| 摘要 |
<p>PURPOSE:To evaluate the degree of danger with a proper detection of an obsta cle by a method wherein a detection area of an obstacle is divided into small areas corresponding to the degree of danger and the magnitude of the degree is altered according to running condition of a vehicle to judge the degree of danger of the obstacle detecting the obstacle at each small area. CONSTITUTION:A controller detects a steering angle and a vehicle speed with a steering angle sensor 5 and a vehicle speed sensor 6 to estimate a slippage angle of a body, a turning radius and the course of a vehicle. Then, a detection area is set within a scanning range of a light emitting device 2, namely, a scan type laser and divided into a collision area, near miss area and alerting area in terms of rank. There small areas are determined by an angle of expansion from the center axis in the ongoing direction of a vehicle and can be changed according to operating condition of the vehicle. Then, the controller detects an obstacle to judge which small area the obstacle belongs to from the direction and the distance and a relative speed is calculated from changes in the distance. Then, the controller judges the degree of danger comprehensively in the light of the distance of the obstacle, behavior and the small areas to which the obstacle belongs to decide how it controls.</p> |
