Warning device

A warning device comprising:

• a sensor group that detects vehicle speed of a vehicle, a position of the vehicle, an azimuth angle of the vehicle, and a yaw rate of the vehicle;
• a wireless communication module that receives vehicle speed, a position and an azimuth angle of another vehicle via vehicle-to-vehicle communication;
• a memory storing executable instructions that, in response to execution, cause a processor to perform operations, comprising:
• (A) acquiring, from a turn signal of the vehicle, a state of the turn signal;
• (B) determining that the vehicle will turn right when the turn signal is in a right turn signal state and the vehicle speed of the vehicle is equal to or less than a creep speed;
• (C) when it is determined that the vehicle will turn right, generating, starting from the position of the vehicle, a vehicle travel vector to the right relative to a direction indicated by the azimuth angle of the vehicle, and when it is determined that the vehicle will not turn right, not generating the vehicle travel vector, and
• (D) when the vehicle travel vector and another vehicle travel vector, which starts from the position of the other vehicle along a direction indicated by the azimuth angle of the other vehicle and has a length corresponding to the vehicle speed of the other vehicle, intersect with each other, and the position of the other vehicle falls within a predetermined angle range including the direction indicated by the azimuth angle of the vehicle, determining that the other vehicle is approaching the vehicle as an oncoming vehicle;
• and
• a speaker that outputs a warning when it is determined that the other vehicle is approaching the vehicle;
• and if the yaw rate of the vehicle is equal to or greater than a predetermined angular velocity.