| 摘要 |
PROBLEM TO BE SOLVED: To quickly and precisely acquire a contact possibility between a moving trace and an obstacle, and to properly support contact avoidance.SOLUTION: A contact avoidance control device 10 comprises: an external field sensor 11 which detects the information of a substance existing at the surroundings of an own vehicle; an own vehicle moving trace prediction part 22 which acquires an own vehicle moving trace according to a steering state of an own vehicle; a contact possibility determination part 26 which determines a contact possibility between the own vehicle and the substance by using the information of the substance detected by the external field sensor 11 and an own vehicle predicted moving trace; a vehicle control part 27 which supports the contact avoidance of the own vehicle with respect to the substance according to the contact possibility; and an own vehicle moving trace correction part 24 which performs correction so that a bending degree of the own vehicle predicted moving trace is changed to an increase side compared with a bending degree before the correction when the own vehicle is withdrawn from a parking area by a start. |
