| 摘要 |
A probability acquisition unit reads a collision probability that a pedestrian collides against a self-vehicle, from a data map, in which positions of a pedestrian are beforehand associated with collision probabilities, with reference to an obtained position of a pedestrian around a self-vehicle. A function control unit activates an alarm unit to cause an alarm to notify proximity of the self-vehicle to a pedestrian when the obtained collision probability is higher than a threshold. An obstacle acquisition unit obtains a detection result of an obstacle, which obstructs movement of a pedestrian. A path estimation unit estimates a traveling path of the self-vehicle on the data map. The probability acquisition unit decreases a collision probability in a region of the data map, the region being beyond the detected obstacle when viewed from the traveling path. |
