JP2014178971A - Vehicular collision warning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular collision warning device for carrying out collision warning suitable for states of drivers of other vehicles.SOLUTION: A vehicular collision warning device 1 determines states of drivers of other vehicles, and when the drivers are in an inattention state, changes a risk determination threshold which is a reference for determining a collision risk between an own vehicle and other vehicles so as to make the timing of collision warning early. Therefore, when the drivers are in the inattention state, the collision warning is carried out at an early timing as compared with a case in which the drivers are in a normal state, a driver have sufficient time till noticing the warning, and the occurrence of a collision accident due to the delay of noticing the warning and the like can be suppressed. If a driver is in a front careless state, auditory warning by sound such as a horn device is carried out, but when the driver watch a front side, visual warning by light such as a vehicle light device is carried out. Therefore, a false recognition in which drivers of vehicles existing around the own vehicle receive the collision warning can be further suppressed.

Description

  The present invention relates to a vehicle collision warning device that issues a collision warning to a driver of another vehicle traveling around the host vehicle.

  2. Description of the Related Art Conventionally, there has been known a technique for detecting another vehicle approaching from behind the host vehicle and notifying a driver of the other vehicle when there is a risk that the other vehicle collides with the host vehicle.

For example, in Patent Document 1, an alarm is issued early if the other vehicle behind the host vehicle is a large vehicle having a small deceleration acceleration, and the alarm is delayed if the other vehicle behind the host vehicle is a small vehicle having a large deceleration acceleration. For this reason, a rear vehicle collision warning device is disclosed that notifies the driver of another vehicle of the danger at an appropriate timing.
JP 2012-168811 A

  However, in the technique described in Patent Document 1 described above, the danger of the other vehicle driver is notified using a display device outside the vehicle such as a tail lamp or a winker of the host vehicle. For this reason, when the driver of the other vehicle behind the host vehicle is looking at the direction of the host vehicle, it is easy to notice the alarm, so the danger of a collision can be notified at an appropriate timing. If the state is inattentive, there is a risk that the driver will not be able to perform the collision avoidance operation in time and may collide with the host vehicle because the driver is not aware of the warning.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle collision warning device that performs a collision warning suitable for the state of a driver of another vehicle.

  The invention according to claim 1, which has been made to solve the above problems, includes a vehicle detection means for detecting other vehicles existing around the host vehicle, and a calculated value calculated based on detection information of the vehicle detection means. Is compared with a predetermined risk determination threshold, a collision risk determination means for determining a collision risk between the host vehicle and the other vehicle, and a collision risk degree between the host vehicle and the other vehicle in the collision risk determination means. An alarm means for outputting an alarm to a driver of another vehicle when it is determined to be high, the vehicle collision alarm device comprising a driver state detecting means for detecting the state of the driver of the other vehicle. The feature of the alarm is changed based on the detection result of the driver state detection means.

  According to this configuration, the state of the driver of the other vehicle is detected, and a warning mode suitable for the state of the driver of the other vehicle is performed in order to change the alarm mode, for example, the timing and the warning means based on the detection result. I can do it.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying a vehicle collision warning device of the present invention will be described below with reference to the drawings. In the following embodiments, the other vehicle refers to a rear vehicle traveling behind the host vehicle, and the driver refers to a driver of the other vehicle.

Example 1
First, the configuration of the vehicle collision warning device 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a block diagram of the vehicle collision warning device 1 in this embodiment.

  As shown in FIG. 1, the vehicle collision alarm device 1 includes an imaging device 10 (imaging means), a vehicle detection device 11 (vehicle detection means), an alarm control ECU 12, and an alarm device 13 (alarm means). It is configured.

  The imaging device 10 is installed in the rear part of the host vehicle, and images the back of the host vehicle at regular time intervals (for example, every 100 ms). The imaging device 10 is connected to the alarm control ECU 12 and outputs captured image data in the imaging device 10 to the alarm control ECU 12. As the imaging device 10, a monocular or stereo camera is used, and the sensor system includes, for example, a CCD or a CMOS. In this embodiment, the rear of the host vehicle is imaged using a single-application CCD camera.

