COLLISION AVOIDANCE DEVICE
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Accused Products
Abstract
A collision avoidance ECU estimates a traveling locus based on an estimated curve radius of an own vehicle in a basic traveling locus estimating unit, and in a changed traveling locus estimating unit, obtains separation distances between an own vehicle and white lines based on the relative positional relationship between an own vehicle and the white lines, and estimates, as a changed traveling locus, a route along the white lines with the obtained separation distances maintained. In a collision judging unit, when auto-steering control and departure warning control are not performed, collision judgment is performed based on the basic traveling locus estimated in the basic traveling locus estimating unit, and when the auto-steering control and departure warning control are performed, the traveling locus is changed to the changed traveling locus estimated in the changed traveling locus estimating unit and collision judgment is performed.
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Citations
17 Claims
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1-5. -5. (canceled)
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6. A collision avoidance device comprising:
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an obstacle detecting means for detecting an obstacle; a collision judging means for judging the collision probability between an own vehicle and an obstacle from the relative relationship between the detected obstacle and an own vehicle; a collision avoidance means for performing collision avoidance control to avoid a collision between an own vehicle and an obstacle when the collision probability judged by the collision judging means is high; a road partitioning line detecting means for detecting road partitioning lines showing a traveling lane of an own vehicle around an own vehicle; a driving assisting means for assisting a driver so that an own vehicle travels in the traveling lane; and a judging method changing means for changing the method for judging the collision probability of the collision judging means in the case where the driver is assisted by the driver assisting means from the case where the driver is not assisted by the driver assisting means. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification