PROBLEM TO BE SOLVED: To provide a moving body collision avoidance device for a vehicle capable of highly accurately calculating a probability of collision between an own vehicle and a moving body, and also capable of highly accurately determining availability of control to execute the control.SOLUTION: A moving body collision avoidance device 100 is provided with: a moving body detection part 10 that detects a positional probability distribution, a speed, and a moving direction of a moving body; an obstacle detection part 20 that detects a position, a shape, and a size of an obstacle present around a track of the own vehicle; an own vehicle collision probability calculation part 30 that calculates a collision probability of the own vehicle, which is a probability of collision between the own vehicle and the moving body, and a prediction time of the collision; an obstacle collision probability calculation part 40 that calculates a collision probability of the obstacle, which is a probability of collision between the obstacle and the moving body, and a prediction time of the collision on the basis of the positional probability distribution, the speed, and the moving direction of the moving body and the position, the shape, and the size of the obstacle; and an own vehicle control part 50 that performs control of the own vehicle on the basis of the collision probability of the own vehicle and the prediction time of the collision thereof, and the collision probability of the obstacle and the prediction time of the collision thereof.SELECTED DRAWING: Figure 1
【課題】高い精度で移動体と自車両の衝突確率を算定することができ、高い精度で制御の可否を判断し、実行することができる車両の移動体衝突回避装置を提供すること。【解決手段】移動体の位置確率分布、速度、および移動方向を検出する移動体検出部10と、自車両の走行路周辺に存在する障害物の位置、形、および大きさを検出する障害物検出部20と、移動体と自車両の衝突確率である自車両衝突確率および衝突予測時間を算出する自車両衝突確率算出部30と、移動体の位置確率分布、速度、および移動方向と障害物の位置、形、および大きさとに基づいて移動体と障害物の衝突確率である障害物衝突確率および衝突予測時間を算出する障害物衝突確率算出部40と、自車両衝突確率および衝突予測時間と障害物衝突確率および衝突予測時間とに基づいて自車両の制御を行う自車両制御部50とを備えている移動体衝突回避装置100である。【選択図】図1
MOVING BODY COLLISION AVOIDANCE DEVICE FOR VEHICLE
車両の移動体衝突回避装置
2016-04-21
Patent
Electronic Resource
Japanese
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