| 摘要 |
PROBLEM TO BE SOLVED: To determine possibility of a collision against an obstacle in an actual movement direction of a vehicle for determination of the possibility of a collision against the obstacle with higher accuracy than a conventional one for effectively operating a collision influence reducing device. SOLUTION: A slip angleβof the vehicle is computed based on a condition quantity of the vehicle, and it is estimated that the direction of the slip angleβis the movement direction 104 of the center of gravity of the vehicle with respect to the longitudinal direction of the vehicle (S30). A radar sensor 46j detecting the obstacle in an angular range including the movement direction of the center of gravity is decided (S40), a relative velocity Vre of the own vehicle to the obstacle is computed based on a distance Lre to the obstacle detected by the radar sensor (S60), and a time Tc to the collision against the obstacle is computed (S70). It is determined whether there is a high possibility of the collision or not according to the time Tc to the collision (S80), and the collision influence reducing device is operated when there is a high collision possibility (S90, 100). COPYRIGHT: (C)2005,JPO&NCIPI
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