INVESTIGATION DISABLE AREA ESTIMATING DEVICE AND DRIVING SUPPORT SYSTEM

摘要

PROBLEM TO BE SOLVED: To exactly estimate an investigation disabled area and to provide a safe driving support system. SOLUTION: An investigation limit range estimating means 810 estimates an investigation limit range U on the basis of the characteristics of an external field sensor or the like. A first class dead angle area estimating means 820 estimates a first class dead angle area Y1 to be a dead angle inside the investigation limit range U on the basis of the position or shape of an object detected by an object detecting means 825. A second class dead angle area estimating means 830 estimates a second class dead angle area Y2 to be a dead angle shielded by a road incline inside the investigation limit range U while using a road shape estimating means 835. A travel range estimating means 840 finds a coming estimate travel range W from a yaw angular velocity or steering angle. An investigation disable area operating means 850 finds an investigation disabled area X from U, Y1 and Y2 and an excessive travel area operating means 860 calculates an excessive travel area Z from X and W. An actuator control means 890 determines the deceleration or steering angle in the case of obstacle avoidance into optimal or suitable value corresponding to the position or shape of Z.