Warning device
A warning device includes: a right turn determining part that determines that a vehicle will turn right if a turn signal thereof is in a right turn signal state, and vehicle speed thereof is equal to or less than creep speed; an oncoming vehicle approach determining part that determines that another vehicle is approaching the vehicle as an oncoming vehicle if the vehicle will turn right, a vector indicating a travel direction of the vehicle and a vector indicating a travel direction of the other vehicle intersect with each other, and a position of the other vehicle is included in a predetermined angle range in front of the vehicle; and an output control part that causes a warning to be output if the other vehicle is approaching the vehicle, and a yaw rate of the vehicle is equal to or greater than a predetermined angular velocity.
1 . A warning device comprising:
a sensor group that detects vehicle speed of a vehicle, a position of the vehicle, an azimuth angle of the vehicle, and a yaw rate of the vehicle;
a wireless communication module that receives vehicle speed, a position and an azimuth angle of another vehicle via vehicle-to-vehicle communication;
a memory storing executable instructions that, in response to execution, cause a processor to perform operations, comprising:
(A) acquiring, from a turn signal of the vehicle, a state of the turn signal;
(B) determining that the vehicle will turn right when the turn signal is in a right turn signal state and the vehicle speed of the vehicle is equal to or less than a creep speed;
(C) when it is determined that the vehicle will turn right, generating, starting from the position of the vehicle, a vehicle travel vector to the right relative to a direction indicated by the azimuth angle of the vehicle, and when it is determined that the vehicle will not turn right, not generating the vehicle travel vector, and
(D) when the vehicle travel vector and another vehicle travel vector, which starts from the position of the other vehicle along a direction indicated by the azimuth angle of the other vehicle and has a length corresponding to the vehicle speed of the other vehicle, intersect with each other, and the position of the other vehicle falls within a predetermined angle range including the direction indicated by the azimuth angle of the vehicle, determining that the other vehicle is approaching the vehicle as an oncoming vehicle; and
a speaker that outputs a warning when it is determined that the other vehicle is approaching the vehicle; and if the yaw rate of the vehicle is equal to or greater than a predetermined angular velocity.
2 . The warning device according to claim 1 , wherein the processor performs further operations comprising: acquiring a state of a shift lever of the vehicle, and determining that the vehicle will turn right if:
the turn signal is in the right turn signal state;
the vehicle speed is equal to or less than the creep speed; and
the shift lever has been kept in a drive position from before the turn signal enters the right turn signal state and the vehicle speed becomes equal to or less than the creep speed.
3 . The warning device according to claim 1 , wherein the processor determines that the vehicle will turn right if:
the turn signal is in the right turn signal state;
the vehicle speed is equal to or less than the creep speed; and
a predetermined time period has not passed since the vehicle speed became equal to or less than predetermined vehicle speed smaller than the creep speed.
4 . The warning device according to claim 1 , wherein the processor determines that the vehicle will not turn right if:
the turn signal was in the left turn signal state, or the turn signal was in an emergency flashing state, before the turn signal entered the right turn signal state and the vehicle speed became equal to or less than the creep speed,
even if the turn signal is in the right turn signal state and the vehicle speed is equal to or less than the creep speed.
5 . The warning device according to claim 1 ,
wherein the processor performs further operations comprising acquiring an accelerator opening degree of the vehicle, and
outputting the warning when the determination that the other vehicle is approaching the vehicle, if the accelerator opening degree of the vehicle is greater than predetermined opening and if the yaw rate is equal to or greater than the predetermined angular velocity.
6 . The warning device according to claim 5 ,
wherein the processor performs further operations comprising acquiring a state of a brake of the vehicle, and
outputting the warning when the determination that the other vehicle is approaching the vehicle, the brake is turned on, the vehicle speed becomes zero, and then the brake is turned off, the accelerator opening degree of the vehicle is greater than the predetermined opening, and the yaw rate becomes equal to or greater than the predetermined angular velocity.
7 . The warning device according to claim 1 , wherein the processor performs further operations comprising:
generating the vehicle travel vector to the right relative to the direction of the vehicle indicated by an average value of a plurality of azimuth angles of the vehicle acquired immediately before; and
generating the other vehicle travel vector along the direction of the other vehicle indicated by an average value of a plurality of azimuth angles of the other vehicle acquired immediately before.
8 . The warning device according to claim 1 , wherein:
the sensor group detects accuracy of the position of the vehicle and accuracy of the azimuth angle of the vehicle,
the wireless communication module acquires accuracy of the position of the other vehicle and accuracy of the azimuth angle of the other vehicle, and
the processor determines whether or not the other vehicle is approaching the vehicle if the accuracy of the position of the vehicle and the accuracy of the position of the other vehicle are equal to or greater than a position accuracy determination threshold, and if the accuracy of the azimuth angle of the vehicle and the accuracy of the azimuth angle of the other vehicle are equal to or greater than an azimuth angle accuracy determination threshold.
