| 主权项 |
1. A driving support apparatus that implements a driving support for avoiding a collision of a host vehicle and a moving object, the apparatus comprising:
first time prediction means for predicting an intersection where the host vehicle and the moving object cross in a traveling direction of the host vehicle and a direction crossing the traveling direction, and predicting a first time that it takes for the host vehicle to arrive at the intersection; second time prediction means for predicting a second time that it takes for the moving object to arrive at the intersection when the moving object moves in the direction crossing the traveling direction at a virtual speed which is set virtually; driving support determination means for determining whether the driving support is to be implemented or not in the host vehicle by applying the first time and the second time predicted by the first time prediction means and the second time prediction means, respectively, to a map set in advance; driving support control means for controlling the driving support in the host vehicle in a case where the driving support determination means determines that the driving support is to be implemented in the host vehicle; traveling state detection means for detecting a traveling state of the host vehicle; moving object state detection means for detecting a state of the moving object; predicted moving direction calculation means for calculating a predicted moving direction of the host vehicle based on the state of the host vehicle detected by the traveling state detection means; vector detection means for detecting a speed vector of the moving object from the state of the moving object detected by the moving object state detection means; and angle determination means for calculating an angle formed by the predicted moving direction of the host vehicle and the direction of the moving object, and determining whether or not the made angle is equal to or larger than a predetermined angle, wherein, in a case where the made angle is not determined to be equal to or larger than the predetermined angle by the angle determination means, the driving support determination means uses the map, and wherein, in a case where the made angle is determined to be equal to or larger than the predetermined angle by the angle determination means, the driving support determination means uses a second map in which the time that it takes for the moving object to arrive at the intersection when the moving object moves in a direction crossing the traveling direction at the detected speed of the moving object in the map is set to be the second time. |
