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`document, identified as 89670 HeiO8—192663 ENG, is a true
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`
`(11) Unexamined Patent Application No:
`(19) Japanese Patent Office (JP) (12) Unexamined Patent Gazette (A)
`Kokai 8-192663
`(43) Date of Publication: July 30, 1996
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`(51) Int. Cl.6
` B 60 K 31/00
` G 05 D 13/62
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`Class. Symbols
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`Internal Office
`Registration Nos.:
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`G
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`FI
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`Technical Classification
`Field
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`Request for Examination: Not yet submitted
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`Number of Claims: 2 FD
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`(Total of 10 pages)
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`(21) Application No.:
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`7-26109
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`(71) Applicant:
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`000006286
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`(22) Date of Filing:
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`January 20, 1995
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`c/o Mitsubishi Motors Corporation
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`5-33-8 Shiba, Minato-ku, Tokyo-to
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`(72)
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`Inventor:
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`Takeshi Watanabe
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`c/o Mitsubishi Motors Corporation
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`5-33-8 Shiba, Minato-ku, Tokyo-to
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`(72)
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`Inventor:
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`Hisahiro Kishimoto
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`c/o Mitsubishi Motors Corporation
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`5-33-8 Shiba, Minato-ku, Tokyo-to
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`(72)
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`Inventor:
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`Masayuki Hashiguchi
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`c/o Mitsubishi Motors Corporation
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`5-33-8 Shiba, Minato-ku, Tokyo-to
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`(74) Agent:
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`Kanji Nagato, Patent Attorney
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`(Continued on last page)
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`(54) [Title of the Invention]
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`Display Device in Cruise Control Device for
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`Vehicles
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`(57) [Summary]
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`[Object] To be able to detect control contents of following cruise control or constant-speed cruise
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`control in a cruise control device for vehicles that carries out the following cruise control for
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`controlling the vehicle speed so that the distance between a vehicle and a preceding vehicle may
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`be a prescribed distance and the constant-speed cruise control for traveling at a set vehicle speed
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`if there is no preceding vehicle.
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`[Constitution] The display device in a cruise control device is provided with a display means
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`(41) for displaying a set vehicle speed at the position where a driver of a vehicle can visually
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`recognize the set vehicle speed when a set vehicle speed has been set.
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`
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`
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`[Key]
`
`1.
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`2.
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`3.
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`
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`Increase side
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`Cancellation
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`Set/decrease side
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`[Scope of Patent Claims]
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`[Claim 1] A cruise control device for vehicles provided with a following cruise control means for
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`measuring the distance between a vehicle and a preceding vehicle by a distance measuring means
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`between vehicles and controlling the vehicle speed so that the measured distance between the
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`vehicles may be a prescribed distance, and a constant-speed cruise control means for allowing a
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`
`
`

`

`
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`vehicle to travel at a set vehicle speed when said preceding vehicle is not detected, said display
`
`device in a cruise control device for vehicles, characterized by being provided with a display
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`means for displaying said set vehicle speed at a position where a driver of said vehicle can
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`visually recognize said set vehicle speed when said set vehicle speed has been set.
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`[Claim 2] The display device in a cruise control device for vehicles of Claim 1, characterized in
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`that said distance measuring means between vehicles includes a visual recognition function of
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`said preceding vehicle; and said display means displays the existence of said preceding vehicle
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`which is recognized by said distance measuring means between vehicles, said distance between
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`the vehicles, and an approach state to said preceding vehicle when said distance between the
`
`vehicles is a prescribed distance or shorter.
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`[Detailed Description of the Invention]
`
`[0001]
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`[Field of Industrial Application] The present invention relates to a cruise control device for
`
`vehicles. Specifically, the present invention relates to a display device of control contents during
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`cruise control.
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`[0002]
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`[Prior Art] To lighten the driving operation of automobiles, a constant-speed cruise device
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`(cruise control system, etc.) for constant-speed cruise control is put into practice, and a distance
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`control device between vehicles for following cruise control is developed. In a vehicle mounted
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`with the constant-speed cruise device, if a set switch is set, even if a foot is separated from an
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`accelerator pedal, a set vehicle speed is maintained during traveling. The set vehicle speed can
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`be changed by the operation of an operation switch, and if a driver steps on a brake pedal, the
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`operation is canceled.
