JP2011018165A - Vehicle travel safety device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the risk collision between a vehicle and a preceding vehicle running ahead in the same direction.SOLUTION: The vehicle travel safety device 10 includes: a course predicting part 31 for predicting a course of a vehicle, a crossing vehicle detecting part 32 for detecting a crossing vehicle traveling on a road crossing the course of the vehicle, a crossing-vehicle course predicting part 33 for predicting a course of the crossing vehicle, a preceding vehicle detecting part 35 for detecting a preceding vehicle running ahead in the same direction within a predetermined distance from the vehicle, a collision risk determining part 40 for determining the risk of collision between the vehicle and the crossing vehicle, based on the course of the vehicle and the course of the crossing vehicle, and for determining the risk of collision between the crossing vehicle and the preceding vehicle, based on the course of the preceding vehicle and the course of the crossing vehicle, and a vehicle control part 41 for issuing a predetermined alarm or for performing avoidance control, when the risk of the collision is determined between the vehicle and the crossing vehicle, or when the risk of the collision is determined between the crossing vehicle and the preceding vehicle, in an intersection of the traveling road and the crossing road.

Description

  The present invention relates to a vehicle travel safety device.

  2. Description of the Related Art Conventionally, there is known a vehicle safety device that includes a start restriction unit that restricts start at a vehicle stop position such as an intersection, and relaxes start restriction by the start restriction unit when there is a following vehicle (for example, patent Reference 1).

Japanese Patent No. 3173877

By the way, according to the vehicle safety device according to the above-described prior art, the vehicle started from the vehicle stop position due to the loosening of the start restriction, such as an intersecting vehicle that travels on a route that intersects the route of the vehicle. When an obstacle is encountered and the vehicle stops or decelerates, there is a possibility that the following vehicle cannot cope with the behavior of the vehicle and collides with the vehicle.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle travel safety device capable of reducing the possibility of the host vehicle colliding with a preceding vehicle ahead in the traveling direction.

  In order to solve the above-described problems and achieve the object, the vehicle travel safety apparatus according to the first aspect of the present invention is a vehicle route prediction means for predicting the route of the vehicle (for example, the vehicle A vehicle course prediction unit 31), a crossing vehicle detection means (for example, a crossing vehicle detection unit 32 in the embodiment) that detects a crossing vehicle that travels on a crossing road that intersects the traveling road of the host vehicle, and the crossing vehicle An intersecting vehicle route predicting unit (for example, an intersecting vehicle route predicting unit 33 in the embodiment) for predicting a route of the intersecting vehicle detected by the detecting unit, and the own vehicle predicted by the own vehicle route predicting unit Collision possibility determination means for determining the possibility of collision between the own vehicle and the intersecting vehicle based on the course and the course of the intersecting vehicle predicted by the intersection vehicle course prediction means (for example, in the embodiment) Collision possibility determination unit 40) A predetermined warning or avoidance control when the collision possibility determination means determines that there is a collision possibility between the own vehicle and the intersection vehicle at an intersection between the traveling road of the own vehicle and the intersection. A vehicle travel safety device comprising a control means (for example, a vehicle control unit 41 in the embodiment) for detecting the position of a preceding vehicle existing ahead in the traveling direction within a predetermined distance from the host vehicle. Preceding vehicle detection means (for example, the preceding vehicle detection unit 35 in the embodiment), and the collision possibility determination means is configured to detect the preceding vehicle when the position of the preceding vehicle is detected by the preceding vehicle detection means. Based on the position of the vehicle and the course of the intersecting vehicle predicted by the intersecting vehicle course predicting means, it is determined whether or not there is a possibility of collision between the intersecting vehicle and the preceding vehicle, and the control means is capable of the collision If the possibility of collision between the preceding vehicle and the crossing vehicle is determined that there the determination unit, executes the predetermined alarm or the avoidance control.