  The vehicle detection device 11 is installed at the rear of the host vehicle, monitors the rear of the host vehicle, and detects other vehicles existing behind the host vehicle. The vehicle detection device 11 is connected to the alarm control ECU 12 and outputs detection information obtained by detecting the other vehicle in the vehicle detection device 11 to the alarm control ECU 12. The vehicle detection device 11 uses a sensor such as a millimeter wave radar, a laser radar, or an ultrasonic wave to transmit a radar wave to the back of the host vehicle at regular intervals (for example, at a cycle of 100 ms) to detect the preceding vehicle. Another vehicle may be detected based on the reflected wave that is reflected back from the front object. The imaging device 10 described above may also be used as the vehicle detection device 11 to detect other vehicles based on the captured image data of the imaging device 10. In this embodiment, another vehicle is detected using a millimeter wave radar.

  The alarm control ECU 12 is an electronic control device for performing a collision alarm suitable for the driver's condition. The alarm control ECU 12 includes an image recognition unit 120 (driver state detection means) functionally configured by software and a microprocessor (not shown), a data calculation unit 121, and a collision risk determination unit 122 (collision risk level). Determination means).

  The image recognition unit 120 receives the captured image data output from the imaging device 10, and uses a known recognition method such as pattern matching based on the captured image data in the imaging device 10, Detect direction, eye position and condition. Then, it is determined whether or not the driver is in an inadvertent state (so-called driving such as side-view driving or using a mobile phone). The image recognition unit 120 is connected to the collision risk determination unit 122 and outputs a state determination result by the image recognition unit 120 to the collision risk determination unit 122.

  Detection information output from the vehicle detection device 11 is input to the data calculation unit 121, and information related to other vehicles is calculated based on the detection information in the vehicle detection device 11. Here, the information on the other vehicle refers to a relative speed of the other vehicle with respect to the own vehicle, a distance between the vehicles, a margin time TTC (Time To Collation), and the like. In this embodiment, the collision margin time TTC obtained by dividing the inter-vehicle distance by the relative speed is calculated. The data calculation unit 121 is connected to the collision risk determination unit 122, and outputs a calculation value obtained by the data calculation unit 121 to the collision risk determination unit 122.

  The collision risk determination unit 122 receives the state determination result output from the image recognition unit 120 and receives the state determination result in the image recognition unit 120 to change the risk determination threshold value. In addition, the calculation value output from the data calculation unit 121 is input, and the collision risk between the host vehicle and the other vehicle is determined by comparing the calculation value in the data calculation unit 121 with a predetermined risk determination threshold value. In this embodiment, the collision risk is determined based on the collision allowance time TTC. The collision risk determination unit 122 is connected to the alarm device 13, and outputs the collision risk determination result by the collision risk determination unit 122 to the alarm device 13.

  The alarm device 13 is a device that outputs an alarm, and is configured to receive the collision risk determination result output from the collision risk determination unit 122. The alarm device 13 outputs an alarm to the driver of the vehicle based on the collision risk determination result in the collision risk determination unit 122. The alarm device 13 is at least one of a horn device (speaker device) 130 (sound output unit) that performs an audible alarm using sound, or a vehicle light device 131 (irradiation unit) that performs a visual alarm using light. These may be used in combination to output an alarm. The vehicle light device 131 may be a tail lamp of the own vehicle, a rear blinker, or the like, and may be a flash that draws attention by irradiating strong light in a short period.

  The present embodiment in the vehicle collision warning device 1 having such a configuration will be described with reference to FIGS. Here, FIG. 2 is a flowchart showing an outline of the collision warning process by the vehicle collision warning device 1, FIG. 3 is a flowchart showing the contents of the driver state determination process shown in the collision warning process of FIG. 2, and FIG. FIG. 5 is an explanatory diagram of the driver state determination process, FIG. 5 is a diagram illustrating an example in which the driver is determined to be in a forward careless state in the driver state determination process of FIG. 3, and FIG. 6 is a driver state determination process of FIG. It is a figure which shows the example in which it determines with a driver | operator being a mobile telephone use state.

  First, the collision warning process will be described with reference to FIG.

  In S100, the alarm control ECU 12 initializes a driver state flag indicating the state of the driver (Flag = 0). The fact that the driver state flag is 0 indicates that the driver is in a normal state without carelessness such as looking aside or falling asleep.

