RISK DETERMINATION DEVICE, RISK DETERMINATION PROGRAM, AND RISK DETERMINATION METHOD

摘要

PROBLEM TO BE SOLVED: To provide a risk determination device capable of executing the determination of a collision of a subject vehicle with movable objects in high accuracy.

SOLUTION: A controller 4 in a risk determination device 1 includes: a traffic environment recognition unit 5 for recognizing traffic environment around a subject vehicle; a branching path generation unit 6 for obtaining a movement branching point of movable objects based on the traffic environment, and estimating multiple branching paths which extend from the movement branching point; an existence-possibility map generation unit 7 for creating an existence-possibility map of the movable objects based on road environment; a movable object position-distribution creation unit 8 for creating a position distribution of the movable objects based on a position and a state of the movable objects; a movable object movement prediction unit 9 for predicting a movement of the movable objects for each of the branching paths of the movable objects; a movable object position-distribution change unit 10 for changing the position distribution of the movable objects according to the existence possibility of the movable objects; and a collision determination unit 11 for calculating the probability of a collision of the subject vehicle with the movable objects based on the position distribution of the movable objects and the position distribution of the subject vehicle, and executing the determination of the collision.

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