| 摘要 |
<p>PURPOSE:To provide the obstacle alarm device of a vehicle where the alarm in an unnecessary status is reduced as much as possible, the alarm is surely enabled in a truly necessary status and an alarm effect is improved. CONSTITUTION:The radius Re of the relative estimated running curve of a present vehicle is calculated by defining an obstacle as a reference, a prescribed alarm area WA 1 is set based on the radius Re and the vehicle width data of the present vehicle, and when the obstacle exists in the alarm area WA 1 for prescribed time, an alarm processing is performed. Because a steering sensor and a yaw rate sensor are unnecessitated for judging whether the present vehicle rotates or not, a system where the constitution is simple and cost is reduced can be constructed. When the curve radius Re is estimated, also the error caused by each of the horizontal direction resolution of the sensors, reflection dispersion and a scanning area can be appropriately canceled, the proper alarm area WA 1 can be set, an erroneous alarm is eliminated as a result and they contribute to the realizing of the sure alarm in a truly necessary status.</p> |
