| 摘要 |
PURPOSE:To perform an accurate rear-end collision alarm by a method wherein from a distance data to a vehicle in front and azimuth data, a plurality of locus datum of the vehicle in front are detected, and the similar straight line of a running locus is determined to decide possibility of rear-end collision. CONSTITUTION:From a locus data to a vehicle in front and the azimuth data of a vehicle in front, detected by detecting means (a) and (b), a locus data detecting means (d) detects a plurality of running locus datum. Based on the running locus datum, a computing means (e) determines the similar straight line of a running locus by a minimum square method. When the similar straight line passes a position above an azimuth and a distance coordinate and in the vicinity of an origin, it is decided by a discriminating means (f) that a vehicle in front is on the same running lane as that of a self-car. According to a discriminating result by the discriminating means (f), a rear-end collision alarm is reported when a distance to a vehicle in front detected by the detecting means (a) is within a safe intercar distance calculated by the calculating means (b). This constitution perform an accurate rear-end collision alarm.
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