Driver assistance systems and driver assistance programs

Abstract

To provide a driving support device capable of a collision of a part of a vehicle body or a load thereon with an obstacle which is positioned at a rear side of an own vehicle.SOLUTION: A processor controls a notification device so as to issue a warning in a case where it is detected that an obstacle is present in a predetermined warning target region extending to a rear side of an own vehicle under a first situation that a tail gate TG of the own vehicle and a load therein protrude backward from a rear end of a rear bumper RB of the own vehicle, and controls a notification device 30 so as to issue a warning in a case where an obstacle OB is present in a second warning target region, which is obtained by expanding or offsetting the first warning target region backward under a second situation that a part of the opened tail gate TG or a part of the load protrudes backward from the rear end of the rear bumper RB of the own vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0004] ,

[0001] The present invention relates to a driving support device and a driving support program that detect an obstacle located behind the host vehicle and execute a predetermined warning to the driver based on the detection result.

Background Art

[0002] A driving support device that detects an obstacle located behind the host vehicle and executes a predetermined warning to the driver based on the detection result has been proposed (for example, refer to Patent Document 1 below). This driving support device (hereinafter referred to as the "conventional device") includes a sonar (ultrasonic sensor). The sonar is incorporated in the rear bumper of the host vehicle. The sonar emits ultrasonic waves to the rear of the host vehicle. The ultrasonic waves are reflected by an obstacle. The sonar receives the reflected wave. The sonar can detect the distance between the rear bumper and the obstacle, the direction of the obstacle, etc. based on the received reflected wave. When the processor of the conventional device detects that an obstacle exists behind the host vehicle based on the detection result of the sonar, the notification device is controlled so that a predetermined warning is issued to the driver.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] Conventional devices are applied, for example, to pickup trucks. When the tailgate of a pickup truck's cargo bed is open, a portion of the tailgate (the rear end) may protrude further back than the rear end of the rear bumper. Even when the tailgate is closed, a portion of the cargo loaded in the cargo bed may extend beyond the rear of the cargo bed, and this portion may protrude further back than the rear end of the rear bumper. In the following explanation, the portion of the tailgate or cargo that protrudes further back than the rear end of the rear bumper will be referred to as the rear protrusion. If the driver forgets about the presence of the rear protrusion, the driver may assume that there is sufficient time before their vehicle collides with the obstacle when the alarm starts to sound, and may delay the initiation of driving maneuvers to avoid the collision. However, in reality, the rear protrusion may be quite close to the obstacle when the alarm starts to sound. Therefore, there is a risk that a collision between the obstacle and the rear protrusion may not be avoidable.

[0005] One of the objectives of the present invention is to provide a driver assistance device that can suppress collisions between a part of the vehicle body or its cargo and an obstacle located behind the vehicle.

[0006] To solve the above problems, the driver assistance device (1) of the present invention comprises a rear sensor that acquires information about obstacles located behind the vehicle, and a processor that controls the vehicle's notification device so that a predetermined warning is issued to the driver of the vehicle when it detects the presence of an obstacle behind the vehicle based on the information acquired from the rear sensor. The processor determines a predetermined first warning target area extending behind the vehicle in a first situation in which the vehicle's tailgate and cargo do not protrude behind the rear end of the vehicle's rear bumper. The first alarm target area exhibits a circular sector shape in plan view. The notification device is controlled so that the alarm is issued when an obstacle is detected inside, and in the second situation where part of the open tailgate or part of the cargo protrudes rearward from the rear end of the vehicle's rear bumper, the first alarm target area is expanded rearward. Tension Second alarm target area and a second alarm target area obtained by adding a sector extending along the outer periphery of the first alarm target area and exhibiting an annular sector shape to the first alarm target area.The notification device is controlled so that the alarm is issued if an obstacle is present inside. The system is configured to obtain from the rear sensor the length of the protrusion of a portion of the tailgate or a portion of the load from the rear end of the rear bumper, and to set the width of the sector based on the protrusion length.

[0007] The processor of the driver assistance device according to the present invention issues a warning when it detects the presence of an obstacle within a second warning target area, which is an extension or offset of the first warning target area, when a rearward protrusion is present. Therefore, when an obstacle enters the second warning target area from behind, the distance between the rearward protrusion and the obstacle is relatively long. As a result, even if the start of driving operations to avoid the obstacle is delayed somewhat from the time the warning is issued, there is a high probability that a collision between the rearward protrusion and the obstacle can be avoided. Thus, according to the present invention, a collision between the rearward protrusion and an obstacle can be suppressed.

