JP2020112989A - Vehicle alarm device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle notification device for notifying a driver that a preceding vehicle has started when a preceding vehicle located on the same lane as the own vehicle starts while the own vehicle is stopped. SOLUTION: The vehicle notification device has radar sensors 21C, 21L, 21R, and a first camera sensor 22 for detecting the position information of a preceding vehicle located in front of the own vehicle on the own lane in which the own vehicle is located. Etc., and a second camera sensor 23 that detects the line-of-sight information of the driver of the own vehicle. When the execution condition that is satisfied when the distance from the driver's line of sight exceeds a predetermined threshold is satisfied, the preceding vehicle starts to make the driver of the own vehicle recognize that the preceding vehicle has started. A notification unit 10 for performing notification is provided. [Selection diagram] Fig. 1

Description

The present invention relates to a vehicle notification device for informing a driver of a vehicle when a preceding vehicle located on the same lane as the vehicle starts while the vehicle (own vehicle) is stopped. ..

Conventionally, when a preceding vehicle starts immediately after a preceding vehicle that is stopped, when the preceding vehicle starts, the preceding vehicle is started to notify the driver of the preceding vehicle that the preceding vehicle has started. An informing device (hereinafter, referred to as “conventional device”) for making an informing is known (for example, refer to Patent Document 1).

JP, 2005-247143, A

The conventional device starts the preceding vehicle when the inter-vehicle distance between the own vehicle and the preceding vehicle increases by a predetermined threshold value or more from the stopped inter-vehicle distance, which is the inter-vehicle distance when both the own vehicle and the preceding vehicle stop. Make a notification. Therefore, in the conventional device, the timing at which the preceding vehicle start notification is given to the driver depends on the above-mentioned inter-stop distance. If the distance between the stopped vehicles is different, the distance between the vehicles when the preceding vehicle start notification is given to the driver is different. Therefore, the driver feels that the timing at which the preceding vehicle start notification is performed is different every time. As described above, in the conventional device, the driver feels uncomfortable when the preceding vehicle start notification is performed.

The present invention has been made to solve the above problems. That is, one of the objects of the present invention is to provide a vehicle notification capable of reducing the discomfort felt by the driver by performing the preceding vehicle start notification based on the positional relationship between the driver's line-of-sight position and the preceding vehicle. It is to provide a device.

The vehicle alarm device of the present invention (hereinafter, may be referred to as the “device of the present invention”),
A detection unit (21, 22) for detecting information on the position of a preceding vehicle, which is another vehicle located in front of the own vehicle on the own lane where the own vehicle is located, with respect to the own vehicle;
In a situation where the preceding vehicle has stopped and the host vehicle has stopped immediately after the preceding vehicle (step 408: Yes), the distance between the preceding vehicle and the line-of-sight position of the driver of the host vehicle is a predetermined threshold value. (SD) Information regarding the position of the preceding vehicle with respect to the own vehicle (Da) and information regarding the distance between the detection unit and the line-of-sight position ( Determination is made using Db, Dc+Dd, Bd+α+β (step 410),
When it is determined that the execution condition is satisfied (step 410: Yes), the notifying unit (10) that performs the preceding vehicle start notification (411) that notifies the driver of the own vehicle that the preceding vehicle has started. , 31, 32),
Equipped with.

As described above, in the conventional device, the timing at which the preceding vehicle start notification is given to the driver depends on the above-mentioned stop inter-vehicle distance, so that the driver changes the timing at which the preceding vehicle start notification is given each time. May feel like. Normally, the driver grasps the inter-vehicle distance not by the actual inter-vehicle distance between the front end portion of the own vehicle and the preceding vehicle but by the distance from the line-of-sight position of the driver to the preceding vehicle. Therefore, the device of the present invention performs the preceding vehicle start notification at the timing when the distance between the driver's line-of-sight position and the preceding vehicle becomes equal to or greater than a predetermined threshold. Since the preceding vehicle start notification is performed based on the distance between the driver's line-of-sight position and the preceding vehicle, in a situation where the driver is looking at the preceding vehicle ahead, the driver will see the preceding vehicle at almost the same timing. I feel like the start notification is being given. Therefore, it is possible to reduce the discomfort felt by the driver.

