| 摘要 |
PROBLEM TO BE SOLVED: To grasp an obstacle which cannot be detected with a range sensor, thus making a more accurate decision on contact with obstacles, including the obstacle. SOLUTION: On a global coordinate system with its origin set, when an operation switch 5 is operated, obstacles detected with the range sensors 1R, 1L are plotted in turn to generate a periphery obstacle map (steps S2, S3). When an own vehicle is steered, according to the steering direction, a contact deciding area is set on the periphery obstacle map; and if an obstacle is existing in the contact deciding area (steps S6, S8), on the basis of the steering angle, a trajectory area comprising the trajectory of the vehicle body accompanying the movement of the own vehicle is set. Then, if an obstacle exists in the trajectory area, it is decided that there is a possibility of making contact with the obstacle (step S10), and a warning display and a warning sound are generated, and notification is provided to the driver (step S12). COPYRIGHT: (C)2004,JPO
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