  Next, in S101, the alarm control ECU 12 initializes the risk determination threshold value TTCth. Initialization of the risk determination threshold value TTCth means that normal braking is sufficient for the risk determination threshold value TTCth even if other vehicles approach the host vehicle in the normal state of the driver without performing sudden braking or sudden steering. Is substituted with a collision margin time TTCth_0 corresponding to a time during which collision can be avoided.

  In S102, based on the detection information input from the vehicle detection device 11, the alarm control ECU 12 determines whether a vehicle is detected behind the host vehicle, that is, whether another vehicle is detected. In S102, when it is determined that there is no other vehicle (S102: No), the process returns to S102.

  On the other hand, if it is determined in S102 that another vehicle has been detected (S102: Yes), the process proceeds to a driver state determination process (S103).

  Next, the driver state determination process in S103 will be described based on FIG. In the driver state determination process, a determination process is performed to determine whether or not the driver is careless.

  When proceeding, the image recognition unit 120 first detects the position of the steering 20 of the other vehicle using a known image recognition method such as pattern matching based on the captured image data input from the imaging device 10 (S200). ). By detecting the position of the steering wheel 20 first, it is possible to specify that the occupant on the side where the steering wheel 20 is located is the driver when the other vehicle has not only the driver but also the passenger seat. it can.

  Next, in S201, the image recognition unit 120 detects a range where the driver's face is estimated based on the position of the steering wheel 20, and uses this range as a search range 21 for determining the driver's state. Set. The range where the driver's face is estimated to be located is usually estimated to be located near the upper position of the steering wheel 20 as shown in FIG. The upper part of the position is set. The search range 21 is at least the size of the driver's face.

  In S202, the image recognition unit 120 determines whether or not the driver is in the winker operation state. Specifically, the image recognition unit 120 determines whether the blinker of the other vehicle is lit using a known image recognition technique such as pattern matching based on the captured image data input from the imaging device 10. . Here, the fact that the blinker of the other vehicle is lit indicates that the driver is in the blinker operating state. Further, the fact that the blinker of the other vehicle is not lit indicates that the driver is not in the blinker operating state.

  If it is determined in S202 that the driver is in the winker operating state (S202: Yes), the process returns to the collision warning process of FIG. 2 and proceeds to S104.

  On the other hand, when it is determined in S202 that the driver is not in the winker operating state (S202: No), the image recognition unit 120 determines whether or not the driver is in a forward careless state (S203). Specifically, using a well-known recognition method such as pattern matching, similarity with reference data such as face position and orientation, eye position and state when facing the driver's front stored in advance. The image recognition unit 120 searches whether a high shape exists in the search range 21 or where it is, and when the driver's face protrudes outside the search range 21, the amount of protrusion is detected.

  Here, as shown in FIG. 5A, the image recognizing unit 120 looks aside or falls asleep such that the driver's face in the search range 21 is not facing the front, the eyes are closed, and the eyes are not located in the front. Or when a state in which the driver's face protrudes outside the search range 21 as shown in FIG. 5B is picked up or a state in which the driver is not looking forward, such as opening a glove box, is detected. Is determined to be an inattentive state in which the driver is inadvertent forward.

  In S203, when it is determined that the driver is in a forward careless state (S203: Yes), the driver state flag is set to 1 (S204). And it returns to the collision warning process of FIG. 2, and progresses to S104.

  On the other hand, in S203, when it is determined that the driver is not in the forward careless state (S203: No), the image recognition unit 120 determines whether or not the driver is in the cellular phone usage state (S205). Specifically, there is a shape in the search range 21 that is highly similar to the reference data of a person who puts a mobile phone stored in advance on the left or right ear using a known recognition method such as pattern matching. Or where the image recognition unit 120 is.

  Here, even when the image recognition unit 120 does not correspond to the forward careless state such as the driver's face in the search range 21 facing the front as shown in FIG. 6, the driver uses the mobile phone. If it is detected that the driver is in a state where the driver is inadvertent, the driver is determined to be inadvertent using the mobile phone. Further, when the driver's face is not facing the front and the mobile phone is being used, this corresponds to the above-mentioned forward careless state.

  In S205, when it is determined that the driver is in the cellular phone use state (S205: Yes), the driver state flag is set to 2 (S206). And it returns to the collision warning process of FIG. 2, and progresses to S104.