  Further, the vehicle travel safety device according to the second aspect of the present invention is based on the route of the intersecting vehicle predicted by the intersecting vehicle route predicting means, and is close to the own vehicle of the intersecting vehicle along the route. Side position estimation means for estimating the side position on the side (for example, the side position detection unit 34 in the embodiment) and vehicle length estimation means for estimating the vehicle length of the preceding vehicle (for example, the vehicle length in the embodiment) The front end position of the preceding vehicle is estimated based on the estimation unit 36), the position of the preceding vehicle detected by the preceding vehicle detection means, and the vehicle length of the preceding vehicle estimated by the vehicle length estimation means. Front end position estimating means (for example, the front end position estimating unit 37 in the embodiment), and the collision possibility determining means is configured to estimate the front end position from the side surface position of the intersecting vehicle estimated by the side surface position estimating means. By means Based on the distance to the estimated front end position of the preceding vehicle, determines the presence or absence of possibility of collision between the preceding vehicle and the intersecting vehicle.

  Furthermore, the vehicle travel safety device according to the third aspect of the present invention provides a brake light lighting determination means for determining whether or not the brake light of the preceding vehicle has been turned on (for example, the brake light lighting determination unit in the embodiment). 38), and the collision possibility determination means has a predetermined distance from the side position of the other vehicle estimated by the side position estimation means to the front end position of the preceding vehicle estimated by the front end position estimation means. It is determined that there is a possibility of collision between the intersecting vehicle and the preceding vehicle when the distance is equal to or less than the distance and the braking light lighting determination unit determines that the braking light of the preceding vehicle is not lit. .

  According to the vehicle travel safety device of the first aspect of the present invention, the vehicle behavior of the preceding vehicle is predicted even if the preceding vehicle stops or encounters the intersecting vehicle and decelerates due to a collision with the intersecting vehicle. Thus, predetermined warning or avoidance control can be executed, and the possibility of collision between the host vehicle and the preceding vehicle can be reduced.

  Furthermore, according to the vehicle travel safety device of the second aspect of the present invention, it is possible to improve the determination accuracy of the possibility of collision between the preceding vehicle and the crossing vehicle, and the warning or avoidance control is performed excessively. Can be prevented.

  Furthermore, according to the vehicle travel safety device of the third aspect of the present invention, the lighting state of the brake light of the preceding vehicle can be reflected in the determination of the possibility of collision between the preceding vehicle and the crossing vehicle. It is possible to improve the determination accuracy of the possibility of collision between the vehicle and the crossing vehicle, and it is possible to prevent the warning or the avoidance control from being performed excessively.

1 is a configuration diagram of a vehicle travel safety device according to an embodiment of the present invention. It is a figure which shows the example of the relative position of the own vehicle which concerns on embodiment of this invention, a crossing vehicle, and a preceding vehicle. It is a flowchart which shows operation | movement of the driving safety device of the vehicle which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the driving safety device of the vehicle which concerns on embodiment of this invention.

Hereinafter, a vehicle travel safety apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
The vehicle travel safety device 10 according to the present embodiment transmits the driving force of the internal combustion engine (E) to the driving wheels (not shown) of the vehicle via a transmission (T / M), for example, as shown in FIG. The vehicle is mounted on a vehicle and includes an external sensor 11, a vehicle state sensor 12, a processing device 13, a throttle actuator 14, a brake actuator 15, a steering actuator 16, and a notification device 17.

The external sensor 11 includes, for example, a radar device and an imaging device using electromagnetic waves such as infrared lasers and millimeter waves.
For example, the radar device divides a detection target region (for example, right front and left front) set in the external environment of the host vehicle into a plurality of angle regions, and scans each angle region to generate an electromagnetic wave transmission signal. To send. And each reflected signal receives the reflected signal which arose by reflecting by the external object (for example, other vehicles, structures, etc.) of the own vehicle, and the detection signal concerning the distance from the radar apparatus to the external object is received. Generate and output to the processing device 13.
In addition, for example, the imaging device performs image processing on an image obtained by imaging an imaging region (for example, right front and left front) set in the external environment of the host vehicle by using a camera, and generates image data. Output to the device 13.

  The vehicle state sensor 12 includes, for example, a wheel speed sensor that detects the rotational speed (wheel speed) of the driving wheel of the host vehicle, an acceleration sensor that detects acceleration acting on the vehicle body, and a gyro that detects the posture and traveling direction of the vehicle body. Sensor, yaw rate (rotational angular velocity around the vertical axis of the center of gravity of the vehicle), and positioning signals such as GPS (Global Positioning System) signals for measuring the position of the vehicle using an artificial satellite, for example A positioning signal receiver that receives the signal and each sensor that detects the driving operation by the driver (for example, accelerator pedal depression amount, brake pedal depression amount, steering wheel steering angle, shift position, etc.) And outputs signals of detection results of various types of vehicle information of the host vehicle.

