Patent ID: 9597997
Date: 2017-03-21
CPC Classifications: B60Q,B60R,H04N

Claim:
1. A periphery monitoring apparatus for a work vehicle comprising: a plurality of radar apparatuses mounted on the work vehicle, each of the radar apparatuses being configured to determine a relative position of an obstacle with regard to the work vehicle by detecting the obstacle within a detection range of the radar apparatus, the detection range being disposed in a portion of the surroundings of the work vehicle, the plurality of radar apparatuses including at least two radar apparatuses arranged such that the detection ranges thereof overlap each other and are disposed on a right side of the work vehicle, and the plurality of radar apparatuses further including at least two other radar apparatuses arranged such that the detection ranges thereof overlap each other and are disposed on a left side of the work vehicle, the plurality of radar apparatuses being arranged such that a combination of the detection ranges of at least the two radar apparatuses having detection ranges disposed on the right side of the work vehicle and the two other radar apparatuses having detection ranges disposed on the left side of the vehicle defines an overall detection region that fully surrounds the vehicle; a movement state determining section configured to determine a movement state of the work vehicle; a warning region setting section configured to set a single warning region in which it is necessary to warn a driver of a presence of the obstacle, the warning region being set according to the movement state of the work vehicle, the warning region corresponding to the detection ranges of at least two of the radar apparatuses, the warning region setting section being configured to set the warning region to correspond to the overall detection region when the movement state determining section determines that the work vehicle is in a stationary state; a warning section configured to warn a driver of the presence of the detected obstacle if the detected obstacle is positioned in the warning region, and not warn the driver of the presence of the detected obstacle if the detected obstacle is not positioned in the warning region; a plurality of cameras mounted on the work vehicle, each of the cameras being configured to acquire an image of the surroundings of the work vehicle; and a bird's-eye image acquiring section configured to acquire a bird's-eye image of the surroundings of the work vehicle based on a plurality of images which are acquired by the cameras, the warning section having a determination section configured to determine whether the relative position is positioned in the warning region on the bird's-eye image.