In the above description, in order to help understanding of the present invention, the names and/or reference numerals used in the embodiments are added in parentheses to the configurations of the invention corresponding to the embodiments described later. However, each component of the present invention is not limited to the embodiment defined by the name and/or code.

It is a schematic system block diagram of the vehicle alarm device in 1st Embodiment of this invention. FIG. 2 is a plan view of the vehicle for explaining the arrangement of the radar sensor and the camera sensor shown in FIG. 1. FIG. 6 is a diagram for explaining the timing of performing the preceding vehicle start notification in the first embodiment, and is a diagram for explaining “the distance between the driver's line-of-sight position and the preceding vehicle”. 3 is a flowchart showing a “leading vehicle start notification processing routine” executed by a CPU of the notification ECU shown in FIG. 1. It is a figure for demonstrating the timing which performs a preceding vehicle start notification in 2nd Embodiment, and is a figure for demonstrating "distance between a driver|operator's line-of-sight position and a preceding vehicle." It is a figure for demonstrating the timing which performs a preceding vehicle start notification in 3rd Embodiment, and is a figure for demonstrating "distance between a driver|operator's line-of-sight position and a preceding vehicle." A map stored in the ROM of the notification ECU in the third embodiment, that is, a first map showing the relationship between the seat position and the correction value α and a second map showing the relationship between the seat angle and the correction value β. It is a figure explaining.

<First Embodiment>
The notification device according to the first embodiment of the present invention (hereinafter sometimes referred to as “first device”) is referred to as a vehicle (hereinafter referred to as “own vehicle” in order to distinguish it from other vehicles). May be applied). As shown in FIG. 1, the notification device includes a notification ECU 10 and a radar ECU 20. These ECUs may be integrated into one ECU.

Each of these ECUs is an electric control unit (Electric Control Unit) including a microcomputer as a main part, and is connected to each other via a CAN (Controller Area Network) not shown so that information can be transmitted and received mutually. .. The microcomputer includes a CPU, RAM, ROM, non-volatile memory, interface (I/F) and the like. The CPU implements various functions by executing instructions (programs, routines) stored in the ROM.

The radar ECU 20 is connected to the radar sensors 21C, 21L and 21R. As shown in FIG. 2, the radar sensor 21C is attached to the center of the front end portion FRP of the vehicle SV in the vehicle width direction, the radar sensor 21L is attached to the left end of the front end portion FRP of the vehicle SV, and the radar sensor 21R is attached to the radar sensor 21R. It is attached to the right end of the front end portion FRP of the vehicle SV. If it is not necessary to individually distinguish the radar sensors 21C, 21L, and 20R, they are referred to as "radar sensor 21".

The radar sensor 21 is well known and transmits a radio wave in the millimeter wave band (hereinafter, also referred to as “millimeter wave”) toward a detection range, and a millimeter wave reflected by a target existing within the detection range. Receives waves (reflected waves). The radar sensor 21 includes the time from the transmission of the millimeter wave to the reception of the reflected wave of the millimeter wave, the azimuth of the reflected wave, the phase difference between the transmitted millimeter wave and the received reflected wave, and the like. The transmission/reception data is transmitted to the radar ECU 20 every time a predetermined time has elapsed.

As shown in FIG. 2, the area where the radar sensor 21C can detect the target (detectable area) is a fan-shaped area from the right boundary line RBL1 to the left boundary line LBL1. The detection axis CL1 which is a bisector of the angle θ1 formed by the right boundary line RBL1 and the left boundary line LBL1 coincides with the vehicle front-rear axis FR of the host vehicle SV. Therefore, the radar sensor 21C mainly detects the target on the front side of the host vehicle SV.