[0009] According to this, the processor can appropriately set the second alarm target area.

[0010] Furthermore, in order to solve the above problems, the driver assistance device (1A) according to the present invention includes a rear sensor that acquires information about obstacles located behind the vehicle, and a processor that controls the vehicle's notification device so that a predetermined warning is issued to the driver of the vehicle when it detects the presence of an obstacle in a warning target area extending behind the vehicle based on the information acquired from the rear sensor. The processor is configured to control the notification device so that a first warning is issued when it detects the presence of an obstacle in a first section within the warning area under first circumstances where the vehicle's tailgate and cargo do not protrude behind the rear end of the vehicle's rear bumper, and to control the warning device so that a second warning with a higher warning level than the first warning is issued when it detects the presence of an obstacle in the first section under second circumstances where a part of the open tailgate or a part of the cargo protrudes behind the rear end of the vehicle's rear bumper.

[0011] The processor of the driver assistance system according to the present invention raises the alarm level when a rear protrusion is present compared to when a rear protrusion is absent. That is, a relatively high level alarm is issued when an obstacle enters the alarm area from the rear. Therefore, there is a high probability that the driver will begin driving maneuvers to avoid the obstacle relatively soon after the alarm is issued. Thus, according to the present invention, collisions between the rear protrusion and obstacles can be suppressed. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a block diagram of a driver assistance device according to the first embodiment of the present invention. [Figure 2] Figure 2 is a plan view comparing the alarm target area and the extended alarm target area. [Figure 3] Figure 3 is a flowchart of the computer program for implementing the obstacle approach warning function of the driver assistance system related to the first instance of failure to perform the operation. [Figure 4] Figure 4 shows an example of an image displayed as a warning by the driver assistance device according to the second embodiment. [Figure 5] Figure 5 is a flowchart of a computer program for implementing the obstacle approach warning function of the driver assistance system according to the second embodiment. [Modes for carrying out the invention]

[0013] <First Embodiment> (Outline) The driver assistance device 1 according to the first embodiment of the present invention is installed in a vehicle V (hereinafter referred to as "the vehicle") equipped with an automatic driving function. The driver assistance device 1 has a function (obstacle approach warning function) that controls the vehicle's warning device so as to issue a predetermined warning to the driver of the vehicle when it detects that an obstacle is present behind the vehicle while the automatic driving function is disabled (when the driver is actively performing driving operations).

[0014] As shown in Figure 1, the vehicle is equipped with a cargo bed LP that opens upward. The cargo bed LP comprises a bottom wall LPa, a pair of left and right side walls LPb, LPb, and a rear wall LPc. The rear wall LPc is a plate-like section that extends in the left-right direction (vehicle width direction). The lower edge of the rear wall LPc is connected to the bottom wall LPa via a hinge. That is, the rear wall LPc is connected to the bottom wall LPa in a way that allows it to be opened and closed. When the rear wall LPc is closed, it is approximately perpendicular to the bottom wall LPa, and its rear surface is located slightly forward of the rear end of the rear bumper RB in a plan view. On the other hand, when the rear wall LPc is open, it is approximately parallel to the bottom wall LPa, and its rear end is located behind the rear end of the rear bumper RB. The rear wall LPc is generally referred to as the tailgate TG.

[0015] (Specific Configuration) As shown in Figure 1, the driver assistance system 1 includes a driver assistance ECU 10, an on-board sensor 20, and a notification device 30.

[0016] The driver assistance ECU 10 includes a microcomputer equipped with a CPU 10a, ROM 10b, RAM 10c, etc. The driver assistance ECU 10 is connected to other ECUs in the vehicle via CAN (Controller Area Network).

[0017] The on-board sensor 20 includes a rear sensor that acquires information about obstacles located behind the vehicle. Specifically, the on-board sensor 20 includes a sonar 21 and a camera 22 as rear sensors.

