margin distance DLth is set to a value equal to the left margin distance DL when it can be determined that the own vehicle HV is sufficiently close to "the second left adjacent lane (e.g., the first lane L1) which is the lane adjacent in the left direction as the first left adjacent lane". The threshold left margin distance DLth is set to a value equal to the threshold right margin distance DRth, but may also be set to a value different from the threshold right margin distance DRth. For convenience, the determination condition of step 950 is also referred to as the "first condition".

[0144] Immediately after the vehicle HV completes a lane change from its original lane (e.g., the third lane L3) to the first left adjacent lane (e.g., the second lane L2) for one lane to the left, the left margin distance DL exceeds the threshold left margin distance DLth. In this case, the CPU makes a "No" determination in step 950 and proceeds to step 960.

[0145] In step 960, the CPU calculates the left margin time TTL based on the image information. The left margin time TTL is the time required for the left side of the host vehicle HV to reach the right end of the left dividing line of the first left adjacent lane (i.e., the right dividing line of the second left adjacent lane). In other words, the left margin time TTL is the time required for the host vehicle HV, which is traveling in the first left adjacent lane, to begin entering the second left adjacent lane.

[0146] More specifically, the CPU calculates the left clearance time TTL by dividing the left clearance distance DL by the left lateral speed Lspd (TTL = DL / Lspd). Then, in step 960, the CPU determines whether the left clearance time TTL is less than or equal to a predetermined threshold time TLth. The threshold time TLth may be the same as or different from the threshold time TRth. For convenience, the determination condition in step 960 is also referred to as the "second condition."

[0147] Typically, when the driver of the host vehicle HV attempts to change lanes from the original lane by one lane to the left, or attempts to change lanes by two or more lanes to the left over a longer period of time, the lateral speed (left lateral speed Lspd) required to move from the first left adjacent lane (e.g., the second lane L2) to the second left adjacent lane (e.g., the first lane L1) adjacent to the original lane in the left direction becomes smaller. In other words, in this case, the left margin time TTL exceeds the threshold time TLth.

[0148] Therefore, when the left margin time TTL is greater than the threshold time TLth, the CPU makes a “No” determination in step 960 and proceeds to step 970 .

[0149] At step 970 , the CPU determines whether or not there is a monitoring target object relative to the left monitoring range LA based on the left rear side object information, similarly to step 440 .

[0150] If there is no monitoring target object relative to the left monitoring range LA, the CPU makes a "No" determination at step 970 , directly proceeds to step 995 , and temporarily terminates this routine.

[0151] In contrast, if a monitoring target object exists relative to the left monitoring area LA, the CPU determines "yes" in step 970 and proceeds to step 980 to illuminate the left mirror indicator 20 (maintaining the illuminated state). In other words, in this case, the CPU does not generate an alarm by flashing the left mirror indicator 20. The CPU then proceeds to step 995, temporarily terminating this routine. Therefore, in this case, even if the left direction indicator 81 is flashing and a monitoring target object exists relative to the left monitoring area LA, the aforementioned alarm is not generated.

[0152] On the other hand, when the driver of the own vehicle HV wants to make a lane change of 2 lanes from the original lane to the second left adjacent lane (i.e., for example, when wanting to make a lane change from the third lane L3 to the first lane L1), the left margin distance DL between the left side surface of the own vehicle HV and the right end of the left dividing line of the first left adjacent lane becomes less than the threshold left margin distance DLth.

[0153] Therefore, when the CPU proceeds to step 950, the CPU makes a "yes" determination in step 950 and proceeds to step 930. As a result, when there is a monitoring target object relative to the left monitoring range LA, an alarm is issued by flashing the left mirror indicator 20, sounding an alarm by the buzzer 61, and vibrating the steering wheel by the steering wheel vibration actuator 62 (see step 940).

[0154] Furthermore, if the driver of the host vehicle HV intends to make a lane change to the left by two lanes or more in a short time (for example, intending to make a lane change from the third lane L3 to the first lane L1 in a short time), the host vehicle HV approaches the left dividing line of the first left adjacent lane (for example, the left dividing line L·L2 of the second lane L2) in a short time after making the lane change by one lane. In this case, the left margin time TTL becomes less than or equal to the threshold time TLth.

[0155] Therefore, even if the left margin distance DL is greater than the threshold left margin distance DLth (if the determination in step 950 is "No"), the CPU determines "Yes" in step 960 and proceeds to step 930. As a result, if the monitoring target object exists relative to the left monitoring range LA, the process in step 940 is executed, and the above-mentioned alarm is issued.

