| 摘要 |
PROBLEM TO BE SOLVED: To perform accurate contact prevention control when an own car and an oncoming car approach each other with both the cars being turned. SOLUTION: Based on a relative angleθand a relative distance L detected by a radar device mounted on an own car Ai, the position of an oncoming car Ao is calculated. A circle C having a radius being a proper lateral distance dc (a distance, for 3 m, necessary to passing each other between the own car Ai and the oncoming car Ao) centering around the position of the oncoming car Ao is drawn. When a circle contacting the advancing direction of the own car Ai in the position of the own car Ai and contact the outside of the circle C is drawn, the circle is the proper turn locus of the own car Ai. By comparing the actual turning radius Ri of an own car Ai determined by the car speed of the own car Ai and a yaw rate with the turn radius Ri' of the proper turn locus, the degree of a contact risk between the own car Ai and the oncoming car Ao is decided, and contact prevention control is executed according to the degree of a contact risk. |