[0018] The sonar 21 includes first transmitting / receiving units 21La and 21Ra and second transmitting / receiving units 21Lb and 21Rb. Further, the sonar 21 includes a signal analysis unit. The first transmitting / receiving unit 21La is disposed at the left corner of the rear bumper RB and is directed obliquely rearward to the left. The first transmitting / receiving unit 21Ra is disposed at the right corner of the rear bumper RB and is directed obliquely rearward to the right. The second transmitting / receiving unit 21Lb is disposed at an intermediate portion between the central portion and the left corner in the vehicle width direction of the rear bumper RB and is directed rearward. The second transmitting / receiving unit 21Rb is disposed at an intermediate portion between the central portion and the right corner in the vehicle width direction of the rear bumper RB and is directed rearward. Each transmitting / receiving unit intermittently emits ultrasonic waves and receives the ultrasonic waves (reflected waves) reflected by the obstacle OB. Then, each transmitting / receiving unit provides a signal (reflected wave signal) representing the received reflected wave to the signal analysis unit.

[0019] The signal analysis unit analyzes the reflected wave signals acquired from each transmitting / receiving unit and calculates the position (distance and direction) of the obstacle OB with respect to the host vehicle. Then, the signal analysis unit transmits the calculation result to the driving support ECU 10. The range in which the sonar 21 can detect an object (hereinafter referred to as "detectable range A") includes not only the area behind the host vehicle but also the area on the side of the rear wheels of the host vehicle, as shown in FIG. 2.

[0020] The camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an imaging element composed of a CCD (charge coupled device). The imaging device is directed rearward at the rear part of the passenger compartment. The imaging device captures the rear area of the host vehicle at a predetermined frame rate and acquires image data. The imaging device provides the image data to the image analysis device. The image analysis device analyzes the acquired image data and identifies (recognizes) the type of the obstacle OB located behind the host vehicle from the image. Further, the image analysis device analyzes the image data and recognizes the presence or absence of a load. The image analysis device transmits the recognition result to the driving support ECU 10.

[0021] Furthermore, the vehicle-mounted sensor 20 includes a tailgate sensor 23. The tailgate sensor 23 includes, for example, a switch device. This switch device is incorporated, for example, in a hinge that connects the tailgate TG and the bottom wall portion LPa. When the tailgate TG is closed, the switch device is in an off state, and when the tailgate TG is open, the switch device is in an on state. The driving support ECU 10 monitors the on / off state of the switch device.

[0022] In addition, the driving support ECU 10 can distinguish between the obstacle OB and the rear protruding part (tailgate TG or load) based on the followability (presence or absence of position change) of an object located immediately behind the host vehicle with respect to the host vehicle.

[0023] The notification device 30 includes an image display device and an acoustic device. The notification device 30 is incorporated, for example, in the instrument panel of the host vehicle. The image display device displays an image representing the position of the obstacle OB in accordance with an image display command acquired from the driving support ECU 10. Further, the acoustic device reproduces a predetermined warning sound in accordance with an audio reproduction command acquired from the driving support ECU 10.

[0024] (Obstacle approach warning function) As described below, when the driving support ECU 10 detects that an obstacle OB exists within a predetermined region (warning target region AR or extended warning target region EAR, to be described later) in the detectable range A based on the information acquired from the rear sensors (sonar 21 and camera 22), the driving support ECU 10 controls the notification device 30 so that a predetermined warning is issued.

[0025] The driver assistance ECU 10 sequentially determines whether or not a rear protrusion exists based on information acquired from the rear sensor. Specifically, the driver assistance ECU 10 determines whether or not the tailgate TG is closed based on the on / off state of the switch device of the tailgate sensor 23. The driver assistance ECU 10 also determines whether or not there is cargo on the cargo bed LP based on information acquired from the camera 22. If the driver assistance ECU 10 determines that cargo exists, it acquires information from the sonar 21 about an object located directly behind the vehicle and determines whether or not the object is a rear protrusion based on that information. For example, if the position of an object located directly behind the vehicle hardly changes, it is highly likely that the object is the vehicle's tailgate TG or cargo. Therefore, the driver assistance ECU 10 determines whether or not a rear protrusion exists based on the change in the position of the object located directly behind the vehicle (the range of change in the object's position over a predetermined short period of time).

[0026] The driver assistance ECU 10 determines that there is no rearward protrusion if both condition X and condition Y below are met. [Condition X] The switch device for the tailgate sensor 23 is in the off state. [Condition Y] No cargo is present, or the change in position of an object located directly behind the vehicle exceeds a threshold.

