To provide a collision avoidance device capable of avoiding a collision even when a plurality of passing vehicles exist.SOLUTION: A collision avoidance device includes: a passing interval estimation section for defining a passing vehicle whose relative distance from an own vehicle is temporally reduced among passing vehicles as an avoidance object, so as to estimate a passing interval between the own vehicle and the avoidance object based on a relative speed vector and relative position vector of the own vehicle with the avoidance object; and a speed vector determination section for determining a speed vector to allow the own vehicle to perform a collision avoidance behavior based on the passing interval.SELECTED DRAWING: Figure 2
【課題】複数の通行ビークルが存在するときでも衝突を回避することができる衝突回避装置を提供する。【解決手段】衝突回避装置は、通行ビークルのうち自ビークルとの相対距離が時間的に減少する通行ビークルを回避対象とし、前記自ビークルと前記回避対象との相対速度ベクトルおよび相対位置ベクトルに基づいて、前記自ビークルと前記回避対象とのすれ違い間隔を推定するすれ違い間隔推定部と、前記すれ違い間隔に基づいて、前記自ビークルに衝突回避行動を行わせる速度ベクトル決定する速度ベクトル決定部と、を備える。【選択図】図2
COLLISION AVOIDANCE DEVICE, COLLISION AVOIDANCE METHOD, AND PROGRAM
衝突回避装置、衝突回避方法、およびプログラム
2025-02-07
Patent
Electronic Resource
Japanese
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