| 摘要 |
A collision judging system for a vehicle comprises a subject vehicle position estimating means 38 for estimating the position of the subject vehicle after a lapse of a preset time from a certain braking start time, on the assumption that the braking is starting at such braking start time, an obstacle position estimating means 39 for estimating the position of an objective obstacle after the lapse of the preset time, and judging means 40, 41 for judging whether the two estimated positions coincide. The estimating means 38 takes account of vehicle direction (yaw), sensed at 36, and both estimating means 38, 39 use a driver vigilance sensor 37 to select preset times. Thus, the judgment takes account of driver action. Another embodiment dispenses with estimating means 38. <IMAGE> |