[0027] If the driver assistance ECU 10 determines that there is no rearward protrusion (first situation), it determines whether or not an obstacle OB exists within the warning target area AR.

[0028] Here, the warning area AR exhibits an annular sector shape in plan view, as shown in Figure 2(A). The warning area AR is symmetrical with respect to a center line passing through the center of the vehicle in the width direction. The warning area AR is divided into three equal parts radially. That is, the warning area AR consists of sector S1, sector S2, and sector S3. Sectors S1, S2, and S3 are arranged in this order from the inner circumference to the outer circumference of the warning area AR. Sector S1 is divided into four equal parts circumferentially. That is, sector S1 consists of segments S1a, S1b, S1c, and S1d. Segments S1a, S1b, S1c, and S1d are arranged in this order from the right end to the left end of the warning area AR. Similarly, sectors S2 and S3 are also divided into four equal parts circumferentially, just like sector S1. That is, sectors S2 and S3 also consist of four segments. Please note that the shape and size of the alarm target area (AR) described above, as well as the number and shape of each sector and segment, are merely examples and can be modified as needed.

[0029] If the driver assistance ECU 10 determines that an obstacle OB exists within the warning target area AR, it controls the notification device 30 so that a predetermined warning is issued to the driver.

[0030] Specifically, the driver assistance ECU 10 identifies (acquires) the position (segment) of the obstacle OB in the warning target area AR based on information acquired from the rear sensor. The driver assistance ECU 10 then causes the image display device of the notification device 30 to display an image representing the position of the obstacle OB. For example, as shown in Figure 1, the image display device displays an image Gv representing the vehicle. Furthermore, the image display device displays an image Gar representing the warning target area AR below image Gv. Image Gar consists of images Gs1a, Gs1b, ..., Gs3d corresponding to segments S1a, S1b, ..., S3d. The driver assistance ECU 10 causes the image Gx corresponding to the acquired position (segment) of the obstacle OB to flash. That is, the display color of image Gx is reversed at a predetermined period. For example, as shown in Figure 2(A), if the obstacle OB is located in segment S2c, the driver assistance ECU 10 causes the image Gs2c to flash, as shown in Figure 1.

[0031] In addition, the driver assistance ECU 10 intermittently plays an alarm sound (beep) through the sound device of the notification device 30.

[0032] On the other hand, the driver assistance ECU 10 determines that a rearward protrusion exists if either or both of the above conditions X and Y are not met.

[0033] If the driver assistance ECU 10 determines that a rearward protrusion exists (second situation), it will determine whether or not an obstacle OB exists within the extended warning area EAR, instead of the warning area AR.

[0034] Here, the extended alarm area EAR corresponds to the area obtained by extending the alarm area AR backward, as shown in Figure 2(B). Specifically, the extended alarm area EAR corresponds to the area obtained by adding a sector S4, which has an annular shape, to the outer periphery of sector S3 of the alarm area AR. Sector S4 extends from the right end to the left end of sector S3. The width of sector S4 (the radial length of the extended alarm area EAR) is the same as the width of the other sectors. Sector S4 is divided into four equal parts in its circumferential direction. That is, sector S4 is composed of segments S4a, S4b, S4c, and S4d. Segments S4a, S4b, S4c, and S4d are arranged in this order from the right end to the left end of sector S4.

[0035] If the driver assistance ECU 10 determines that an obstacle OB exists within the extended warning area EAR, it controls the notification device 30 in the same way as when there is no rearward protrusion.

[0036] Specifically, the driver assistance ECU 10 identifies (acquires) the location (segment) of the obstacle OB in the extended warning target area EAR based on information acquired from the rear sensor. The driver assistance ECU 10 then displays an image representing the location of the obstacle OB on the image display device of the notification device 30. If a rear protrusion is present, the image display device displays an image Gear representing the extended warning target area EAR below image Gv, as shown in Figure 1. Image Gear consists of images Gs1a, Gs1b, ..., Gs4d corresponding to segments S1a, S1b, ..., S4d. The driver assistance ECU 10 then flashes image Gx corresponding to the acquired location (segment) of the obstacle OB.

