A collision determination apparatus includes: an own vehicle route estimating unit that estimates a route of an own vehicle; a target object route estimating unit that estimates a route of a target object; and a collision determining unit that performs a collision determination regarding the own vehicle and the target object. When the own vehicle route estimating unit estimates the route of the own vehicle to be circular arc-shaped, the collision determining unit divides a circular arc indicating the route of the own vehicle into a plurality of circular arcs, approximates each of the divided circular arcs as a straight line by connecting an end point and an end point of each of the divided circular arcs, and performs the collision determination based on whether any of the approximated straight lines and the route of the target object intersect.


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    Title :

    Collision determination apparatus and collision determination method


    Contributors:

    Publication date :

    2021-08-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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