To provide a vehicle collision determination device which can determine a risk of collision between an own vehicle and a movable body which becomes an obstacle more accurately.SOLUTION: A locus of a vehicle V during turning is calculated as an entrainment locus L1 while calculating a target locus L2 which is a movement locus of a target Tg, and a position, at which there is possibility that the target Tg collides with the vehicle V, is calculated on the basis of the target locus L2 and the entrainment locus L1. Further, a collision time TTC, which is a time until the target Tg arrives at a position where the target may collide with the vehicle V, is calculated. When the collision time TTC is a determination threshold or less, it is determined that there is a risk of collision of between the vehicle and the target.SELECTED DRAWING: Figure 3
【課題】より的確に自車と障害物となる移動体との衝突リスクを判定することが可能な車両衝突判定装置を提供する。【解決手段】物標Tgの移動軌跡である物標軌跡L2を算出すると共に、車両Vの旋回時の軌跡を巻き込み軌跡L1として算出し、物標軌跡L2と巻き込み軌跡L1とに基づいて物標Tgが車両Vに衝突する可能性がある位置を算出する。また、物標Tgが衝突する可能性がある位置に到達するまでの時間である衝突時間TTCを算出する。そして、衝突時間TTCが判定閾値以下であると車両と物標との衝突リスクがあると判定する。【選択図】図3
VEHICLE COLLISION DETERMINATION DEVICE
車両衝突判定装置
2021-03-01
Patent
Elektronische Ressource
Japanisch
Europäisches Patentamt | 2024
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