  On the other hand, if it is determined in S205 that the driver is not in the cellular phone use state (S205: No), the process returns to the collision warning process of FIG. 2 and proceeds to S104.

  In S104 of the collision warning process of FIG. 2, the warning control ECU 12 determines whether or not the driver status flag is other than 0 (whether or not Flag ≠ 0), that is, whether or not the driver status flag is 1 or 2. Is determined (S104). Here, when the driver state flag is other than 0, that is, the driver state flag is 1 or 2, it means that the driver's careless state (forward careless state or mobile phone use state) in the driver state determination process. ) Is detected. In S104, when it is determined that the driver state flag is 0 (S104: No), the process proceeds to S106.

  On the other hand, when it is determined in S104 that the driver state flag is other than 0 (S104: Yes), the collision risk determination unit 122 changes the value of the risk determination threshold TTCth (S105).

  Specifically, when the other vehicle approaches the host vehicle in the driver's careless state at the risk determination threshold TTCth, the collision can be sufficiently avoided by normal braking without performing sudden braking or sudden steering. Substitute the time-to-time collision margin time TTCth_1. The collision margin time TTCth_1 is larger than the collision margin time TTCth_0 assigned as the initialization of the risk determination threshold value TTCth in S101, and takes a larger value considering the time until the driver returns from the careless state to the normal state by the collision warning. To do.

  The collision risk determination unit 122 also determines the collision margin time TTC based on the amount of protrusion of the face outside the search range 21 detected when the driver's face protrudes out of the search range 21 in the forward careless state. May be changed. For example, when the amount of protrusion of the driver's face is large, a larger value of the collision margin time TTCth_1 is substituted for the risk determination threshold value TTCth, and the risk determination threshold value TTCth is changed to a larger value. Then, the process proceeds to the next S106.

  In S <b> 106, the data calculation unit 121 calculates information related to the other vehicle based on the detection information input from the vehicle detection device 11. Specifically, it was obtained using the reception time, reception intensity, etc. of the electromagnetic wave irradiated to the other vehicle by the millimeter wave sensor as the vehicle detection device 11 and the reflected wave reflected back to the other vehicle. The collision margin time TTC between the host vehicle and the other vehicle is calculated from the inter-vehicle distance and the relative speed.

  Next, in S107, the collision risk determination unit 122 determines the collision risk between the host vehicle and the other vehicle based on the calculation value input from the data calculation unit 121. Specifically, it is determined whether or not the calculated collision allowance time TTC is less than the risk determination threshold value TTCth.

  Here, the fact that the calculated collision allowance time TTC is equal to or greater than the risk determination threshold value TTCth indicates that the host vehicle and the other vehicle are not so close to each other and the collision risk is low and no alarm is required. In addition, the fact that the calculated collision allowance time TTC is less than the risk determination threshold value TTCth indicates that the own vehicle and another vehicle are close to each other and the collision risk is high.

  In S107, when it is determined that the calculated collision allowance time TTC is equal to or greater than the risk determination threshold value TTCth (S107: No), the process returns to the first S100 without outputting an alarm.

  On the other hand, if it is determined in S107 that the calculated collision allowance time TTC is less than the risk determination threshold value TTCth (S107: Yes), whether or not the warning control ECU 12 is set to 1 in the driver state flag (Flag = 1). (S108).

  Here, that the driver state flag is set to 1 indicates that the driver is in a careless state ahead. The fact that 1 is not set in the driver state flag indicates that the driver is in a cellular phone use state, that is, an inattention state other than the forward inattention, or a normal state.

  In S108, when it is determined that the driver state flag is set to 1 (S108: Yes), the horn device 130 outputs a warning sound to the driver and issues a collision warning (S109). At this time, the horn device 130 determines the volume and height of the alarm sound based on the amount of protrusion of the face outside the search range 21 detected when the driver's face protrudes outside the search range 21 in the forward careless state. Or the type may be changed. For example, the volume of the warning sound is reduced when the amount of protrusion of the driver's face is small, and the volume of the warning sound is increased when the amount of protrusion is large. And it returns to the process of the first S100.

