COLLISION-AVOIDANCE SUPPORT DEVICE
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Abstract
In a case where a relative velocity Vr decreases, a timing calculation unit of a collision-avoidance support ECU calculates a time T1 shorter than a time T2, as a time to a collision, using a distance D and the relative velocity Vr without using acceleration Gr. The timing calculation unit calculates a timing of a start of collision-avoidance support on the basis of the time T1. In a case where the relative velocity increases, the timing calculation unit calculates the time T2 shorter than the time T1, as a time to a collision, using the distance D, the relative velocity Vr and the acceleration Gr. The timing calculation unit calculates the timing of a start of collision-avoidance support on the basis of the time T2.
7 Citations
12 Claims
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1-4. -4. (canceled)
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5. A collision-avoidance support device comprising a timing calculation unit configured to calculate a timing of a start of a collision-avoidance support for avoiding a collision between a host vehicle and an object,
wherein the timing calculation unit is configured to: -
calculate the timing of a start of collision-avoidance support, when a relative velocity of the host vehicle with respect to the object, at the time of setting a direction in which the host vehicle and the object come close to each other to be positive, decreases due to acceleration of the relative velocity, on the basis of a first time to an expected collision between the host vehicle and the object which is calculated by a first method using the relative velocity and a distance between the host vehicle and the object without using the acceleration; and calculate the timing of a start of collision-avoidance support, when the relative velocity increases due to the acceleration, on the basis of a second time to an expected collision between the host vehicle and the object which is calculated by a second method using the distance, the relative velocity and the acceleration. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12)
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Specification