An apparatus and method for assessing a probability of a collision between a vehicle and a target, vehicle collision avoidance system, and methods for avoiding a collision between a vehicle and a target

摘要

Apparatus for assessing a likelihood of a collision between a vehicle and a target, the apparatus in which it is mounted on the vehicle being used to judge a likelihood of a collision between the vehicle and the target, characterized in that: the device comprises: an image sensor (11) a target detection sensor (9) configured to detect a target current around the vehicle; and an ECU (electronic control unit) (3), the ECU (3) comprising: a CPU (31); orientation determining means for determining the orientation of a target relative to a reference vehicle (101) in which the means for judging a probability of collision is mounted, using information detected by the target detection sensor (9); a change amount detecting means for detecting an amount of a temporal change of the orientation of the target; an angle calculating means for calculating an angle formed by a moving direction of the reference vehicle (101) and a moving direction of the target, using information detected by the target detecting sensor (9); determining means for determining a probability of a collision between the reference vehicle (101) and the target under a condition that the amount of time variation of the orientation of the target is a predetermined threshold or less, and a target judging means for judging a kind of the target using an image detected by the image sensor (11), wherein the determining means determines the probability of the collision between the reference vehicle (101) and the target both with the use of the angle and a judged type of the target.