| 摘要 |
A collision probability determination apparatus includes a specifying means for specifying target positions on an X-Y plane, a calculation means for calculating a target path and calculating a predicted arrival position of the target on an X-axis, a determination means for determining probability of a collision between the vehicle and the target based on the predicted arrival position; and a calculation origin changing means for defining the target position specified last time as a last specified value, and defining the target position specified this time as a current specified value, and for, when detecting that the target path, whose end point is the last specified value, is a straight line and then if a difference value between X-coordinates of the last specified value and the current specified value exceeds a predetermined threshold, changing a calculation origin of the target path to the last specified value or the current specified value. |
| 主权项 |
1. A collision probability determination apparatus installed in a vehicle, comprising:
a specifying means for specifying, of a target detected in a traveling direction of the vehicle, target positions, which are positions of the target on an X-Y plane, on which a width direction of the vehicle is defined as an X-axis with reference to a position of the vehicle, and a longitudinal direction of the vehicle is defined as a Y-axis with reference to the position of the vehicle; a calculation means for calculating a target path, which is a path of the target position on the X-Y plane, by using the target positions specified by the specifying means several times, and calculating a predicted arrival position of the target on the X-axis based on the calculated target path; a determination means for determining probability of a collision between the vehicle and the target based on the predicted arrival position calculated by the calculation means; and a calculation origin changing means for defining the target position specified last time by the specifying means as a last specified value, and defining the target position specified this time by the specifying means as a current specified value, and for, when detecting that the target path, whose end point is the last specified value, is a straight line or has a shape related to a straight line and then if a difference value between an X-coordinate of the last specified value and an X-coordinate of the current specified value exceeds a predetermined threshold, changing a calculation origin of the target path calculated by the calculation means to the last specified value or the current specified value. |