  On the other hand, when it is determined in S108 that the driver state flag is not 1 (S108: No), the vehicle light device 131 irradiates the driver and issues a collision warning (S110). At this time, the vehicle light device 131 emits light so as not to excessively dazzle the driver. And it returns to the process of the first S100.

  Next, the timing of the collision warning in S109 and S110 will be described using FIG. FIG. 7 is a graph showing the timing of a collision warning due to a change in the risk determination threshold value TTCth.

  Here, it is assumed that the collision allowance time TTCth_1 is larger than the collision allowance time TTCth_0, and when the risk determination threshold value TTCth is the collision allowance time TTCth_0, that is, when the driver is in the normal state, It is determined that the risk of collision with another vehicle is high, and a collision warning is issued. On the other hand, when the risk determination threshold value TTCth is the collision margin time TTCth_1, that is, when the driver is inadvertent, the collision risk between the host vehicle and the other vehicle is higher at the timing A earlier than the timing B described above. It is determined that the value is high, and a collision warning is issued.

  Finally, the effect will be described. According to the vehicle collision warning device 1 according to the present embodiment, when the state of the driver of another vehicle is detected and the driver is inadvertent, the risk determination threshold value TTCth is larger than the collision allowance time TTCth_0. The value is changed to the collision margin time TTCth_1 which is a value. As the collision risk determination between the host vehicle and the other vehicle, it is determined whether or not the calculated collision allowance time TTC is less than the risk determination threshold value TTCth, and the calculated collision allowance time TTC is less than the risk determination threshold value TTCth. If it is determined that the collision risk with another vehicle is high, a collision warning is given.

  As the collision margin time TTC is smaller, the collision risk is higher, and the larger the value is, the lower the collision risk is. Therefore, when the driver is careless, the risk determination threshold value TTCth is changed to a larger value. Thus, it is possible to issue a collision warning at an early timing when the risk of collision is low compared to a case where the driver is in a normal state. By this early warning, it is possible to afford time until the driver notices the warning, and it is possible to suppress the occurrence of a collision accident due to a delay in the warning of the driver of the other vehicle.

  When the driver's face of the other vehicle is detected and the driver's face protrudes out of the search range 21, the risk determination threshold value is determined based on the amount of protrusion of the face outside the search range 21. Change the volume, height, or type of TTCth or alarm sound.

  It is considered that the time it takes for the driver to return to the normal state from the careless state and the ease of noticing the collision alarm differ depending on whether the amount of protrusion of the driver's face is small or large. Therefore, by changing the risk determination threshold value TTCth, the volume of the warning sound, etc. in consideration of the amount of protrusion, it becomes possible to suppress the late detection of the collision warning due to the driver's degree of carelessness.

  Unlike the careless state such as looking aside, the driver does not change the risk determination threshold TTCth when the driver's state of the other vehicle is detected and the driver is operating the winker. This is because it is possible to determine that it is not necessary to change the risk determination threshold value TTCth and perform an early warning because the adjacent lane is consciously checked for the lane change.

  Further, in the vehicle collision warning device 1, the warning device 13 uses the horn device 130 when the driver is in a careless state ahead, and the driver is in a mobile phone use state, that is, in a careless state other than the forward carelessness. When there is a normal state, the vehicle light device 131 is used to issue a collision warning.

  According to this, when the driver is careless forward, that is, when he / she is not looking at the direction of the host vehicle, a method of performing an audible alarm by sound like the horn device 130 is effective, but the alarm by sound is a collision alarm. There is a possibility that the driver of the vehicle existing around the object other than the target may be mistakenly recognized as receiving the collision warning. For this reason, unless the driver is careless about the front, a method of performing visual warning using light, such as the vehicle light device 131, may cause an error that the driver of a vehicle driver in the surrounding area has received a collision warning. Recognition can be further suppressed.

  Note that the present invention is not limited to the above-described embodiments, and modifications can be made without departing from the gist of the present invention.

(Modification 1)
In the first embodiment, the collision risk determination based on the collision allowance time TTC is shown as an example of the determination of the collision risk between the host vehicle and the other vehicle. However, the present invention is not limited to this. For example, the collision risk determination based on the inter-vehicle distance X between the host vehicle and the other vehicle or the relative speed V between the host vehicle and the other vehicle may be performed.