Similarly, the detectable area of the radar sensor 21L is a fan-shaped area from the right boundary line RBL2 to the left boundary line LBL2. The detection axis CL2, which is a bisector of the angle θ2 formed by the right boundary line RBL2 and the left boundary line LBL2, extends from the left end of the front end portion FRP of the vehicle SV to the front left. Therefore, the radar sensor 21L mainly detects the target ahead of the left side of the host vehicle SV.

Similarly, the detectable area of the radar sensor 21R is a fan-shaped area from the right boundary line RBL3 to the left boundary line LBL3. The detection axis CL3, which is a bisector of the angle θ3 formed by the right boundary line RBL3 and the left boundary line LBL3, extends from the right end of the front end portion FRP of the host vehicle SV to the front right. Therefore, the radar sensor 21R mainly detects the target in front of the right side of the host vehicle SV.

Referring again to FIG. 1, the radar ECU 20 determines the distance in the vehicle front-rear axis FR direction (vertical distance) from the host vehicle SV to the target based on the transmission/reception data transmitted from the radar sensor 21 every time a predetermined time elapses. ) And the distance (lateral distance) from the host vehicle SV to the target in the direction orthogonal to the vehicle front-rear axis FR. That is, the radar ECU 20 identifies (acquires) the position of the target with respect to the own vehicle SV. Further, the radar ECU 20 calculates the speed of the target with respect to the own vehicle SV (that is, the relative speed of the target). The radar ECU 20 transmits “radar information” including the information (vertical distance and horizontal distance) about the position of the target and the relative speed to the notification ECU 10 every time a predetermined time elapses.

As shown in FIG. 2, the first camera sensor 22 is provided near the center in the vehicle width direction of the front end of the roof RF of the host vehicle SV. The first camera sensor 22 includes an in-vehicle stereo camera having a left camera and a right camera, and an image processing device (both not shown). As the first camera sensor 22, a monocular camera may be used instead of the stereo camera.

The left camera captures a region in front of the host vehicle SV and a partial region on the left side of the vehicle SV each time a predetermined time elapses, and transmits a left image signal representing the captured left image to the image processing apparatus. The right camera captures an image of a region in front of the host vehicle SV and a part of the region on the right side each time a predetermined time has elapsed, and transmits a right image signal representing the captured right image to the image processing device. The data represented by the left image signal and the right image signal may be referred to as "image data".

The image processing apparatus calculates information (vertical distance and horizontal distance) regarding the position of the target existing in the area photographed by the vehicle-mounted stereo camera based on the received image data. Further, the image processing apparatus identifies the type of the target (for example, a pedestrian, a bicycle, a two-wheeled vehicle, an automobile, etc.) using image data and a template image prepared in advance for each type of the target.

The first camera sensor 22 notifies the information about the position of each target, the type information of each target, and the image data (hereinafter collectively referred to as “first camera information”) each time a predetermined time elapses. Send to.

As shown in FIG. 2, the second camera sensor 23 is provided on the instrument panel IP of the host vehicle SV. The second camera sensor 23 is also called a “driver monitor”. The second camera sensor 23 includes a camera and an image processing device (both not shown). The camera captures an image of the driver of the host vehicle SV each time a predetermined time has elapsed, and transmits the image data of the driver to the image processing device. The image processing device detects the line-of-sight position (eye position) of the driver based on the received image data, and calculates information regarding the positional relationship between the line-of-sight position of the driver and the second camera sensor 23. The information on the positional relationship includes the distance between the driver's line-of-sight position (eye position) and the second camera sensor 23 (distance in the vehicle front-rear direction). The second camera sensor 23 transmits the information regarding the above-mentioned positional relationship and the image data (hereinafter collectively referred to as “second camera information”) to the notification ECU 10 each time a predetermined time elapses.

The wheel speed sensor 24 generates a signal according to the vehicle speed VS of the host vehicle SV. The notification ECU 10 acquires the vehicle speed VS based on the signal generated by the wheel speed sensor 24 each time a predetermined time has elapsed.

The display 31 is a liquid crystal display that receives a display signal from the notification ECU 10 and displays the information indicated by the display signal to the driver. Therefore, the display device 31 can perform the preceding vehicle start display described later in response to the signal from the notification ECU 10. The display 31 may be a head-up display.

