| 摘要 |
PROBLEM TO BE SOLVED: To improve the driving feeling of a driver and to easily accept an actuator by changing a possibility-of-collision discriminating level or actuator actuating level based on the lateral relative distance to an object from its own vehicle. SOLUTION: When the lateral relative distance to a preceding vehicle from its own vehicle is calculated 7 from the measured value of a distance measuring unit 1, a collision avoiding level discriminating means 9 sets a collision level discriminating coefficient K at a smaller value as the lateral relative distance becomes longer and a discriminating means 2 changes a reference distance for warning and another reference distance for automatic brake by taking the coefficient into consideration. Therefore, when the lateral relative distance to the preceding vehicle from its own vehicle is long and the collision with the preceding vehicle can be avoided through the steering operation of the driver, the actuating frequencies of an actuator AA for warning and another actuator AB for automatic brake are reduced and the driving feeling of the driver is improved. When the relative distance is short, on the contrary, the actuators AA and AB are actuated in an early stage so as to improve the driving feeling. |