[0037] In addition, the driver assistance ECU 10 intermittently plays an alarm sound (beep) through the sound device of the notification device 30.

[0038] Next, referring to Figure 3, we will explain the program PR1 that the CPU 10a (hereinafter simply referred to as "CPU") executes to implement the obstacle approach warning function.

[0039] The CPU starts executing program PR1 at predetermined intervals if the vehicle's ignition switch is turned ON. The CPU starts executing program PR1 from step 100 and proceeds to step 101.

[0040] In step 101, the CPU determines whether or not a rear protrusion exists. If the CPU determines that a rear protrusion exists (101: Yes), it proceeds to step 103, which will be described later. On the other hand, if the CPU does not determine that a rear protrusion exists (101: No), it proceeds to step 102.

[0041] In step 102, the CPU determines whether or not an obstacle OB is located within the alarm area AR. If the CPU determines that an obstacle OB is located within the alarm area AR (102: Yes), it proceeds to step 104. On the other hand, if the CPU does not determine that an obstacle OB is located within the alarm area AR (102: No), it proceeds to step 106, where it terminates the execution of program PR1.

[0042] If the CPU proceeds from step 101 to step 103, in step 103 it determines whether or not an obstacle OB is located within the extended alarm area EAR. If the CPU determines that an obstacle OB is located within the extended alarm area EAR (103: Yes), it proceeds to step 104. On the other hand, if the CPU does not determine that an obstacle OB is located within the extended alarm area EAR (103: No), it proceeds to step 106, and in step 106 it terminates the execution of program PR1.

[0043] In step 104, the CPU obtains the location (segment) of the obstacle OB based on the information acquired from the rear sensor. Next, the CPU proceeds to step 105.

[0044] In step 105, the CPU controls the notification device 30 so that a predetermined warning is issued to the driver. Specifically, the CPU causes the image Gx to flash on the image display device and intermittently plays a warning sound on the sound device. Next, the CPU proceeds to step 106, in which step 106 terminates the execution of program PR1.

[0045] (Effect) The driver assistance ECU 10 of the driver assistance device 1 issues a warning when it detects the presence of an obstacle OB within the expanded warning target area EAR, which is an extension of the warning target area AR to the rear when a rear protrusion is present. Therefore, when the obstacle OB enters sector S4 from the rear of the expanded warning target area EAR (sector S4), the distance between the rear protrusion and the obstacle OB is relatively long. As a result, even if the start of driving operations to avoid the obstacle OB is delayed somewhat from the time the warning is issued, there is a high probability that a collision between the rear protrusion and the obstacle OB can be avoided. Thus, according to the present invention, a collision between the rear protrusion and the obstacle OB can be suppressed.

[0046] <Second Embodiment> Next, a driver assistance device 1A according to the second embodiment will be described. As shown in Figure 1, the configuration of the driver assistance device 1A is the same as that of the driver assistance device 1.

[0047] (Obstacle approach warning function) The driver assistance ECU 10, as in the first embodiment, sequentially determines whether or not a rear protrusion exists. If the driver assistance ECU 10 determines that no rear protrusion exists, it determines, as in the first embodiment, whether or not an obstacle OB is located within the warning target area AR. If the driver assistance ECU 10 determines that an obstacle OB is located within the warning target area AR, it controls the notification device 30 so that a predetermined warning is generated according to the position (sector) of the obstacle OB.

[0048] Specifically, as shown in Figure 4(A), when the obstacle OB is located in sector S3, the driver assistance ECU 10 controls the notification device 30 to issue a low-level warning. For example, the driver assistance ECU 10 controls the notification device 30 so that the flashing interval of image Gx is relatively long and the repetition interval of the warning sound is relatively long. When the obstacle OB is located in sector S2, the driver assistance ECU 10 controls the notification device 30 to issue a medium-level warning. For example, the driver assistance ECU 10 controls the notification device 30 so that the flashing interval of image Gx is moderate and the repetition interval of the warning sound is moderate. When the obstacle OB is located in sector S1, the driver assistance ECU 10 controls the notification device 30 to issue a high-level warning. For example, the driver assistance ECU 10 controls the notification device 30 so that the flashing interval of image Gx is relatively short and the repetition interval of the warning sound is relatively short.

