Patent ID: 9744915
Date: 2017-08-29
CPC Classifications: B60K,B60R,B60W,G08G,H04N

Claim:
1. A travel control device comprising: an ultrasonic obstacle detection unit which detects an obstacle entering a rear side of a vehicle and a distance to the obstacle by using ultrasonic waves; an image capture unit which captures an image of a range including the rear side of the vehicle; an image obstacle detection unit which detects the obstacle entering the rear side of the vehicle by using the image captured by the image capture unit; a rearward movement preparation detector which detects the vehicle preparing to move rearward by detecting a shift position of a transmission in the vehicle; a warning device which issues a warning about the obstacle detected by the ultrasonic obstacle detection unit; a warning control unit which controls the warning device so that the warning is issued if the distance to the obstacle detected by the ultrasonic obstacle detection unit is equal to or less than an activation threshold for warning; and a threshold control unit which controls the activation threshold according to the vehicle speed of the vehicle so that the higher the vehicle speed of the vehicle, the larger the activation threshold, except when the rearward movement preparation detector detects the vehicle preparing to move rearward and the image obstacle detection unit detects the obstacle, wherein, if the rearward movement preparation detector detects the vehicle preparing to move rearward and the image obstacle detection unit detects the obstacle, the threshold control unit performs control to set the activation threshold to a constant value regardless of the vehicle speed of the vehicle so as to issue the warning rather than issuing the warning when controlling the activation threshold according to the vehicle speed of the vehicle.