| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision determination device for estimating the travel track of other vehicles precisely even when other vehicles make turning. SOLUTION: The collision determination device 10 has: a sensor 11 for acquiring positional information of a collision object around an own vehicle; an own vehicle track estimating means 17a for estimating the travel track of the own vehicle; an object track estimating means 16a for estimating the moving track of the collision object on the basis of changes in past positional information of the collision object detected by the sensor; a track correcting means 17c for correcting the estimated moving track on the basis of the changes in the past moving track estimated by the object track estimating means; and a collision determining means 17d for making collision determination with the collision object on the basis of the moving track corrected by the track correcting means and the travel track. COPYRIGHT: (C)2008,JPO&INPIT
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