| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision avoidance assist device that can suppress the occurrence of such a problem that collision avoidance assists becomes unnecessary actions.SOLUTION: The collision avoidance assist device comprises: an object determination unit 10 that determines whether an object not included in a camera detection range but included in a radar detection range is present; an angle determination unit 11 that when the object is present, determines whether an angle formed between an approach direction of the object with respect to an own vehicle and a longitudinal direction of the own vehicle is included in a prescribed angle range; a proximity possibility determination unit 12 that determines presence or absence of a possibility of proximity of the object to the own vehicle; a vehicle control unit 15 that when it is determined that the proximity possibility is present, performs a slow- brake control of the own vehicle so that the object is included in the camera detection range; and a collision possibility determination unit 14 that determines presence or absence of a possibility of the collision of the object with the own vehicle. When it is determined that the collision possibility is present, the vehicle control unit 15 performs a collision avoidance brake control of the own vehicle that avoids the collision with the object.SELECTED DRAWING: Figure 1 |
