| 摘要 |
<p>Even if the number of obstacles is large, even if the relative velocities of a mobile object to the obstacles are large or even if the jolting of the mobile object is large, the correspondences to the moving obstacles are obtained successively and accurately, and the relative velocities to the obstacles are accurately calculated in accordance with the correspondences to avoid collision reliably. The relative positions of the obstacle existing outside the mobile object are successively measured at time intervals shorter than a predetermined time by a position measuring means to correlate the successive relative position data with the data of the obstacles successively. Then the relative velocities to the obstacles are successively calculated in accordance with the relations between the obstacles and the successive relative position data. Further, the approaching time of each obstacle which is a time for the obstacle to come closest to the mobile object, and the closest distance of each obstacle which is the distance between the obstacle and the mobile object when the obstacle comes closest to the mobile object is successively calculated in accordance with the relations between the obstacles and the successive relative position data and the relations between the obstacles and the successive relative velocity data. In accordance with the calculation results, the operations and processes for preventing the mobile object from colliding against any of the obstacles are performed.</p> |
