US 11,891,081 B2
Warning apparatus
Mai Sakamoto, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jul. 29, 2021, as Appl. No. 17/388,978.
Application 17/388,978 is a continuation of application No. PCT/JP2020/003176, filed on Jan. 29, 2020.
Claims priority of application No. 2019-017329 (JP), filed on Feb. 1, 2019.
Prior Publication US 2021/0354717 A1, Nov. 18, 2021
Int. Cl. B60W 50/14 (2020.01); B60W 30/09 (2012.01); B60W 40/09 (2012.01)
CPC B60W 50/14 (2013.01) [B60W 30/09 (2013.01); B60W 40/09 (2013.01); B60W 2050/143 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A warning apparatus installed in an own vehicle, the warning apparatus comprising:
an obtaining unit configured to obtain information about first and second target objects that are detected in respective right and left rear regions of the own vehicle by a radar module;
a warning determiner configured to determine, based on the information about the first and second target objects, whether each of the first and second target objects is a warning candidate about which an issuance of a warning is required;
an issuing unit configured to perform the issuance of the warning about the warning candidate to a driver of the own vehicle when the own vehicle is reversing;
a restriction unit configured to:
determine whether a predetermined restriction condition is satisfied for the first and second target objects;
determine that, upon determination that the restriction condition is satisfied for the first and second target objects, one of the first and second target objects is a ghost, and the other of the first and second target objects except for the ghost is a warning target that is the warning candidate; and
perform restriction of the issuance of the warning about the ghost from the issuing unit;
a trajectory calculator configured to calculate an estimated trajectory of each of the first and second target objects in a rearward region, the rearward region being previously established behind the own vehicle; and
a cancelling unit configured to cancel the restriction of the issuance of the warning about the ghost from the issuing unit upon determination that a predetermined cancelation condition is satisfied for the first and second target objects,
the cancelation condition including a condition that a passing distance between the first and second target objects is larger than a predetermined distance threshold, the passing distance between the first and second target objects being defined as a minimum distance between the estimated trajectory of the first target object and the estimated trajectory of the second target object.