Patent ID: 9227604
Filing Date: 2016-01-05
CPC Classification: B60T,B60W,B62D,G01S,G08G

Claim Text:
1. A travel control device comprising: a side obstacle detection unit which divides a range from a lateral side to a rear side of a vehicle into a plurality of detection angle areas, and detects, for each of the plurality of detection angle areas, an obstacle entering the detection angle area and a distance to the obstacle; a rearward movement preparation detection unit which detects the vehicle preparing to move rearward; a warning unit which provides warning about the obstacle detected by the side obstacle detection unit; a warning control unit which controls the warning unit so that the warning is provided in a case where the distance to the obstacle detected by the side obstacle detection unit is equal to or less than an activation threshold for the warning; and a threshold control unit which, if the rearward movement preparation detection unit detects the vehicle preparing to move rearward and the obstacle is detected in a predetermined detection angle area including one or more rear side areas among the detection angle areas, before being detected in the other detection angle areas, raises the activation threshold so that the timing of the warning becomes earlier than if the obstacle is detected first in the other detection angle areas.