| 摘要 |
Provided are a collision avoidance assistance device and a collision avoidance assistance method, in which an object detection unit (21) detects (S11) objects in the periphery of a vehicle which could become obstacles, encounter states between the vehicle and the objects are determined (S12) from object detection information or the like, a planned-execution-timing determination unit (13) determines (S13) a planned execution timing for collision avoidance assistance, a motion-characteristic-value acquisition unit (15) acquires (S14) a motion characteristic value for the vehicle in a time span to be compared, a driving operation state is determined (S15) on the basis of a comparison between the motion characteristic value and a reference motion-characteristic value in the time span to be compared, said reference motion-characteristic value being obtained from a history of previous motion characteristic values, and a collision-avoidance-assistance determination unit determines (S16), on the basis of the driving-operation-state determination result, whether the collision avoidance assistance for the vehicle is to be executed. |