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`
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`

`

`
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`[0003] On the other hand, in the vehicle mounted with the distance control device between
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`vehicles, if the set switch is pressed, a set distance between vehicles is calculated from the
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`vehicle speed of a driver’s vehicle at that time, and the distance between the present vehicle and
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`the preceding vehicle is detected by a device (camera, radar, etc.) for measuring the distance
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`between vehicles, and an engine output and a brake are controlled so that the distance between
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`the present vehicle and the preceding vehicle may be a set distance between the vehicles.
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`Thereby, the vehicle travels while following the preceding vehicle.
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`[0004]
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`[Problems to Be Solved by the Invention] Incidentally, some vehicles are provided with both the
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`constant-speed cruise device and the distance control device between vehicles, and in these
`
`vehicles, both the constant-speed cruise control and the following cruise control are sometimes
`
`simultaneously carried out. If the constant-speed cruise control and the following cruise control
`
`are simultaneously carried out, when there is a preceding car, the following cruise control is
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`preferentially carried out, and when there is no preceding car, the constant-speed cruise control is
`
`activated. Therefore, in case a vehicle speed for constant-speed traveling is preset, when the
`
`following traveling is carried out, if the preceding vehicle deviates from its lane by course
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`change, etc., and the following cruise control is switched to the constant-speed cruise control, the
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`vehicle speed returns up to the set vehicle speed.
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`[0005] At that time, though there is no trouble in the case where there is no considerable
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`difference between the set vehicle speed and the vehicle speed when the preceding vehicle
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`disappears, since the difference from the set vehicle speed is large in the case where the set
`
`vehicle speed is high and the vehicle speed is low when the preceding vehicle disappears, the
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`
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`

`

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`constant-speed cruise device automatically continues acceleration control for a long time until
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`the vehicle reaches the set vehicle speed.
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`[0006] Next, if the acceleration control is automatically continued, the driver, who does not
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`detect a cruise control state, feels uncomfortable about the unintended acceleration. The present
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`invention has been proposed based on the aforementioned situation, and its object is to provide a
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`display device in a cruise control device for vehicles that can detect cruise control contents of a
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`following cruise control or constant-speed cruise control.
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`[0007]
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`[Means to Solve the Problems] In order to achieve the aforementioned object, the invention of
`
`Claim 1 is a cruise control device for vehicles provided with a following cruise control means for
`
`measuring the distance between a vehicle and a preceding vehicle by a distance measuring means
`
`between vehicles and controlling the vehicle speed so that the measured distance between the
`
`vehicles may be a prescribed distance, and a constant-speed cruise control means for allowing a
`
`vehicle to travel at a preset vehicle speed when the aforementioned preceding vehicle is not
`
`detected, characterized by being provided with a display means for displaying said set vehicle
`
`speed at a position where a driver of the aforementioned vehicle can visually recognize the
`
`aforementioned set vehicle speed when the set vehicle speed has been set.
`
`[0008] In addition, the invention of Claim 2 is characterized in that the aforementioned distance
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`measuring means between vehicles includes a visual recognition function of said preceding
`
`vehicle; and the aforementioned display means displays the existence of the aforementioned
`
`preceding vehicle which is recognized by the aforementioned distance measuring means between
`
`vehicles, the aforementioned distance between vehicles, and an approach state to the
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`

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`aforementioned preceding vehicle when the aforementioned distance between vehicles is the
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`aforementioned prescribed distance or shorter.
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`[0009]
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`[Operation] According to the display device in a cruise control device for vehicles of Claim 1,
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`when a vehicle speed is set and the following cruise control or constant-speed cruise control is
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`carried out, the set vehicle speed is distinctly displayed at the position that is seen to a vehicle’s
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`driver, making the driver easily understand a cruise control state. In addition, according to the
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`display device in a cruise control device for vehicles of Claim 2, the existence of a preceding
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`vehicle, the distance between vehicles, and an approach state to the preceding vehicle are also
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`displayed in addition to the set vehicle speed, and the cruise control state is easily understood.
