| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To rationally arrange objects and set appropriate risks according to road surface conditions and kinds of obstacles even when there are a plurality of objects ahead, and to maintain high performance at low cost while keeping the volume of computing to a minimum. <P>SOLUTION: A risk degree reference value Riskm for each object is computed based on the inter-vehicular time and the collision allowance time while performing corrections according to a friction coefficient. Based on the risk degree reference value Riskm, a risk degree Riskm (ΔAm) for each solid is set with the broadening using the probability distribution in the azimuthal angle direction where each object is present with respect to a user's vehicle, and a risk degree Risk (ΔA) is set for each azimuthal angle. Alarming and brake controlling are performed according to the risk degree Risk (0) at the azimuthal angle 0. A steering angle control amountθstrt is acquired from the present risk degree Risk (ΔA) for each azimuthal angle and an estimated risk degree Risk(ΔA)e for each azimuthal angle after the set time, and self-steering control is carried out. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
