| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To readily as well as accurately detect whether an object in front of a vehicle is an obstacle. <P>SOLUTION: An object detection sensor 4 detects the positional information of an object to a vehicle 1, a vehicle speed sensor 2 detects vehicle speed, and a rotational angular velocity sensor 3 detects a yaw rate. An ECU 5 estimates the expected course of the vehicle 1 from the vehicle speed and yaw rate; computes the angular velocity from the yaw rate, calculates the amount of offset of the object from the estimated, expected course; determines the risk determination range, corresponding to the computed angular velocity, based on the corresponding relationship, stored in advance; and determines that the object is an obstacle that would collide with the vehicle 1, when the amount of offset of the object lies within the risk determination range. The risk determination range is set to be shifted more in the occurrence direction of angular velocity on the front side, in the advancing direction of the vehicle 1, when angular velocity is produced, than when there angular velocity is not produced in the vehicle 1. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