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`[0010]
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`[Application Examples] Figure 1 is a block diagram showing a system of a cruise control device.
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`Next, the constitution of the cruise control device and the display device in the cruise control
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`device will be explained with reference to said figure. In the cruise control device, a main
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`control device (ECU) 2 in charge of cruise control is installed. At the input side of the ECU 2, a
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`control power switch 11 for activating the ECU 2, a distance measuring device 12 between
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`vehicles that consists of a CCD camera (not shown in the figure) and a scanner type laser radar
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`(not shown in the figure) installed at the front of a vehicle, confirms a preceding vehicle, and
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`measures a distance DS between the preceding vehicle and the present vehicle as the driver’s
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`vehicle, a traveling lane recognition device 14 that mainly consists of a CCD camera and
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`confirms a traveling lane, a vehicle speedometer 16 for measuring the current vehicle speed VS,
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`an operation switch 18 for inputting a start instruction and cancellation instruction of cruise
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`control, a time TC between vehicles, to be described later, a set vehicle speed Vm, etc., and
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`various kinds of sensor switches 20, such as throttle sensor, vehicle speed sensor, steering angle
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`sensor, and warning switch (denoted by 54 in Figure 2) are connected.
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`[0011] On the other hand, at the output side of the ECU 2, a throttle actuator 30, automatic
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`transmission (A/T) 32, brake actuator 34, etc., are connected, and these parts are operated based
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`on input signals from the aforementioned input side. In addition, a display unit (display means)
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`40 for displaying a cruise control state provided on an instrument panel (50 in Figure 2) in front
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`of a driver’s seat is connected to the output side of the ECU 2, thus enabling a driver to easily
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`confirm the cruise control state.
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`[0012] The inside of the ECU 2, as shown in the figure, is divided into four processing parts of
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`input processing part 4, control state arithmetic part 6, control contents arithmetic part 8, and
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`display contents arithmetic part 10, and input signals, which are supplied from the
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`aforementioned distance measuring device 12 between vehicles, driving lane recognition device
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`14, vehicle speedometer 16, operation switch 18, and various kinds of sensor switches 20, are
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`passed through the input processing part 4 and the control state arithmetic part 6, processed into
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`output signals by an arithmetic processing in the control contents arithmetic part 8 or display
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`contents arithmetic part 10, and output. From the control contents arithmetic part 8, a driving
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`signal is output to the throttle actuator 30, A/T 32, and brake actuator 34, and from the display
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`contents arithmetic part 10, a display signal is output to the display unit 40.
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`[0013] Figure 2 outlines the periphery of the instrument panel 50 of a driver’s seat. As shown in
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`the figure, the instrument panel 50 is provided with the aforementioned control power switch 11
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`and warning switch 54, a combination meter 60 having a function as the display unit 40, a center
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`message display 41, etc. The warning switch 54 is a switch for operating a distance warning
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`
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`

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`buzzer (not shown in the figure) between vehicles that notifies the approach of the preceding
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`vehicle and the decrease of the present distance DS between vehicles.
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`[0014] In addition, the aforementioned operation switch 18 of a lever type is provided to a
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`steering wheel 56 extending to a driver side from the lower part of the instrument panel 50. The
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`operation switch 18 can carry out an increase operation of a set vehicle speed Vm, which will be
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`described later, and a decrease operation of a time TC between vehicles by a raising operation,
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`can carry out an input (setting) of a start instruction of cruise control, a decrease operation of the
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`set vehicle speed Vm, which will be described later, an increase operation of the time TC
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`between vehicles, and a return operation (resume operation) to the set vehicle speed Vm by a
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`lowering operation, and can input a cancellation instruction of (cancel) cruise control by
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`operating it on the viewer’s side.