The speaker 32 receives the sounding signal from the notification ECU 10 and generates a sound according to the sounding signal. Therefore, the speaker 32 can generate a preceding vehicle start notification sound described later in response to the signal from the notification ECU 10.

(Outline of operation)
Next, an outline of the operation of the first device will be described. Normally, the driver grasps the inter-vehicle distance not by the actual inter-vehicle distance between the front end portion FRP of the own vehicle SV and the preceding vehicle but by the distance from the line of sight position of the own vehicle to the preceding vehicle. Therefore, the first device, when the own vehicle is stopped immediately after the stopped preceding vehicle, when the preceding vehicle starts, the first device is based on the positional relationship between the driver's line-of-sight position and the preceding vehicle. Car start notification.

As shown in FIG. 3, the first device determines the inter-vehicle distance (vertical distance) between the host vehicle SV (that is, the radar sensor 21C of the front end FRP of the host vehicle SV) and the preceding vehicle based on the radar information. A certain first distance Da is calculated. Further, the ROM of the notification ECU 10 of the first device stores information on the second distance Db, which is the distance between the radar sensor 21C and the driver's line-of-sight position (eye position). The second distance Db is a fixed value that is predetermined based on the relationship between the installation position of the radar sensor 21C and the position of the driver's seat. The first device determines whether the following Expression 1 is satisfied.
(Formula 1) SD−(Da+Db)≦0
SD is a predetermined threshold value relating to the “distance between the driver's line-of-sight position and the preceding vehicle”. Therefore, it can be said that the above Expression 1 is an expression for determining whether or not the distance (Da+Db) between the driver's line-of-sight position and the preceding vehicle is equal to or greater than the threshold value SD.

The 1st apparatus will perform a preceding vehicle start notification, if the above-mentioned formula 1 is materialized. In this way, the preceding vehicle start notification is performed at the timing when the distance (Da+Db) between the driver's line of sight position and the preceding vehicle becomes equal to or greater than the threshold value SD. Therefore, in a situation where the driver is looking at the preceding vehicle ahead, the driver feels that the preceding vehicle start notification is performed at substantially the same timing. From the above, it is possible to reduce the discomfort felt by the driver.

(Specific operation)
Next, the specific operation of the first device will be described. The CPU of the notification ECU 10 (hereinafter, simply referred to as “CPU”) executes the routine shown in FIG. 4 every time a predetermined time elapses.

Therefore, at a predetermined timing, the CPU starts the process from step 400 of FIG. 4, sequentially executes the processes of steps 401 to 405 described below, and then proceeds to step 406.

Step 401: The CPU acquires the vehicle speed VS of the host vehicle SV based on the signal from the wheel speed sensor 24.
Step 402: The CPU acquires radar information from the radar ECU 20.
Step 403: The CPU acquires the first camera information from the first camera sensor 22 and the second camera information from the second camera sensor 23.

Step 404: The CPU detects a lane marking on the road surface (lane marker, hereinafter also simply referred to as “white line”) based on the image data included in the first camera information, and based on the detected white line, detects a lane. To detect. Specifically, the CPU recognizes the area between the left white line and the right white line as the "own lane" by using a well-known method (see, for example, JP 2013-105179 A).

Step 405: The CPU identifies (recognizes) another vehicle that satisfies both of the following conditions A1 and A2 as a “preceding vehicle” based on the radar information and the first camera information.
(Preceding vehicle condition)
(A1) Other vehicles are located on the own lane.
(A2) The other vehicle is closest to the own vehicle SV among the other vehicles located in front of the own vehicle SV.

More specifically, the CPU selects all targets (that is, other vehicles) that are identified as “automobiles” by the type information included in the first camera information. Further, the CPU integrates the radar information and the first camera information according to a well-known method (for example, see Japanese Patent Laid-Open No. 2017-182696) so that the position of each other vehicle (that is, the vertical distance and the horizontal distance). ) Is specified. Then, the CPU identifies (recognizes) another vehicle that satisfies the above-described conditions A1 and A2 from the selected other vehicles as a “preceding vehicle” based on the position of each other vehicle.