[0049] In the first embodiment, if the driver assistance ECU 10 determines that a rearward protrusion exists, it determines whether or not the obstacle OB is located within the extended warning target area EAR (Figure 2(B)). In contrast, in the second embodiment, if the driver assistance ECU 10 determines that a rearward protrusion exists, it determines whether or not the obstacle OB is located within the warning target area AR (Figure 2(A)). If the driver assistance ECU 10 determines that the obstacle OB is located within the warning target area AR, it controls the notification device 30 so that a predetermined warning is generated according to the position (segment) of the obstacle OB.

[0050] In this case, the driver assistance ECU 10 increases the warning level compared to the case where there is no rear protrusion (Figure 4(A)), as shown in Figure 4(B). Specifically, when the obstacle OB is located in sector S3, the driver assistance ECU 10 controls the notification device 30 so that a medium-level warning is issued instead of a low-level warning. Furthermore, when the obstacle OB is located in sector S2, the driver assistance ECU 10 controls the notification device 30 so that a high-level warning is issued instead of a medium-level warning. And when the obstacle OB is located in sector S1, the driver assistance ECU 10 controls the notification device 30 so that the highest level warning is issued, which is even higher than the high-level warning. For example, as the highest level warning, the driver assistance ECU 10 controls the notification device 30 so that the image Gx is displayed (lit) continuously instead of flashing, and the warning sound is played continuously.

[0051] Next, referring to Figure 5, we will describe the program PR2 that the CPU executes to implement the obstacle approach warning function according to the second embodiment.

[0052] The CPU starts executing program PR1 at a predetermined interval if the vehicle's ignition switch is ON. The CPU then starts executing program PR2 from step 200 and proceeds to step 201.

[0053] In step 201, the CPU determines whether or not an obstacle OB is located within the alarm area AR. If the CPU determines that an obstacle OB is located within the alarm area AR (201: Yes), it proceeds to step 202. On the other hand, if the CPU does not determine that an obstacle OB is located within the alarm area AR (201: No), it proceeds to step 214, and in step 106, it terminates the execution of program PR1.

[0054] In step 202, the CPU obtains the location (segment) of the obstacle OB based on the information acquired from the rear sensor. Next, the CPU proceeds to step 203.

[0055] In step 203, the CPU determines whether or not a rear protrusion exists. If the CPU determines that a rear protrusion exists (203: Yes), it proceeds to step 209, which will be described later. On the other hand, if the CPU does not determine that a rear protrusion exists (203: No), it proceeds to step 204.

[0056] In step 204, the CPU determines whether the obstruction OB is located in sector S3. If the CPU determines that the obstruction OB is located in sector S3 (204: Yes), it proceeds to step 206, which will be described later. On the other hand, if the CPU does not determine that the obstruction OB is located in sector S3 (204: No), it proceeds to step 205.

[0057] In step 205, the CPU determines whether the obstruction OB is located in sector S2. If the CPU determines that the obstruction OB is located in sector S2 (205: Yes), it proceeds to step 207, which will be described later. On the other hand, if the CPU does not determine that the obstruction OB is located in sector S2 (205: No), it proceeds to step 208, which will be described later.

[0058] In step 206, the CPU executes a low-level alarm. In step 207, the CPU executes a medium-level alarm. In step 208, the CPU executes a high-level alarm. Next, the CPU proceeds to step 214, where it terminates the execution of program PR2.

[0059] If the CPU proceeds from step 203 to step 209, in step 209 it determines whether the obstruction OB is located in sector S3. If the CPU determines that the obstruction OB is located in sector S3 (209: Yes), it proceeds to step 211, which will be described later. On the other hand, if the CPU does not determine that the obstruction OB is located in sector S3 (209: No), it proceeds to step 210.

[0060] In step 210, the CPU determines whether the obstruction OB is located in sector S2. If the CPU determines that the obstruction OB is located in sector S2 (210: Yes), it proceeds to step 212, which will be described later. On the other hand, if the CPU does not determine that the obstruction OB is located in sector S2 (210: No), it proceeds to step 213, which will be described later.

[0061] In step 211, the CPU executes a medium-level alarm. In step 212, the CPU executes a high-level alarm. In step 213, the CPU executes a top-level alarm. Next, the CPU proceeds to step 214, in which step 214, the execution of program PR2 is terminated.