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`[0015] The combination meter 60 is provided with a cruise control operation display lamp 62 for
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`showing whether or not the cruise control is carried out and a warning buzzer operation lamp 64
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`for showing whether or not the distance warning buzzer between vehicles is operated as display
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`functions. Moreover, a set vehicle speed display part 42 for displaying the set vehicle speed Vm
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`in a line image schematically showing the contour of a vehicle, a distance display part 44
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`between vehicles for displaying the present distance DS between vehicles between two arrows
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`toward a mutually separating direction, a preceding vehicle display part 46 for displaying the
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`existence of a preceding vehicle in a line image schematically showing the contour of the rear of
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`the vehicle, and a warning lamp 48 are provided to the center message display 41. Here, the set
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`vehicle speed Vm, which is displayed on the set vehicle speed part 42, is limited within a set
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`range (for example, 40 to 105 km/h), and the present distance DS between vehicles, which is
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`

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`displayed on the distance display part 44 between vehicles, is limited to a prescribed distance D1
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`(for example, 99 m) or shorter whose display is required.
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`[0016] Figure 3 is a flow chart showing a control routine of the cruise control that is executed by
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`the ECU 2. Next, a control outline of the cruise control device with the aforementioned
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`constitution will be explained with reference to the figure. At step S10, after ignition is turned
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`on, when a system power is input, various kinds of internal values of the controller are initialized.
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`If step S10 is finished, a main routine processing, which is repeated at each fixed control period
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`ts (for example, 26 msec), is processed. The main routine processing will be explained below.
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`[0017] At step S12, a timer for measuring the control period ts is reset. At step S14, various
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`kinds of input signals, which are supplied from the distance measuring device 12 between
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`vehicles, driving lane recognition device 14, vehicle speedometer 16, operation switch 18, and
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`various kinds of sensor switches 20, are subjected to an arithmetic processing. Specifically,
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`reading of signals from the operation switch 18, computation of the vehicle speed VS,
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`computation of a throttle aperture, computation of the vehicle speedometer, computation of the
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`steering angle, estimation computation of the curvature (R) of a road, acquisition of image
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`control data from a CCD camera, etc., are carried out.
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`[0018] At the next step S16, computation of data of the preceding vehicle is carried out based on
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`a signal from a scan-type laser radar. Specifically, decision on whether or not candidate vehicles
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`exist in a driving lane, selection of the preceding vehicle when the candidate vehicles exist in the
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`driving lane, computation of the distance DS between the preceding vehicle and the present
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`vehicle as a driver’s vehicle, computation of a relative speed Vba between the preceding vehicle
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`and the present vehicle, etc., are carried out, and in a case as to whether or not a warning is
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`emitted is decided from the vehicle speed VS or the distance DS between vehicles, a distance
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`warning processing between vehicles is carried out.
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`[0019] At step S18, a fault diagnosis processing of the CCD camera, scan-type laser radar, etc.,
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`is carried out. Here, disturbance of video signals from the CCD camera, contamination of the
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`laser radar, etc., are detected and processed as faults. At step S20, a setup processing of data for
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`various kinds of controls is carried out based on the input signal processing result carried out at
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`the aforementioned step S14 or the arithmetic result of the data of the preceding vehicle carried
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`out at step S16.
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`[0020] Here, first, the driver operates the operation switch 18 to set a delay time from the
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`preceding vehicle, that is, time TC between vehicles. The TC between vehicles is determined
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`based on a map (not shown in the figure) installed in advance in accordance with the amount of
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`operation of the operation switch 18, and the value is set to a range of 1.5 to 2.5 sec, for example.
