PURPOSE: To specify the position of an opposite vehicle according to the relation to an intersection shape and decide the decree of risk based upon the relation between the intersection shape and the opposite vehicle.
CONSTITUTION: This method has an image pickup process (step S1) wherein an image of the scene in front of a main body is picked up continuously in time and image data are outputted in sequence, a travel direction acquisition process (step S2) wherein the travel direction of the main body commanded by a driver is acquired, an intersection area section process (step S3) wherein the intersection area is divided into plural sections according to the image data, and an opposite vehicle detecting process (step S4) wherein the opposite vehicle position in the image data is extracted and the travel direction of the opposite vehicle in a section of the intersection is detected. Further, this method includes a risk degree decision process (step S5) wherein risk degree information predetermined by travel directions of the main body is retrieved according to the section position information and travel direction information on the opposite vehicle and the travel direction information on the main body right after the opposite vehicle detecting process.
MOGADAME CHIYAREKARE NASERORA
KOTANI SHINJI
MORI HIDEO