  The processing device 13 includes, for example, a host vehicle course prediction unit 31, a crossing vehicle detection unit 32, a crossing vehicle course prediction unit 33, a side position detection unit 34, a preceding vehicle detection unit 35, a vehicle length estimation unit 36, A front end position estimation unit 37, a brake lamp lighting determination unit 38, an intersection determination unit 39, a collision possibility determination unit 40, and a vehicle control unit 41 are provided.

The host vehicle course prediction unit 31 calculates the traveling direction of the host vehicle based on, for example, signals output from the wheel speed sensor and the yaw rate sensor of the vehicle state sensor 12, and further, based on the traveling direction of the host vehicle. Predict the course.
For example, as shown in FIGS. 2 (A) and 2 (B), the crossing vehicle detection unit 32 is based on the detection signal output from the radar device of the external sensor 11, for example. The other vehicle (crossing vehicle) that moves in the traveling direction that intersects the course of the vehicle is detected.

  The crossing vehicle course prediction unit 33 determines the position of the crossing vehicle from a plurality of reflection points of electromagnetic waves transmitted from the radar device and reflected by the crossing vehicle based on, for example, detection signals sequentially output from the radar device of the external sensor 11. A representative representative point (for example, a reflection point closest to the host vehicle or the center of gravity of a plurality of reflection points) is calculated, and a course of the intersecting vehicle is predicted from a time series change of the representative point.

  The side surface position detection unit 34, for example, based on detection signals sequentially output from the radar device of the external sensor 11, etc., the own vehicle of the crossing vehicle in the traveling direction along the course of the crossing vehicle predicted by the crossing vehicle route prediction unit 33 The side surface position on the side close to is detected.

The preceding vehicle detection unit 35 is, for example, based on a detection signal output from the radar device of the external sensor 11 and the like, as shown in FIGS. 2 (A) and 2 (B), for example, ahead of the traveling direction within a predetermined distance from the own vehicle. The position of the existing preceding vehicle is detected.
The vehicle length estimation unit 36 estimates the vehicle length (the total length in the vehicle front-rear direction) of the preceding vehicle detected by the preceding vehicle detection unit 35 based on, for example, image data output from the imaging device of the external sensor 11.
For example, if the image data of the rear part of the preceding vehicle is subjected to pattern matching processing with data of a predetermined vehicle type, and the vehicle type of the preceding vehicle can be specified by this pattern matching, The preset vehicle length is acquired.
Also, for example, based on image data output from the imaging device of the external sensor 11, the type of the license plate and the vehicle body shape of the preceding vehicle are detected, and a predetermined vehicle set in advance according to the type of the license plate and the vehicle body shape. Get long data. The data of the predetermined vehicle length is, for example, a vehicle length cl = 3.4 m if it is a license plate of a light vehicle due to the color of the license plate, etc. If the vehicle body shape is a wagon type, for example, the vehicle length cl = 4.8 m. If the vehicle body shape is a sedan type, the vehicle length cl = 4.6 m, and if the vehicle body shape is a hatchback type, the vehicle length cl = 4.2 m.

The front end position estimation unit 37 estimates the front end position of the preceding vehicle based on, for example, the detection signal output from the radar device of the external sensor 11 and the vehicle length estimated by the vehicle length estimation unit 36.
For example, based on the image data output from the imaging device of the external sensor 11, the brake light lighting determination unit 38 determines whether the brake light of the preceding vehicle has been lit from the image data of the rear part of the preceding vehicle.

  The intersection determination unit 39 determines whether or not the host vehicle is positioned near the intersection based on, for example, detection signals sequentially output from the radar device of the external sensor 11 or image data output from the imaging device.