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`[0021] Next, a set vehicle distance Dset between the present vehicle and the preceding vehicle is
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`calculated based on the time TC between the vehicles, and safety distances DSF1 and DSF2
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`between the vehicles are calculated. The set distance Dset between the vehicles is a threshold for
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`deciding whether or not the preceding vehicle is to be subjected to a following control, which
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`will be described later, and is also a target vehicle distance during following of the preceding
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`vehicle. In addition, the safety distances DSF1 and DSF2 between the vehicles are respectively
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`used at each control mode such as following control, slow deceleration control, and deceleration
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`control, which will be described later, and are thresholds that are provided to secure a sufficient
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`distance between the vehicles. The safety distance DSF1 between the vehicles is used in the
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`following control mode and the slow deceleration mode, and the safety distance DSF2 between
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`the vehicles is used in the slow deceleration control mode and the deceleration control mode,
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`
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`respectively. These set distance Dset and safety distances DSF1 and DSF2 between the vehicles
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`are attained from their respective corresponding maps (not shown in the figure) in accordance
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`with the vehicle speed.
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`[0022] The processing of the above steps S14 to S20 is carried out by the input processing part 4
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`of Figure 1. The next step S22 is a step for a transition processing of the control modes, that is,
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`the selection of the control modes based on the set distance Dset between the vehicles, the safety
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`distances DSF1 and DSF2 between the vehicles, the distance DS from the present vehicle, and
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`the switch operations of the driver attained as mentioned above. This processing is carried out
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`by the control state arithmetic part 6.
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`[0023] Figure 4 schematically shows each control mode and its transition. Next, each control
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`mode and its transition will be explained with reference to the figure. Incidentally, the next step
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`24 is a setup step of set vehicle speed Vm, etc., which are carried out by the control contents
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`arithmetic part 8 for cruise control, and the step S26 is a step for various kinds of control output
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`processings, that is, each driving control of the throttle actuator 30, A/T 32, and brake actuator
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`34. Since these steps are carried out in accordance with each control mode, they are explained
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`together herein.
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`[0024] As shown in Figure 4, in a state in which a power is input and the initialization is carried
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`out at step S10, the control mode is an initialization mode M10 and transits to a control OFF
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`mode M12. The control OFF mode M12 is a control mode when the cruise control is not carried
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`out and a normal driving operation is carried out by the driver.
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`[0025] If the cruise control is started by the operation of the operation switch 18, the control
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`mode to be transited is determined based on the execution results of the aforementioned steps
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`S14, S16, and S20. When the vehicle speed VS is in a controllable range (for example, 40 km/h
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`≤ VS ≤ 105 km/h) and the present distance DS between vehicles is greater than the set distance
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`Dset between vehicles (DS > Dset), the control mode transits to a constant-speed control mode
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`M14. At that time, the present vehicle speed VS is stored as the set vehicle speed Vm in the
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`ECU 2 (Vm = VS), and in the constant-speed control mode M14, the cruise control is carried out
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`so that the set vehicle speed Vm is held. Here, in the constant-speed control mode M14, the set
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`vehicle speed Vm can also be increased and decreased after transiting to the speed adjustment
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`mode M16 once by the operation of the operation switch 18.
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`[0026] On the other hand, when the present distance DS between vehicles is the set distance Dset
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`between vehicles or shorter (DS ≤ Dset), a preceding vehicle exists. In this case, the control OFF
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`mode M12 transits to the following control mode M18. In the following control mode M18, the
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`vehicle travels while constantly maintaining the distance between the present vehicle and the
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`preceding vehicle. At that time, the set vehicle speed Vm is set. Here, a value greater than the
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`vehicle speed VS in the transition to the following control mode M18 by α (for example, 10
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`km/h) is stored as the set vehicle speed Vm in the ECU 12 (Vm = VS + α). However, even in
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`case the preceding vehicle is accelerating, the present vehicle does not follow the preceding
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`vehicle beyond the set vehicle speed Vm. Here, in the following control mode M18, the control
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`mode is temporarily transited to an adjustment mode M20 between vehicles by the operation of
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`the operation switch 18, and the set distance Dset between vehicles can be increased and
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`decreased by changing the time TC between vehicles.
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`[0027] In addition, when the cruise control is started, if the distance DS between vehicles is
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`smaller than the safety distance DSF1 between vehicles, that is, if the present vehicle excessively
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`approaches to the preceding vehicle, the control mode transits to a slow deceleration control
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`mode M22. In the slow deceleration control mode M22, the control contents arithmetic part 8 of
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`the ECU 2 drives and controls the throttle actuator 30 to a closing side to decrease the vehicle
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`speed VS by the action of engine braking. Therefore, the distance between the present vehicle
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`and the preceding vehicle can be widened.
