COLLISION-AVOIDANCE SUPPORT DEVICE AND VEHICLE EQUIPPED THEREWITH

摘要

PROBLEM TO BE SOLVED: To provide a collision-avoidance support device capable of reducing discomfort to a driver due to an intervening operation without reducing safety by varying the timing to start intervention depending on the size of an obstacle taking up an estimated course of one's own vehicle and on the relative speed of the vehicle to the obstacle.

SOLUTION: An intervention timing calculating means 103 calculates the expected timing of intervention for starting intervention control on the basis of information on the distance to an obstacle ahead and information on the relative speed between the obstacle and the one's own vehicle. A course tolerance calculating means 112 calculates the size of the obstacle taking up the estimated course of the one's own vehicle on the basis of the horizontal size of the obstacle in the expected course to be traveled by the vehicle and the position information. An intervention timing correcting means 104 determines the timing to start the intervention by correcting the expected timing of intervention according to the size of the obstacle taking up the estimated course, calculated by the course tolerance calculating means 112.

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