When the CPU proceeds to step 406, it determines whether or not a preceding vehicle is present (whether or not the preceding vehicle is recognized in step 405).

When there is no preceding vehicle, it is not necessary to notify the start of the preceding vehicle. Therefore, in this case, the CPU determines “No” in step 406, performs the processing of step 420 described below, proceeds to step 495, and once ends this routine.

Step 420: The CPU sets the value of the monitoring start flag MF to “0”. The value of the monitoring start flag MF is set to "0" by the initialization routine that is executed when the ignition key switch (not shown) of the vehicle SV is changed from the off position to the on position.

On the other hand, when the preceding vehicle exists, the CPU determines “Yes” in step 406 and proceeds to step 407 to determine whether or not the value of the monitoring start flag MF is “0”. ..

Assuming that the value of the monitoring start flag MF is "0", the CPU makes a "Yes" determination at step 407 to proceed to step 408 to determine whether a predetermined stop condition is satisfied. The stop condition is satisfied when both the following condition B1 and condition B2 are satisfied.
(Stop condition)
(B1) The host vehicle is stopped immediately after the preceding vehicle that is stopped. That is, the vehicle speed of the preceding vehicle is “0 km/h” and the vehicle speed VS of the host vehicle SV is “0 km/h”.
(B2) The first distance Da, which is the inter-vehicle distance (vertical distance) between the host vehicle SV (radar sensor 21C) and the preceding vehicle, is less than or equal to the predetermined distance A. The predetermined distance A satisfies the following condition: A<(SD-Db).

If the stop condition is not satisfied, it is not necessary to give the preceding vehicle start notification. Therefore, in this case, the CPU determines “No” in step 408, performs the process of step 420, proceeds to step 495, and once ends the present routine.

On the other hand, when the stop condition is satisfied, it is necessary to notify the start of the preceding vehicle. Therefore, the CPU determines “Yes” in step 409, proceeds to step 409, and sets the value of the monitoring start flag MF to “1”. After that, the CPU proceeds to step 410 and determines whether or not a predetermined execution condition is satisfied. The execution condition is satisfied when the above expression 1 is satisfied. If the execution condition is not satisfied, the CPU makes a “No” determination at step 410 to proceed to step 495 to end the present routine tentatively.

While the preceding vehicle is stopped after the stop condition is satisfied, the CPU starts the routine of FIG. 4 from step 400 and proceeds to step 407. In this case, since the value of the monitoring start flag MF is “1”, the CPU makes a “No” determination at step 407 to proceed to step 410. Since the execution condition is not satisfied while the preceding vehicle is stopped, the CPU repeats the determination of “No” in step 410.

After the preceding vehicle has started, the CPU again starts the routine of FIG. 4 from step 400 and proceeds to step 407. The CPU makes a “No” determination at step 407 to proceed to step 410. When the execution condition is satisfied, the CPU makes a “Yes” determination at step 410 to sequentially perform the processes of step 411 and step 412 described below. After that, the routine proceeds to step 495 to end this routine once.
Step 411: The CPU executes a process of performing the preceding vehicle start notification (that is, displaying the preceding vehicle start display and/or generating the preceding vehicle start notification sound) for a certain period of time. More specifically, the CPU executes a process of displaying a message “preceding vehicle has started” and/or a specific warning mark on the display device 31 for a certain period of time, and a predetermined amount from the speaker 32. A process of outputting a warning sound for a certain period of time is executed.
Step 412: The CPU sets the value of the monitoring start flag MF to “0”.

As will be understood from the above, the first device performs the preceding vehicle start notification at the timing when the distance between the driver's line-of-sight position and the preceding vehicle becomes the threshold SD or more. In a situation where the driver is looking at the preceding vehicle ahead, the driver feels that the preceding vehicle start notification is performed at substantially the same timing. This can reduce the discomfort felt by the driver.