  When performing the collision risk determination based on the inter-vehicle distance X, if the image recognition unit 120 determines that the driver of the other vehicle is inadvertent, the collision risk determination unit 122 increases the risk determination threshold Xth. Change to value. Then, as the collision risk determination between the host vehicle and the other vehicle, it is determined whether or not the calculated inter-vehicle distance X is less than the risk determination threshold value Xth, and it is determined that the calculated inter-vehicle distance X is less than the risk determination threshold value Xth. If it is determined that the risk of collision with another vehicle is high, a collision warning is issued.

  Here, the reason why the risk determination threshold value Xth is changed to a larger value is that, as the inter-vehicle distance X is smaller, the collision risk is higher as the collision margin time TTC is smaller, and the collision risk is lower as the value is larger. This is because the danger determination threshold value Xth is changed to a larger value, and a collision warning is given to a driver who is inadvertent at an early timing when the collision risk is low.

  When the collision risk determination based on the relative speed V is performed, if the image recognition unit 120 determines that the driver of the other vehicle is inadvertent, the collision risk determination unit 122 sets the risk determination threshold Vth. Change to a smaller value. As a collision risk determination between the host vehicle and the other vehicle, it is determined whether or not the calculated relative speed V is greater than or equal to the risk determination threshold Vth, and it is determined that the calculated relative speed V is greater than or equal to the risk determination threshold Vth. If it is determined that the risk of collision with another vehicle is high, a collision warning is issued.

  Here, the risk determination threshold Vth is changed to a smaller value because the relative speed V has a smaller collision risk as the value is smaller, and a higher collision risk as the value is larger. This is because a collision warning is given to a driver who is inadvertent at an early timing when the collision risk is low by changing to a smaller value.

(Modification 2)
Further, in the first embodiment, an example in which the collision warning is performed using the horn device 130 when the driver is in a careless state of the front is shown, but the collision warning may be performed using the vehicle light device 131.

  The collision warning of the vehicle light device 131 that is given to the driver who is inadvertently in the forward direction performs irradiation stronger than irradiation when the previous driver is in the mobile phone use state or in the normal state. For example, by performing a collision warning using a flash that emits strong light in a short cycle, the driver is inadvertently ahead, so it is not subject to dazzling even if it is strongly irradiated, and it is also driven by irradiating strongly. It is possible to improve a person's awareness. As a result, visual warnings are provided by light for all the collision warnings, so that it is possible to further suppress the erroneous recognition that the collision warning of the driver of the vehicle existing around the area other than the collision warning target is received. .

(Modification 3)
Moreover, in Example 1, although the image recognition part 120 detected the position of the steering 20 of another vehicle based on the captured image data input from the imaging device 10, the example which identifies a driver was shown. When the vehicle is a right-hand drive vehicle, the occupant located on the right side of the other vehicle (left side in the captured image data input from the imaging device 10) may be specified as the driver.

(Modification 4)
Moreover, in Example 1, although the example which performs a collision warning with respect to the driver of the back vehicle which drive | works the back of the own vehicle was shown, a collision warning is given with respect to the driver of the oncoming vehicle which drive | works to the own vehicle direction. It is good.

  Specifically, when the imaging device 10 and the vehicle detection device 11 are installed in the front part of the own vehicle, an oncoming vehicle traveling in the same lane as the own vehicle is detected, and the risk of collision between the own vehicle and the oncoming vehicle is high. A collision warning is given to the driver of the oncoming vehicle using the horn device 130 or the vehicle light device 131. At this time, a headlamp or a front blinker of the host vehicle is used as the vehicle light device 131.

  In any of the above modifications, the same effects as in the present embodiment can be obtained.

1 is a block diagram of a vehicle collision alarm device 1 in Embodiment 1. FIG. 3 is a flowchart illustrating an outline of a collision warning process performed by the vehicle collision warning device 1 according to the first embodiment. It is a flowchart which shows the content of the driver | operator state determination process in FIG. It is explanatory drawing of the driver | operator state determination process of FIG. FIG. 4 is a diagram illustrating an example in which the driver is determined to be in a forward careless state in the driver state determination process of FIG. 3, where (a) shows a state where the driver is looking aside, and (b) is a state where the driver Each state shows picking up an object. FIG. 4 is a diagram illustrating an example in which it is determined that the driver is in a cellular phone use state in the driver state determination process of FIG. 3. It is a graph which shows the timing of the collision warning by the change of the danger determination threshold value TTCth.

