| 摘要 |
A moving object risk calculation unit 22 calculates the total value at all points of intersection of a mesh M for the risk due to moving objects at each point of intersection on the basis of the risk due to objects at each point of intersection in the plurality of meshes M set in the vicinity of a host vehicle 100. In this manner, it is possible to acquire the risk due to moving objects, such as another vehicle that is traveling or is stationary or a pedestrian who is walking or is stationary. In addition, a moving object risk calculation unit 22 calculates the total value of the risk due to moving objects at all points of intersection of the mesh M by subtracting the total value of the risk due to immovable objects, which is fixed at each point of intersection, at all points of intersection of the mesh M from the total value of the risk due to objects. Therefore, since it is not necessary to distinguish between movable objects and immovable objects at each point of intersection of the mesh M, the moving object risk calculation unit 22 can calculate the total value of the risk due to moving objects with less computational load. |
