| 摘要 |
<p>PURPOSE:To improve the position estimating accuracy of a concerning obstacle by estimating the position of the obstacle after a prescribed period of time has elapsed based on the relative velocity vector of each obstacle against its own vehicle. CONSTITUTION:After the position information of the concerning obstacle from a distance measuring unit 32 is expanded on an X (width direction of vehicle) and Y (length direction of vehicle) coordinates, a predictive arithmetic section 51 compares the current data with predicted data and outputs the data which are discriminated as the data of the same obstacle from a comparing arithmetic section 52 and a relative velocity vector calculating section 53 calculates the relative velocity vector of the objective obstacle. The calculated vector is inputted to obstacle position calculating sections 54-57 and the outputs of the sections 54 and 55 and 56 and 57 are respectively inputted to a discriminating means 40 and control means 41 in accordance with the output signal of an awakening-degree detecting section 37. On the other hand, the collision of its own vehicle with the obstacle is avoided or, when the collision is unavoidable, the damage of the vehicle is reduced by estimating the position of its own vehicle after set time has elapsed from the braking starting time by means of an its-own-vehicle position estimating means 38 and actuating an alarm S2 or brake A1 by comparing the estimated positions of the obstacle and the vehicle.</p> |