<Second Embodiment>
Next, a notification device according to the second embodiment of the present invention (hereinafter sometimes referred to as “second device”) will be described. The second device is different from the first device in that the second camera information from the second camera sensor 23 is used to determine the timing at which the preceding vehicle start notification is performed. Hereinafter, this difference will be mainly described.

As shown in FIG. 5, the ROM of the notification ECU 10 of the second device stores information on the third distance Dc, which is the distance between the radar sensor 21C and the second camera sensor 23 (distance in the vehicle front-rear direction). There is. In addition, the second device calculates the fourth distance Dd, which is the distance between the driver's line-of-sight position (eye position) and the second camera sensor 23, based on the second camera information. The second device calculates the distance (Dc+Dd) between the radar sensor 21C and the driver's line-of-sight position (eye position) from the third distance Dc and the fourth distance Dd. Then, the second device determines the distance (Da+Dc+Dd) between the driver's line-of-sight position and the preceding vehicle from the distance between the first distance Da and the radar sensor 21C and the driver's line-of-sight position (eye position). Can be calculated.

The second device determines whether the following Expression 2 is satisfied. When Formula 2 is established, the second device performs the preceding vehicle start notification.
(Formula 2) SD−(Da+Dc+Dd)≦0

(Specific operation)
The CPU of the notification ECU 10 of the second device is adapted to execute the routine of FIG. In the second device, the execution condition in step 410 is satisfied when the above expression 2 is satisfied. For the other steps in FIG. 4, the same processing as described above is performed. Therefore, detailed description of those steps is omitted.

As understood from the above, the second device uses the second camera sensor 23 to determine whether or not the distance (Da+Dc+Dd) between the driver's line-of-sight position and the preceding vehicle is equal to or greater than the threshold value SD. To do. For example, the driver's line-of-sight position differs for each driver due to the height of the driver and the seat position and seat angle of the driver's seat. The second device can accurately calculate the distance between the driver's line-of-sight position and the preceding vehicle by using the fourth distance Dd, which is the distance between the driver and the second camera sensor 23. it can. As a result, since the preceding vehicle start notification is performed at the same timing every time (the timing when the distance between the driver's line of sight position and the preceding vehicle becomes the threshold SD or more), the driver's discomfort can be further reduced. You can

<Third Embodiment>
Next, a notification device according to the third embodiment of the present invention (hereinafter, may be referred to as “second device”) will be described. The third device is different from the first device in that the timing of performing the preceding vehicle start notification is determined using the seat position and the seat angle of the driver's seat. Hereinafter, this difference will be mainly described.

As shown in FIG. 6, the ROM of the notification ECU 10 of the third device stores information on the reference distance (distance in the vehicle front-rear direction) Bd between the radar sensor 21C and the driver's line-of-sight position. This reference distance Bd represents a distance when the seat position of the driver's seat is at a predetermined reference position Sp_rs and the seat angle of the driver's seat is at a predetermined reference angle θ_rs.

In addition, the ROM of the notification ECU 10 of the third device stores the first map Map1 shown in FIG. 7. In the first map Map1, the relationship between the seat position of the driver's seat and the correction value α is defined. In addition, in the first map Map1, a positive value of the seat position indicates that the seat position of the seat is moved to the rear of the host vehicle SV with respect to the reference position Sp_rs, and the negative value of the seat position indicates the seat position. This indicates that the seat position is moved forward of the host vehicle SV with respect to the reference position Sp_rs. For example, when the seat position of the seat is at the predetermined reference position Sp_rs, the correction value α is “0”. On the other hand, when the seat position of the seat is moved 0.1 m behind the host vehicle SV with respect to the reference position Sp_rs, the correction value α is “+0.1 m”. The notification ECU 10 of the third device can receive information from a seat position sensor (not shown) and acquire information on the seat position with respect to the reference position Sp_rs. Then, the notification ECU 10 obtains the correction value α by applying the acquired seat position to the first map Map1.