The collision possibility determination unit 40, for example, when the intersection determination unit 39 determines that the host vehicle is located in the vicinity of the intersection, and the course of the host vehicle predicted by the host vehicle route prediction unit 31 and the intersection vehicle route prediction unit 33. Based on the predicted path of the intersecting vehicle, the possibility of collision between the host vehicle and the intersecting vehicle is determined in consideration of, for example, the deceleration required for collision avoidance.
Further, the collision possibility determination unit 40 determines that the own vehicle is located near the intersection by the intersection determination unit 39, and when the own vehicle follows the preceding vehicle and shifts from the stop state to the start state. Based on the course of the intersecting vehicle predicted by the course prediction unit 33, the front end position of the preceding vehicle estimated by the front end position estimation unit 37, and the course and traveling direction of the preceding vehicle, for example, a deceleration required for collision avoidance is calculated. Considering this, the presence or absence of a collision possibility between the preceding vehicle and the crossing vehicle is determined.

For example, the collision possibility determination unit 40, based on the detection signal output from the radar device of the external sensor 11, for example, as shown in FIG. 2A, from the own vehicle (for example, the front end of the own vehicle) For example, the distance d1 to the side position of the intersecting vehicle), the distance d2 from the own vehicle (for example, the front end of the own vehicle) to the preceding vehicle (for example, the rear end of the preceding vehicle), and the vehicle length cl of the preceding vehicle The distance dl (= d1-d2-cl) from the preceding vehicle (for example, the front end position of the preceding vehicle) to the intersecting vehicle (for example, the side surface position of the intersecting vehicle) is calculated. Then, it is determined whether or not the distance dl from the preceding vehicle to the intersecting vehicle is less than a predetermined threshold. If the distance dl is less than the predetermined threshold in this determination result, there is a possibility of collision between the preceding vehicle and the intersecting vehicle. judge.
Note that the predetermined threshold value for the distance dl is, for example, that of the preceding vehicle detected based on the determination result of whether or not the brake light of the preceding vehicle is lit, and the detection signal sequentially output from the radar device of the external sensor 11, for example. It is set according to the speed V1. For example, if the brake light of the preceding vehicle is not lit, the preceding vehicle at the speed V1 stops at a predetermined first deceleration g1 (for example, 0.2 G (= 0.2 × 9.8 m / s ² )). The distance required until this time is set as a first preceding vehicle approach threshold dl_th1 (= V1 ² / (2 × g1)), which is a predetermined threshold for the distance dl. Further, for example, if the brake light of the preceding vehicle is lit, the preceding vehicle having the speed V1 has a predetermined second deceleration g2 (for example, 0.5G (= 0.5 × 9.8 m) that is larger than the first deceleration g1. / S ² )) is set as a second preceding vehicle approach threshold dl_th2 (= V1 ² / (2 × g2)) which is a predetermined threshold for the distance dl.
If the collision possibility determination unit 40 determines that there is a possibility of collision between the preceding vehicle and the crossing vehicle, the collision possibility determination unit 40 further detects when the preceding vehicle stops, for example, as shown in FIG. The distance ds (= d2 + dl) from the vehicle (for example, the front end of the own vehicle) to the preceding vehicle (for example, the rear end of the preceding vehicle) is calculated, and the own vehicle is By determining whether or not it is possible to stop within ds, it is determined whether or not there is a possibility of collision between the host vehicle and the preceding vehicle.

The vehicle control unit 41 outputs a control signal for controlling the traveling state of the host vehicle according to the determination result by the collision possibility determination unit 40. This control signal includes, for example, a control signal for controlling the transmission operation of the transmission (T / M), a control signal for controlling the driving force of the internal combustion engine (E) by the throttle actuator 14, and a control signal for controlling the deceleration by the brake actuator 15. And a control signal for controlling the turning by the steering actuator 16.
Moreover, the vehicle control part 41 outputs the control signal which controls the alerting | reporting apparatus 17, when notifying the passenger | crew of the own vehicle various information.

The notification device 17 includes, for example, a tactile transmission device, a visual transmission device, and an auditory transmission device.
The tactile transmission device is, for example, a seat belt device or a steering control device, and generates a predetermined tension on the seat belt, for example, in response to a control signal output from the vehicle control unit 41 so that an occupant of the host vehicle can sense the touch. The possibility of a collision with an approaching crossing vehicle by applying a perceptible tightening force or generating vibration (steering vibration) that can be perceived by the driver of the vehicle on the steering wheel. Let the crew recognize that there is.
The visual transmission device is, for example, a display device, for example, by displaying predetermined alarm information on the display device or blinking a predetermined alarm light in accordance with a control signal input from the vehicle control unit 41. The occupant is made aware that there is a possibility of a collision with the approaching crossing vehicle.
The auditory transmission device is, for example, a speaker and outputs a predetermined warning sound or voice according to a control signal input from the vehicle control unit 41, so that there is a possibility of occurrence of a collision with an approaching crossing vehicle. Let the crew recognize that there is.