[0062] (Effect) The driver assistance ECU 10 of the driver assistance device 1A raises the alarm level when a rear protrusion is present compared to when a rear protrusion is absent. That is, a relatively high level alarm is issued when an obstacle OB enters the alarm target area AR from behind the alarm target area AR. Therefore, there is a high probability that the driver will start driving operations to avoid the obstacle relatively soon after the alarm is issued. Thus, according to the present invention, collisions between the rear protrusion and the obstacle OB can be suppressed.

[0063] The present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention.

[0064] (Modification 1) In the first embodiment, the width of sector S4 is the same as the width of the other sectors, but the width of sector S4 may be different from the width of the other sectors. For example, the driver assistance ECU 10 may calculate the protrusion length of the rear protrusion based on information acquired from the sonar 21 and set the width of sector S4 based on that protrusion length. The driver assistance device 1 may also be equipped with an input device (operating device) for inputting the above-mentioned protrusion length. The driver assistance ECU 10 may then set the width of sector S4 based on the input protrusion length. This allows the extended warning target area EAR to be set appropriately.

[0065] (Modification 2) In the first embodiment described above, the driver assistance ECU 10 may control the notification device 30 so that a predetermined alarm is issued when the obstacle OB is located in an offset alarm area, which is obtained by offsetting the alarm area AR to the rear, instead of the expanded alarm area EAR. In this case, the driver assistance ECU 10 may determine the amount of offset of the alarm area AR according to the protrusion length of the rear protrusion.

[0066] (Modification 3) In the second embodiment described above, the driver assistance ECU 10 sets the interval of flashing display of image Gx and the repetition interval of the alarm sound according to the alarm level. Alternatively, the display color of image Gx and the tone and volume of the alarm sound may be set according to the alarm level. [Explanation of Symbols]

[0067] 1...Vehicle control device, 10...Driver assistance ECU, 20...On-board sensor, 30...Notification device

Claims

1. A rear sensor that acquires information about obstacles located behind the vehicle, A processor controls the vehicle's warning device so that a predetermined warning is issued to the driver of the vehicle when an obstacle is detected behind the vehicle based on information acquired from the rear sensor. A driver assistance device equipped with, The aforementioned processor, Under the first condition where the vehicle's tailgate and cargo do not protrude beyond the rear end of the vehicle's rear bumper, the notification device is controlled to issue the alarm when it detects the presence of an obstacle within a predetermined first alarm target area extending behind the vehicle, which in a plan view exhibits an annular sector shape. In a second situation where a portion of the open tailgate or cargo protrudes rearward beyond the rear end of the vehicle's rear bumper, the alarm device is configured to control the alarm if an obstacle exists within a second alarm area, which is an extended rearward area of ​​the first alarm area, and which is obtained by adding a sector extending along the outer periphery of the first alarm area and exhibiting an annular sector shape to the first alarm area. Furthermore, A driver assistance device configured to obtain the length of the protrusion of a part of the tailgate or a part of the load from the rear end of the rear bumper from the rear sensor, and to set the width of the sector based on the protrusion length.

2. The computer installed in the vehicle, An information acquisition step in which information about obstacles located behind the vehicle is obtained from the rear sensor, A warning step in which, based on information acquired from the rear sensor, the vehicle's warning device is controlled to issue a predetermined warning to the driver of the vehicle when an obstacle is detected behind the vehicle, A driver assistance program that enables the execution of, The aforementioned alarm step is: The steps include controlling the notification device so that the alarm is issued when, under the first condition in which the vehicle's tailgate and cargo do not protrude beyond the rear end of the vehicle's rear bumper, an obstacle is detected in a predetermined first alarm target area extending behind the vehicle, which in a plan view exhibits an annular sector shape; The method includes the step of controlling the notification device so that the alarm is issued when an obstacle exists in a second alarm area obtained by extending the first alarm area rearward, which is a second alarm area obtained by adding a sector extending along the outer periphery of the first alarm area and exhibiting an annular sector shape to the first alarm area, in a second situation where a portion of the open tailgate or a portion of the cargo protrudes rearward from the rear end of the rear bumper of the vehicle, and further, A driver assistance program configured to include the step of obtaining from the rear sensor the length of the protrusion of a portion of the tailgate or a portion of the load from the rear end of the rear bumper, and setting the width of the sector based on the protrusion length.

Images