| 摘要 |
PROBLEM TO BE SOLVED: To avoid a collision with a step and a rollover into a ditch or the like in a vehicle with an obstruction avoidance function. SOLUTION: During a travel of the vehicle 1, a two-dimensional laser radar LD2 scans ahead of the vehicle (#6), and observes and stores hazard points such as a step and a ditch (#7). The rotational speed of driving wheels is detected (#8) and the travel of the vehicle 1 is calculated (#9) for storage (#7). If collision predicting means produces a collision determination (#11) from the stored hazard points and changing vehicle travel information, and a vehicle travel direction (#10), a collision avoiding correction instruction is issued (#12) to correct the operator's steering angle setting (#2) and accelerator operation (#4) so that the vehicle avoids the collision. Measured points near the travel road surface by the two-dimensional laser radar LD2 are stored by coordinate conversion, so that obstruction positions can be recognized even in the radar dead angle. COPYRIGHT: (C)2005,JPO&NCIPI
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