| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving body collision avoidance device for a vehicle capable of highly accurately calculating a probability of collision between an own vehicle and a moving body, and also capable of highly accurately determining availability of control to execute the control.SOLUTION: A moving body collision avoidance device 100 is provided with: a moving body detection part 10 that detects a positional probability distribution, a speed, and a moving direction of a moving body; an obstacle detection part 20 that detects a position, a shape, and a size of an obstacle present around a track of the own vehicle; an own vehicle collision probability calculation part 30 that calculates a collision probability of the own vehicle, which is a probability of collision between the own vehicle and the moving body, and a prediction time of the collision; an obstacle collision probability calculation part 40 that calculates a collision probability of the obstacle, which is a probability of collision between the obstacle and the moving body, and a prediction time of the collision on the basis of the positional probability distribution, the speed, and the moving direction of the moving body and the position, the shape, and the size of the obstacle; and an own vehicle control part 50 that performs control of the own vehicle on the basis of the collision probability of the own vehicle and the prediction time of the collision thereof, and the collision probability of the obstacle and the prediction time of the collision thereof.SELECTED DRAWING: Figure 1 |