[0156] Furthermore, if the CPU makes a "No" determination in step 930 and after executing the process of step 940, the CPU may determine whether or not a monitoring target object exists relative to the right monitoring range RA, similarly to step 420, and if such a monitoring target object is determined to exist, illuminate the right mirror indicator 40. Furthermore, if the CPU makes a "No" determination in step 970 and after executing the process of step 980, the CPU may determine whether or not a monitoring target object exists relative to the right monitoring range RA, similarly to step 420, and if such a monitoring target object is determined to exist, illuminate the right mirror indicator 40.

[0157] In the above description, when the first right adjacent lane and the first left adjacent lane do not need to be distinguished from each other based on the left-right direction, these lanes are each referred to as a first adjacent lane.

[0158] Likewise, when the second right adjacent lane and the second left adjacent lane do not need to be distinguished from each other based on the left-right direction, these lanes are each referred to as a second adjacent lane.

[0159] When the driving lane before starting the lane change (ie, the original lane) is referred to as the first lane, the first adjacent lane is referred to as the second lane, and the second adjacent lane is referred to as the third lane.

[0160] As described above, when the vehicle alarm device 1 determines based on the direction indicator information that the direction indicator of a specific direction, either the left direction or the right direction of the own vehicle HV, is flashing, the vehicle alarm device 1 determines based on the information of the radar targets corresponding to the specific direction from the left rear side radar 11 and the right rear side radar 31 whether there is an alarm target target target in a predetermined area (the range corresponding to the specific direction in the left monitoring range LA and the right monitoring range RA) behind the specific direction side of the own vehicle HV. When it is determined that such an alarm target target target target exists, an alarm is generated using the alarm generating device (at least one of the mirror indicator, the buzzer 61 and the steering wheel vibration actuator 62).

[0161] Therefore, when the direction indicator starts flashing, that is, when there is a high probability of a lane change from the original lane, an alert for the alert target object is issued, thereby allowing the driver to more reliably recognize the alert target object.

[0162] On the other hand, within the specific period, after a lane change of one lane from the original lane to a specific direction is made, an alert for the alert target object is not issued until the probability of a further lane change of one lane becomes high (i.e., until at least one of the first and second conditions is met). This reduces the likelihood of an alert causing annoyance to the driver.

[0163] <Modification>

[0164] While the threshold time TRth is a constant value in the above embodiment, it can also be modified based on lane width, such that the narrower (shorter) the lane width of the road on which the host vehicle HV is traveling, the shorter the threshold time TRth. Similarly, while the threshold time TLth is a constant value in the above embodiment, it can also be modified based on lane width, such that the narrower (shorter) the lane width of the road on which the host vehicle HV is traveling, the shorter the threshold time TLth. Furthermore, the CPU can obtain the lane width of the lane in which the host vehicle HV is traveling based on image data, or it can obtain information about the lane width of the road corresponding to the current position of the host vehicle HV based on the current position of the host vehicle HV detected by a navigation system (not shown) and road information stored in the navigation system's storage device or obtained through communication. However, it is preferred that the threshold right margin distance DRth and threshold left margin distance DLth remain constant even if the lane width changes.

[0165] The present invention is not limited to the above-described embodiment and modifications, and various modifications can be adopted within the scope of the present invention.

[0166] For example, if a lane change of one lane is completed after the direction indicator in a specific direction is turned on, the conditions for permitting the execution of the above-mentioned warning (warning permission conditions) include the above-mentioned first condition (the determination condition of step 550 and the determination condition of step 950) and the above-mentioned second condition (the determination condition of step 560 and the determination condition of step 960). However, the warning permission conditions may be only the first condition or only the second condition. Furthermore, the warning permission conditions may include conditions different from the first and second conditions.

[0167] Alternatively, instead of the left-side mirror indicator 20 in the above-described embodiment, or in addition to the left-side mirror indicator 20 in the above-described embodiment, an indicator showing that "there is an object to be warned on the left rear side" may be provided in the vehicle interior. The lighting or flashing of this indicator is equivalent to the alarm of the alarm device for this vehicle. For example, such an indicator may also be provided in a heads-up display and / or an instrument display. Similarly, instead of the right-side mirror indicator 40 in the above-described embodiment, or in addition to the right-side mirror indicator 40 in the above-described embodiment, an indicator showing that "there is an object to be warned on the right rear side" may be provided in the vehicle interior. For example, such an indicator may also be provided in a heads-up display and / or an instrument display.

