Patent ID: 11891081
Assignee: DENSO CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
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.