  The vehicle travel safety device 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle travel safety device 10 will be described.

First, for example, in step S01 shown in FIG. 3, an intersecting vehicle that moves in a traveling direction that intersects the course of the host vehicle is detected.
Next, in step S02, the course of the intersecting vehicle is predicted, and the distance d1 from the own vehicle to the intersecting vehicle is detected.
Next, in step S03, the position of the preceding vehicle existing ahead in the traveling direction within a predetermined distance from the host vehicle is detected.

Next, in step S04, the distance d2 from the own vehicle (for example, the front end of the own vehicle) to the preceding vehicle (for example, the rear end of the preceding vehicle) is detected.
Next, in step S05, the image data of the rear part of the preceding vehicle is acquired based on the image data output from the imaging device of the external sensor 11.
Next, in step S06, pattern matching processing is performed on the image data of the rear part of the preceding vehicle with data of a predetermined vehicle type.
In step S07, it is determined whether or not there is matching with the rear image data of the preceding vehicle.
If this determination is “YES”, the flow proceeds to step S08, and in this step S08, the vehicle length cl corresponding to the vehicle type of the preceding vehicle is acquired from the data of the predetermined vehicle type, and the flow proceeds to step S14 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 09.

Next, in step S09, the type of the license plate is determined from the image data of the rear part of the preceding vehicle.
And in step S10, it is determined whether it is a license plate of a light vehicle.
If this determination is “YES”, the flow proceeds to step S 11, in which a predetermined length #cl (= 3.4 m, etc.) set in advance for the light vehicle is set as the vehicle length cl, which will be described later. The process proceeds to step S14.
On the other hand, if this determination is “NO”, the flow proceeds to step S 12, where the vehicle body shape is estimated from the image data of the rear part of the preceding vehicle.
In step S13, a vehicle length cl preset for the vehicle body shape is acquired.

In step S14, a distance dl (= d1-d2-cl) from the preceding vehicle (for example, the front end position of the preceding vehicle) to the intersecting vehicle (for example, the side surface position of the intersecting vehicle) is calculated.
In step S15, as will be described later, whether or not there is a possibility of collision between the preceding vehicle and the crossing vehicle is determined based on the speed V1 of the preceding vehicle and the distance dl.
In step S16, it is determined whether or not there is a possibility of collision between the preceding vehicle and the crossing vehicle.
If this determination is “NO”, the flow proceeds to the end.
On the other hand, if this determination is “YES”, the flow proceeds to step S17.

In step S17, a distance ds (= d2 + dl) from the own vehicle (for example, the front end of the own vehicle) to the preceding vehicle (for example, the rear end of the preceding vehicle) when the preceding vehicle stops is calculated.
In step S18, it is determined whether or not the host vehicle can be stopped within the distance ds.
If this determination is “YES”, the flow proceeds to the end.
On the other hand, if this determination is “NO”, the flow proceeds to step S 19.
In step S19, the collision avoidance control for controlling the alarm notification and the traveling state of the host vehicle is executed, and the process proceeds to the end.

Below, the process of step S15 mentioned above is demonstrated.
First, for example, in step S31 shown in FIG. 4, the first preceding vehicle approach threshold dl_th1 (= V1 ² / (2 × g1)) is calculated based on the speed V1 of the preceding vehicle and the predetermined first deceleration g1. To do.
In step S32, the lighting state of the brake light of the preceding vehicle is determined from the image data of the rear portion of the preceding vehicle based on the image data output from the imaging device of the external sensor 11.

In step S33, it is determined whether or not the brake lamp is not lit.
If this determination result is "YES", the process proceeds to step S34, in which it is determined whether or not the distance dl from the preceding vehicle to the crossing vehicle is less than the first preceding vehicle approach threshold dl_th1.
If this determination is “NO”, the flow proceeds to the end.
On the other hand, if this determination is “YES”, the flow proceeds to step S 37 described later.

