| 摘要 |
<p>PURPOSE:To evaluate the degree of danger with a proper detection of an obstacle by a method wherein a detection area of the obstacle is divided into small areas having lapping parts and the lapping parts are 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, of a scan type laser and divided to rank the degree of danger. This detection area is determined by an angle of expansion from the center axis in the ongoing direction of the vehicle and has lapping parts in the adjacent small areas. The size of the lapping areas is changed according to operating condition. Then, the controller detects an obstacle to judge which small area the obstacle belongs to from the direction and distance thereof 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 area to which the obstacle belongs to decide how it controls.</p> |