[0168] In the above embodiment, the buzzer 61 may be a left-positioned buzzer that generates an alarm sound from the driver's left side and a right-positioned buzzer that generates an alarm sound from the driver's right side. In this case, it is preferable that the right-positioned buzzer generates an alarm sound in step 540 and the left-positioned buzzer generates an alarm sound in step 940.

[0169] The alarm target object may be only one of the first object and the second object, or may include objects other than the first and second objects.

[0170] In the above embodiment, the buzzer 61 may be omitted. Similarly, in the above embodiment, the steering wheel vibration actuator 62 may be omitted. Furthermore, an alarm generating device other than the buzzer 61 and the steering wheel vibration actuator 62 (for example, a vibration device for the driver's seat) may also be provided.

[0171] In the above embodiment, the direction indicator information may be acquired from the direction indicator control circuit 80. Furthermore, the alarm execution ECU 60 may also realize the function of the direction indicator control circuit.

[0172] In the above embodiment, the target object information about the target objects within the detection range LDar and the detection range RDar may be acquired by a monitoring sensor (e.g., a laser radar: LIDAR) other than the left rear side radar 11. The laser radar is a sensor that detects target object information using light instead of radio waves.

[0173] The left margin distance DL and the right margin distance DR may also be calculated based on the center offset distance, the lane width, and the vehicle width of the own vehicle HV. In other words, the first condition and the second condition may also be determined based on the center offset distance, the lane width, and the own vehicle HV, respectively.

Claims

1. A vehicle alarm device comprising: a sensor configured to obtain information about an object behind or to the side of the vehicle; a camera, for photographing an area in front of the vehicle and generating image data of the area in front; an alarm generating device configured to generate an alarm for a driver of the vehicle; as well as a control unit that obtains direction indicator information as information related to the operating states of the left direction indicator and the right direction indicator of the vehicle, and, when it is determined based on the direction indicator information that the direction indicator for a specific direction, which is either the left direction or the right direction of the vehicle, is flashing, and when it is determined based on the object information that an alarm target object is present, causes the alarm generating device to generate the alarm, the alarm target object including at least one of a first object located in a predetermined area behind the vehicle on the specific direction side and a second object estimated to enter the predetermined area within a predetermined time. Furthermore, the control unit is configured as follows: When it is determined based on the direction indicator information and the image data that the following specific state has occurred, determining based on the image data whether an alarm permission condition including at least one of a first condition and a second condition is satisfied, and when it is determined that the alarm permission condition is not satisfied, not causing the alarm generating device to generate the alarm even if it is determined that the alarm target object is present, The specific state is a state in which the direction indicator in the specific direction continues to flash after the vehicle completes a lane change from a first lane to a second lane adjacent to the first lane in the specific direction while flashing the direction indicator in the specific direction. The first condition is a condition that is satisfied when a distance between a lane dividing line dividing the second lane from a third lane adjacent to the second lane in the specific direction and a side surface of the vehicle on the specific direction side is less than a threshold distance. The second condition is a condition that is satisfied when the time until the side surface of the vehicle on the specific direction side starts to enter the third lane is equal to or shorter than a threshold time.

2. The vehicle alarm device according to claim 1, The control unit is configured as follows: When it is determined that the specific state has occurred, it is determined whether the first condition is satisfied. If it is determined that the first condition is not satisfied, it is determined that the alarm permission condition is not satisfied.

3. The vehicle alarm device according to claim 2, The control unit is configured as follows: When it is determined that the specific state has occurred, it is further determined whether the second condition is satisfied. Even when it is determined that the first condition is not satisfied, if it is determined that the second condition is satisfied, it is determined that the alarm permission condition is satisfied. When it is determined that the alarm permission condition is satisfied and it is determined that the alarm target object exists, the alarm generating device is caused to generate the alarm.

4. The vehicle alarm device according to any one of claims 1 to 3, The control unit is configured as follows: Obtain the lane width of the road on which the vehicle is traveling, The threshold time is changed so that the narrower the lane width, the shorter the threshold time.

5. The vehicle alarm device according to any one of claims 1 to 4, The alarm generating device includes a sound generating device capable of generating an alarm sound, The control unit is configured to generate the alarm by causing the sound generating device to generate the alarm sound.

6. The vehicle alarm device according to any one of claims 1 to 5, The alarm generating device includes a steering wheel vibration actuator capable of vibrating the steering wheel of the vehicle, The control unit is configured to generate the alarm by vibrating the steering wheel using the steering wheel vibration actuator.

7. The vehicle alarm device according to any one of claims 1 to 6, The warning generating device includes an indicator disposed in a side mirror of the vehicle, The control unit is configured to generate the alarm by flashing the indicator.

Images