| 摘要 |
PROBLEM TO BE SOLVED: To prevent or reduce the situation of erroneously judging that a transversal moving speed in front is dangerous. SOLUTION: The transversal moving speed in a direction that a transversally moving object in front (a pedestrian H in front for instance) is to advance to the traveling path 10 of a present vehicle 1, the position and size of the object are detected by utilizing a radar. At least the transversal moving speed, the position and the size are collated with the setting conditions of a danger coefficient set beforehand as parameters, the danger coefficients (a)-(d) for one detected transversally moving object are set and a danger degree Di for the one transversally moving object is calculated by the calculation formula of a×b×c×d. When the danger degree Di is larger than a prescribed value Tw, an alarm device is operated. The prescribed value Tw is corrected to a small value at nighttime and at the time of raining when visibility is deteriorated and an alarm is easily issued. The danger degree Di decided at each sampling timing is accumulated for plural times and the accumulated danger degree can be set as a final danger degree.
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