Further, the ROM of the notification ECU 10 of the third device stores the second map Map2 shown in FIG. 7. The second map Map2 defines the relationship between the seat angle of the driver's seat and the correction value β. In addition, in the second map Map2, a positive value of the seat angle indicates that the seat of the seat is inclined rearward of the host vehicle SV with respect to the reference angle θ_rs, and a negative value of the seat angle indicates the seat. Indicates that the seat is inclined toward the front of the host vehicle SV with respect to the reference angle θ_rs. For example, when the seat angle of the seat is the predetermined reference angle θ_rs, the correction value β is “0”. On the other hand, when the seat angle of the seat is inclined rearward by 0.1 deg with respect to the reference angle θ_rs, the correction value β is “+0.01 m”. The notification ECU 10 of the third device can receive information from a seat angle sensor (not shown) and acquire information on the seat angle with respect to the reference angle θ_rs. Then, the notification ECU 10 obtains the correction value β by applying the acquired seat angle to the second map Map2.

The third device calculates the distance (Bd+α+β) between the radar sensor 21C and the driver's line-of-sight position (eye position) from the reference distance Bd, the correction value α, and the correction value β. Then, the third device calculates the distance (Da+Bd+α+β) between the driver's line-of-sight position and the preceding vehicle from the first distance Da and the distance between the radar sensor 21C and the driver's line-of-sight position (eye position). Can be calculated.

The third device determines whether the following Expression 3 is established. When Formula 3 is established, the third device performs the preceding vehicle start notification.
(Formula 3) SD-(Da+Bd+α+β)≦0

(Specific operation)
The CPU of the notification ECU 10 of the third device is adapted to execute the routine of FIG. In the third device, the execution condition in step 410 is satisfied when the above expression 3 is satisfied. For the other steps in FIG. 4, the same processing as described above is performed. Therefore, detailed description of those steps is omitted.

As is understood from the above, the third device uses the first map Map1 and the second map Map2 to determine whether the distance (Da+Bd+α+β) between the driver's line-of-sight position and the preceding vehicle is equal to or greater than the threshold SD. Determine whether or not. For example, the line-of-sight position of the driver changes due to the seat position and the seat angle of the driver's seat. The third device obtains the correction value α from the sheet position with respect to the reference position Sp_rs, and obtains the correction value β from the sheet angle with respect to the reference angle θ_rs. By using the correction value α and the correction value β, the third device can accurately calculate the distance between the driver's line-of-sight position and the preceding vehicle. As a result, since the preceding vehicle start notification is performed at the same timing every time (the timing when the distance between the driver's line of sight position and the preceding vehicle becomes the threshold SD or more), the driver's discomfort can be further reduced. You can

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

The first distance Da may be obtained by using another method instead of the radar sensor 21. The first distance Da may be acquired based on the first camera sensor 22, an ultrasonic sensor (not shown), or position information of another vehicle from a navigation system (not shown).

The threshold SD may be configured to be customizable by the driver.

The preceding vehicle start notification is not limited to the display of the preceding vehicle start display and the generation of the preceding vehicle start notification sound. The preceding vehicle start notification may be any notification as long as it can notify the driver, and may be, for example, a notification such as vibrating a vibrator installed on the steering wheel.

10... Notification ECU, 20... Radar ECU, 21C, 21L and 21R... Radar sensor, 22... First camera sensor, 23... Second camera sensor, 24... Wheel speed sensor, 31... Indicator, 32... Speaker.

Claims (1)

A detection unit that detects information regarding the position of the preceding vehicle, which is another vehicle located in front of the host vehicle on the host vehicle lane where the host vehicle is located, with respect to the host vehicle,
Established when the distance between the preceding vehicle and the driver's line-of-sight position of the preceding vehicle is equal to or greater than a predetermined threshold value in a situation where the preceding vehicle stops and the own vehicle stops immediately after the preceding vehicle. Whether or not the execution condition to be satisfied is determined using information regarding the position of the preceding vehicle with respect to the own vehicle and information regarding the distance between the detection unit and the line-of-sight position,
When it is determined that the execution condition is satisfied, a notification unit that performs a preceding vehicle start notification that notifies the driver of the own vehicle that the preceding vehicle has started,
With
Vehicle alarm device.

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