| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision decision device for precisely deciding collision using the measurement value of a yaw rate sensor. SOLUTION: A collision decision device 10 is provided with: a course prediction part 13 for predicting the traveling direction of the own vehicle by using a yaw rate; a collision decision part 14 for deciding collision by using monitor information and the traveling direction in front of the own vehicle; and a smoothing processing part 11 for smoothing the yaw rate of the own vehicle acquired at every predetermined intervals. When the curve curvature of a road on which the own vehicle travels is large, the smoothing processing part 11 reduces the level of the smoothing of the yaw rate in comparison with when the curve curvature is small. Thus, even when a vehicle enters a curve spot, the smoothed yaw rate sensor measurement value is changed according to the change of the traveling direction of the vehicle without generating any delay, so that it is possible to precisely predict the traveling direction of the vehicle by using the yaw rate sensor measurement value, and to precisely decide collision. COPYRIGHT: (C)2008,JPO&INPIT
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