9 . A warning device comprising:
a sensor group that detects vehicle speed of a vehicle, a position of the vehicle, an azimuth angle of the vehicle, and a yaw rate of the vehicle;
a wireless communication module that receives vehicle speed, a position and an azimuth angle of another vehicle via vehicle-to-vehicle communication;
a memory storing executable instructions that, in response to execution, cause a processor to perform operations, comprising:
(A) acquiring, from a turn signal of the vehicle, a state of the turn signal;
(B) determining that the vehicle will turn left when the turn signal is in a left turn signal state and the vehicle speed of the vehicle is equal to or less than a creep speed;
(C) when it is determined that the vehicle will turn left, generating, starting from the position of the vehicle, a vehicle travel vector to the left relative to a direction indicated by the azimuth angle of the vehicle, and when it is determined that the vehicle will not turn left, not generating the vehicle travel vector, and
(D) when the vehicle travel vector and another vehicle travel vector, which starts from the position of the other vehicle along a direction indicated by the azimuth angle of the other vehicle and has a length corresponding to the vehicle speed of the other vehicle, intersect with each other, and the position of the other vehicle falls within a predetermined angle range including the direction indicated by the azimuth angle of the vehicle, determining that the other vehicle is approaching the vehicle as an oncoming vehicle; and
a speaker that outputs a warning when it is determined that the other vehicle is approaching the vehicle; and the yaw rate of the vehicle is equal to or greater than a predetermined angular velocity.
10 . The warning device according to claim 2 , wherein the processor performs further operations comprising continuing determining that the vehicle will turn right if the shift lever has been kept in the drive position after the vehicle speed became equal to or less than the creep speed, and determining that the vehicle will not turn right if a position of the shift lever is shifted to a position different than the drive position.
11 . The warning device according to claim 2 , wherein after it has been determined that the vehicle will turn right, the processor performs further operations comprising continuing determining that the vehicle will turn right until a predetermined time period passes since a timing when the vehicle speed became equal to or less than the creep speed, and determining that the vehicle will not turn right if the predetermined time period passes without the vehicle turning right.
12 . The warning device according to claim 1 , wherein the processor performs further operations comprising determining whether or not the vehicle travel vector and the other vehicle travel vector intersect with each other if the direction indicated by the azimuth angle of the other vehicle and the direction indicated by the azimuth angle of the vehicle are opposite to each other.
13 . The warning device according to claim 1 , wherein the processor performs further operations comprising determining whether or not the vehicle travel vector and the other vehicle travel vector intersect with each other if the position of the other vehicle is included in a predetermined angle range including the direction indicated by the azimuth angle of the vehicle.
14 . The warning device according to claim 9 , wherein the processor performs further operations comprising acquiring a state of a shift lever of the vehicle, and determining that the vehicle will turn left if:
the turn signal is in the left turn signal state;
the vehicle speed is equal to or less than the creep speed; and
the shift lever has been kept in a drive position from before the turn signal entered the left turn signal state and the vehicle speed became equal to or less than the creep speed.
15 . The warning device according to claim 14 , wherein the processor performs further operations comprising continuing determining that the vehicle will turn left if the shift lever has been kept in the drive position after the vehicle speed became equal to or less than the creep speed, and determining that the vehicle will not turn left if a position of the shift lever is shifted to a position different than the drive position.
16 . The warning device according to claim 14 , wherein after it has been determined that the vehicle will turn left, the processor performs further operations comprising continuing determining that the vehicle will turn left until a predetermined time period passes since a timing when the vehicle speed became equal to or less than the creep speed, and the determining that the vehicle will not turn left if the predetermined time period has passed without the vehicle turning left.
17 . The warning device according to claim 9 , wherein the processor performs further operations comprising determining whether or not the vehicle travel vector and the other vehicle travel vector intersect with each other if the direction indicated by the azimuth angle of the other vehicle and the direction indicated by the azimuth angle of the vehicle are opposite to each other.
18 . The warning device according to claim 9 , wherein the processor performs further operations comprising determining whether or not the vehicle travel vector and the other vehicle travel vector intersect with each other if the position of the other vehicle is included in a predetermined angle range including the direction indicated by the azimuth angle of the vehicle.
19 . The warning device according to claim 1 , wherein the predetermined angle range is set starting from the position of the vehicle and is a range that combines a first angle range from an angle indicating the direction between the vehicle heading indicated by the azimuth angle of the vehicle and the vehicle travel vector to the vehicle heading, and a specified second angle range set on the opposite side of the first angle range across the vehicle heading.
20 . The warning device according to claim 9 , wherein the predetermined angle range is set starting from the position of the vehicle and is a range that combines a first angle range from an angle indicating the direction between the vehicle heading indicated by the azimuth angle of the vehicle and the vehicle travel vector to the vehicle heading, and a specified second angle range set on the opposite side of the first angle range across the vehicle heading.