| 主权项 |
1. A radio device that is mountable on a vehicle, the radio device comprising:
a receiver that receives packet signals from another radio device, the packet signals each including at least positional information and yaw rate information on another vehicle on which the other radio device is mounted; an acquirer that acquires positional information and yaw rate information on the vehicle on which the radio device is mounted; a first processor that derives a first arrival time to be taken for the vehicle and the other vehicle travelling straight ahead to intersect at a point, based on the positional information acquired by the acquirer and the positional information included in the packet signals received by the receiver; a second processor that derives a second arrival time to be taken for the vehicle and the other vehicle running on a straight line linking the vehicle and the other vehicle to encounter at a point, based on the positional information acquired by the acquirer and the positional information included in the packet signals received by the receiver; a third processor that derives a first range of travelling directions the vehicle can take between the second arrival time derived by the second processor and the first arrival time derived by the first processor, based on the yaw rate information acquired by the acquirer, and that derives a second range of travelling directions the other vehicle can take between the second arrival time derived by the second processor and the first arrival time derived by the first processor, based on the yaw rate information included in the packet signals received by the receiver; and a determiner that determines relative relation between the vehicle and the other vehicle at a time of intersection between the vehicle and the other vehicle, based on difference between the first range and the second range that are derived by the third processor. |
