| 摘要 |
PROBLEM TO BE SOLVED: To evade giving a complicated feeling to a driver by eliminating the issuing of alarm when the driver is aware of a collision. SOLUTION: The time for issuing alarm is set to be before a time when the driver can evade the collision by full-braking after sensing alarm and to be after the statistically final time when the driver recognizes the forward vehicle during normal driving and brakes the vehicle to evade the collision.
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