1: Vehicle collision alarm device 10: Imaging device 11: Vehicle detection device 12: Alarm control ECU
120: Image recognition unit 121: Data calculation unit 122: Collision risk determination unit 13: Alarm device 130: horn device (speaker device)
131: Vehicle light device 20: Steering 21: Search range

Claims (16)

Vehicle detection means for detecting other vehicles existing around the host vehicle;
A collision risk determination unit that determines a collision risk between the host vehicle and the other vehicle by comparing a calculated value calculated based on detection information of the vehicle detection unit with a predetermined risk determination threshold;
Warning means for outputting a warning to a driver of the other vehicle when it is determined in the collision risk degree judging means that the collision risk between the host vehicle and the other vehicle is high;
In a vehicle collision warning device comprising:
A vehicle collision warning device comprising: a driver state detection unit that detects a state of a driver of the other vehicle, wherein the warning mode is changed based on a detection result of the driver state detection unit.   2. The vehicle according to claim 1, wherein the collision risk determination unit changes a timing of the warning when the driver state detection unit detects a careless state of a driver of the other vehicle. Collision warning device.   The collision risk determination means changes the risk determination threshold so that the timing of the warning is advanced when the driver state detection means detects a careless state of the driver of the other vehicle. The vehicular collision warning device according to claim 1 or 2, characterized by the above-mentioned.   4. The vehicle collision warning device according to claim 2, wherein the careless state is at least one of a forward careless state and a mobile phone use state of a driver of the other vehicle.   5. The vehicle collision alarm device according to claim 1, wherein the driver state detection unit searches a search range set based on a steering position of the other vehicle. .   6. The vehicle according to claim 5, wherein the search range is a predetermined range set based on a position of the steering detected from an image captured by an imaging unit that captures the other vehicle. Collision alarm device.   7. The warning mode according to claim 5, wherein when the driver state detection unit detects a state in which a driver's face of the other vehicle protrudes outside the search range, the warning mode is changed. The vehicle collision warning device as described.   The collision risk determination means changes the risk determination threshold so that the alarm timing is further advanced based on the amount of protrusion of the face of the driver of the other vehicle outside the search range. The vehicle collision warning device according to claim 7. When the calculated value is an inter-vehicle distance between the host vehicle and the other vehicle,
The vehicular collision warning device according to any one of claims 3 to 8, wherein the collision risk determination unit changes the predetermined risk determination threshold to a larger value. When the calculated value is a relative speed between the host vehicle and the other vehicle,
The vehicle collision warning device according to any one of claims 3 to 8, wherein the collision risk determination unit changes the predetermined risk determination threshold value to a smaller value. When the calculated value is a collision margin time between the host vehicle and the other vehicle,
The vehicular collision warning device according to any one of claims 3 to 8, wherein the collision risk determination unit changes the predetermined risk determination threshold to a larger value.   The said warning means is at least one among the sound output means which outputs a sound with respect to the exterior from the said vehicle, or the irradiation means which irradiates light, The Claim 1 thru | or 11 characterized by the above-mentioned. Vehicle collision warning device.   An alarm is output by the sound output means when the driver of the other vehicle is in a forward careless state, and an alarm is output by the irradiation means when the driver of the other vehicle is in a mobile phone use state. The vehicle collision warning device according to claim 12,   The alarm means is at least one of a sound output means for outputting sound from the own vehicle to the outside or an irradiation means for irradiating light, and the sound output means is the other vehicle outside the search range. 8. The vehicle collision warning device according to claim 7, wherein at least one of the volume of the warning sound, the pitch of the sound, or the type of the sound is changed based on the amount of protrusion of the driver's face.   An alarm is output by the sound output means when the driver of the other vehicle is in a forward careless state, and an alarm is output by the irradiation means when the driver of the other vehicle is in a mobile phone use state. The vehicle collision warning device according to claim 14, wherein the vehicle collision warning device is characterized in that:   16. The collision risk determination unit does not change the risk determination threshold when the driver state detection unit detects a winker operation state of a driver of the other vehicle. The vehicle collision warning device according to any one of the above.

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