| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an obstacle alarm device for vehicles capable of generating alarm even on a curved road in accordance with the state of the curve of the road. SOLUTION: Based on whether a curve radius is small or not, whether a guardrail is detected in the front or not, whether an erroneous object having a large relative velocity such as a reflector of the guardrail is detected or rot and whether the number of the obstacles recognized as a target reaches a value suggesting the curve of the road or not, a correction time counter is set (403). When a stationary object is existing on a position potentially colliding (411, 413), an alarming distance is corrected according to the correction time counter value. By this correction, generation of erroneous alarm during running on a curve can be prevented.</p> |
