| 摘要 |
<p>PROBLEM TO BE SOLVED: To plan an action adaptively to the situation by providing arrival time calculating methods and selecting a calculating method according to the situation. SOLUTION: A target distance variation rate calculation device 5 calculates a target distance variation rate from data of a target position measuring instrument 1 and a target speed measuring instrument 2. On the basis of this rate and the distance to a target that a target distance calculation device 4 calculates, a target distance-distance variation rate arrival time calculation device 6 calculates target arrival time. Further, a via-target-closest-point arrival time calculation device 10 calculates arrival time on the basis of a via-target- closest-point distance that a via-target-closest-point distance calculation device 9 calculates from the measurement data of the devices 1 and 2 and a target speed that a target speed calculation device 7. Further, a distance speed, arrival time calculation device 11 calculates arrival time on the basis of the target distance and target speed that the devices 4 and 7 calculate. Then a selecting device 12 selects calculated arrival time out of those arrival time data obtained by those three kinds of calculating method and displays the selected target arrival time on a display device 3.</p> |