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`[0028] In the aforementioned constant-speed control mode M14, if the preceding vehicle appears
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`and the distance DS between vehicles at that time is smaller than the set distance Dset between
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`vehicles (DS < Dset), the control mode transits to the following control mode M18. In the
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`constant-speed control mode M14 or following control mode M18, if the distance DS between
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`vehicles is smaller than the safety distance DSF1 between vehicles (DS < DSF1), the control
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`mode transits to the slow deceleration control mode M22. The safety distance DSF1 between
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`vehicles can be attained from the map in accordance with the present vehicle speed VS.
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`[0029] In the slow deceleration control mode M22, if the distance DS between vehicles is
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`sufficient large and the present distance DS between vehicles is the safety distance DSF1
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`between vehicles or longer (DS ≥ DSF1), the control mode returns to the following control mode
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`M18. If the distance DS between vehicles is not widened even by the action of engine braking in
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`the slow deceleration control mode M22 and the safety distance DSF2 between vehicles is still
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`short, the control mode transits to the deceleration control mode M24. In the deceleration
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`control mode M24, the vehicle speed VS is further rapidly decreased by a shift-down control of
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`the A/T 32 or driving and controlling the brake actuator 34. Therefore, the distance between the
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`present vehicle and the preceding vehicle can be widened in a short time. If the present distance
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`DS between vehicles reaches the safety distance DSF2 between vehicles or longer, the control
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`mode returns to the slow deceleration control mode M22. The safety distance DSF2 between
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`vehicles is attained from the map similarly to the safety distance DSF1 between vehicles.
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`

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`
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`[0030] In the following control mode M18 or slow deceleration control mode M22 or
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`deceleration control mode M24, if the preceding vehicle change its lane during the cruise control
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`and disappears rapidly from the front, that is, if the preceding vehicle is lost, the distance DS
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`between vehicles is infinite (DS = ∞), and in this case, the control mode transits to a vehicle
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`speed holding mode M26. In the vehicle speed holding mode M26, the vehicle speed VS at the
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`time of lost target is a holding vehicle speed Vh (Vh = VS), and the holding vehicle speed Vh is
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`held for a prescribed time t2 (for example, 3 sec). Next, after a lapse of prescribed time t2, the
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`control mode returns to the constant-speed control mode M14. However, the vehicle speed VS
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`that time of lost target, that is, the holding vehicle speed Vh is held for a prescribed time t3 (for
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`example, 30 sec), and the vehicle is subjected to the cruise control. In the meantime, the vehicle
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`speed returns to the set vehicle speed Vm, only when the operation switch 18 is resumed. If the
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`switch is not resumed within the prescribed time t3, the holding vehicle speed Vh is newly stored
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`as the set vehicle speed Vm, and thereafter, the vehicle is subjected to the cruise control at the
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`new set vehicle speed Vm.
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`[0031] After the steps S22 to S26 are implemented, step S28 is implemented next. The step S28
`
`is a step where the display contents arithmetic part 10 is executed, and various kinds of displays
`
`and warnings are output. As the output means, there are lamp output, display output, buzzer
`
`output, and voice warning output. Specifically, there are the cruise control operation display
`
`lamp 62, warning buzzer operation lamp 64, center message display 41, or a distance warning
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`buzzer (not shown in the figure) between vehicles that emits a warning sound based on the
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`distance warning processing between vehicles of the input processing part 4 when the distance
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`DS between vehicles is shorter than a warning operation distance between vehicles.
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`
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`

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`
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`[0032] Next, the display contents of the set vehicle speed display part 42 of these cruise control
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`operation display lamp 62, warning buzzer operation lamp 64, and center message display 41,
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`the distance display part 44 between vehicles, the preceding vehicle display part 46, and the
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`warning lamp 48 and the operation of the distance warning buzzer between vehicles will be
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`explained along each control mode with reference to the aforementioned Figures 2, 5, and 6.
