To exactly predict a collision possibility of a driver's own vehicle W with an opposite vehicle Q by exactly estimating an advancing direction of the opposite vehicle Q, even if an obstacle detection means (radar device) suddenly detects the opposite vehicle Q on a sharp curve.
A direction in which a front surface of the opposite vehicle Q faces the own vehicle W is estimated based on a plurality (A point to E point) of relative positions (relative positions of the opposite vehicle Q in relation to the own vehicle W) detected as for the opposite vehicle Q. Based on the estimated direction of the front surface of the opposite vehicle Q, the advancing direction of the opposite vehicle Q is estimated. Based on an advancing road of the own vehicle W, the estimated advancing direction of the opposite vehicle, the relative positions detected as for the opposite vehicle Q and the size of relative speed vector, the collision possibility of the own vehicle W with the opposite vehicle Q is predicted.
Hiroshi Takeuchi
Takahisa Shimada
Yuji Takeuchi
Katsumi Imae
Atsushi Fujita
Kazunari Ninomiya
Tomoo Harada
Iseki Katsumori
Seki Kei
Yasuya Sugiura
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