| 摘要 |
PROBLEM TO BE SOLVED: To surely prevent an erroneous alarming by stably discriminating an obstacle without erroneously discriminating an object such as pole or parked or stopped vehicle on the side of road as an alarming object by identifying the object within a prescribed range on the rear and side of a vehicle, registering that object, discriminating only the registered object in approaching state as the alarming object and reporting the information of distance from this registered object to the crew of the vehicle. SOLUTION: The state of environment within a prescribed range on the rear and side of the vehicle is detected by an environment detecting means 10 and the object is identified out of this prescribed range and registered on the basis of the detected result of the environment detecting means 10 by an object registering means 41. It is discriminated by an approaching/leaving discriminating means 42 whether this registered object is approaching or leaving the vehicle. Then, only the registered object, for which the state of approaching the vehicle is discriminated by the approaching/leaving discriminating means 42, is discriminated as the warning object, and information on the distance between this registered object discriminated as the warning object and the vehicle is reported to the crew of the vehicle by a reporting means 44.
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