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`[0033] Figure 5 shows each display content when the cruise control is carried out. When a
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`vehicle travels in the constant-speed control mode M14, as shown in (1), the set vehicle speed
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`Vm (for example, a display when Vm = 100 km/h) is displayed on the set vehicle speed display
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`part 42. Next, to display the cruise control, the cruise control operation display lamp 62 is lit (for
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`example, lit as “CRUISE”). In addition, if the cruise control is carried out, since the distance
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`warning buzzer between vehicles is set to an automatically operable state without operating the
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`warning switch 54, the warning buzzer operation lamp 64 is also lit (for example, lit as “between
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`vehicles”).
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`[0034] When the vehicle travels in the constant-speed control mode M14, even if a preceding
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`vehicle exists, if the distance between the vehicles is sufficiently separated (D > Dset), the
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`constant-speed control mode M14 is held. At that time, as shown in (2), the present distance DS
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`between vehicles (for example, a display when DS = 80 m) is displayed on the distance display
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`part 44 between vehicles in addition to the display contents of (1), so that a line image of the rear
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`of the vehicle is displayed on the preceding vehicle display part 46.
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`[0035] Moreover, when a vehicle travels in the following control mode M18, as shown in (3), a
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`picture in which the internal color of the line image of the vehicle rear is changed or inverted is
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`displayed on the preceding vehicle display part 46 in addition to the display contents of (2). In
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`case the distance DS between vehicles is shortened and decided as a danger, as shown in (4), the
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`warning lamp 48 displays warning contents and is lit, emitting a warning sound from the distance
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`warning buzzer between vehicles.
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`[0036] When the brake pedal is operated during the cruise control or the operation switch 18 is
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`operated to a cruise control cancellation side or the present vehicle speed VS is a prescribed
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`value VS1 (for example, 35 km/h) or smaller, as shown in (5), the cruise control operation
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`display lamp 62 is put out along with the cancellation of the cruise control. Furthermore, when
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`the vehicle speed VS the prescribed value VS1 or smaller, the display of the set vehicle speed
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`Vm also disappears. Here, since the distance warning processing function between vehicles is
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`also operated when the cruise control is not carried out, the distance DS between vehicles, the
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`existence of a preceding vehicle, etc., are displayed as they are, regardless of whether or not the
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`cruise control is carried out.
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`[0037] Figure 6 shows each display content when the cruise control is canceled and only the
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`distance warning processing function is operated. When the distance warning buzzer between
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`vehicles is operated, if the distance DS between vehicles is a warning distance between vehicles
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`or shorter, as shown in (6), the warning buzzer operation lamp 64 is lit as it is, nothing is
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`displayed on the set vehicle speed display part 42, the present distance DS between vehicles is
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`displayed on the distance display part 44 between vehicles, and a line image of the vehicle rear is
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`displayed on the preceding vehicle display part 46. However, unlike the aforementioned display
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`of (4) under the cruise control, the color of the line image of the vehicle rear of the preceding
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`vehicle display part 46 is not changed. Next, the warning lamp 48 is lit to display warning
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`contents, and the distance warning buzzer between vehicles emits a warning sound.
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`[0038] In addition, when the distance DS between vehicles is the set distance Dset between
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`vehicles or shorter, the warning switch 54 is in an OFF-state, and the distance warning buzzer
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`between vehicles is not operated, as shown in (7), although the display of the center message
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`display 41 is the same as the aforementioned display of (6), the warning buzzer operation lamp
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`64 is put out, and the distance warning buzzer between vehicles does not emit a warning sound.
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`[0039] Here, the distance warning processing function between vehicles is automatically
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`canceled when the vehicle speed VS is a prescribed value VS2 (for example, 15 km/h) or smaller.
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`Incidentally, the center message display 41 can also display fault contents of the CCD camera or
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`laser radar by line image, characters, etc., and can also display displays (for example, time
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`display) other than the aforementioned display by switching a display changeover switch (not
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`shown in the figure). However, its explanation is omitted herein.
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`[0040] As explained above in