In step S35, the second preceding vehicle approach threshold dl_th2 (= V1 ² / (2 × g2)) is calculated based on the speed V1 of the preceding vehicle and the predetermined second deceleration g2.
In step S36, it is determined whether or not the distance dl from the preceding vehicle to the crossing vehicle is less than the second preceding vehicle approach threshold dl_th2.
If this determination is “YES”, the flow proceeds to step S 37, in which it is determined that there is a possibility of collision between the preceding vehicle and the crossing vehicle, and the flow proceeds to the end.
On the other hand, if this determination is “NO”, the flow proceeds to step S 38, in which it is determined that there is no possibility of collision between the preceding vehicle and the crossing vehicle, and the flow proceeds to the end.

As described above, according to the vehicle travel safety device 10 according to the present embodiment, even when the preceding vehicle stops due to a collision with an intersecting vehicle, the vehicle behavior of the preceding vehicle is predicted and a predetermined warning is issued. Alternatively, avoidance control can be executed, and the possibility of collision between the host vehicle and the preceding vehicle can be reduced.
In addition, by estimating the position of the side of the intersecting vehicle that is close to the host vehicle along the path of the intersecting vehicle and the front end position of the preceding vehicle, the accuracy of determining whether there is a possibility of collision between the preceding vehicle and the intersecting vehicle is improved. It is possible to prevent the alarm or the avoidance control from being performed excessively.
Furthermore, the lighting state of the brake light of the preceding vehicle can be reflected in the determination of the possibility of collision between the preceding vehicle and the intersecting vehicle, and the determination accuracy of the possibility of collision between the preceding vehicle and the intersecting vehicle is improved. It is possible to prevent the alarm or avoidance control from being performed excessively.

In the above-described embodiment, when the distance between the host vehicle and the intersection is longer than a predetermined value, such as when the preceding vehicle is detected as a large vehicle from the rear image data of the preceding vehicle. Alternatively, the execution of the determination process for determining whether or not the collision avoidance control needs to be performed depending on the possibility of collision between the preceding vehicle and the crossing vehicle may be stopped.
In the above-described embodiment, when it is determined that the host vehicle is located near the intersection and the host vehicle follows the preceding vehicle and shifts from the stop state to the start state, the collision between the preceding vehicle and the intersecting vehicle occurs. Although collision avoidance control is executed according to the possibility of collision, the present invention is not limited to this, and collision avoidance depends on the possibility of collision between the preceding vehicle and the intersecting vehicle in a driving state other than when the host vehicle is starting. Control may be performed.

DESCRIPTION OF SYMBOLS 10 Vehicle travel safety device 11 External sensor 12 Vehicle state sensor 17 Notification device 31 Own vehicle route prediction unit (own vehicle route prediction means)
32 Crossing vehicle detection unit (crossing vehicle detection means)
33 Crossing vehicle route prediction unit (crossing vehicle route prediction means)
34 Side position estimation unit (side position estimation means)
35 Leading vehicle detection unit (leading vehicle detection means)
36 Vehicle length estimation unit (vehicle length estimation means)
37 Front end position estimation unit (front end position estimation means)
38 Brake light lighting determination unit (braking light lighting determination means)
40 Collision possibility judgment part (collision possibility judgment means)
41 Vehicle control unit (control means)

Claims (3)

Own vehicle course prediction means for predicting the course of the own vehicle;
Crossing vehicle detection means for detecting a crossing vehicle that runs on a crossing that crosses the traveling road of the host vehicle;
Crossing vehicle course prediction means for predicting the course of the crossing vehicle detected by the crossing vehicle detection means;
Based on the course of the own vehicle predicted by the own vehicle course prediction means and the course of the intersecting vehicle predicted by the intersecting car course prediction means, the presence / absence of a collision possibility between the own vehicle and the intersecting vehicle is determined. Collision possibility judging means to
When the collision possibility determining means determines that there is a possibility of collision between the own vehicle and the intersecting vehicle at an intersection between the traveling road of the own vehicle and the intersection, a predetermined warning or avoidance control is performed. A vehicle travel safety device comprising a control means for executing the vehicle,
A preceding vehicle detecting means for detecting a position of a preceding vehicle existing ahead in the traveling direction within a predetermined distance from the host vehicle;
When the position of the preceding vehicle is detected by the preceding vehicle detecting means, the collision possibility determining means is based on the position of the preceding vehicle and the course of the intersecting vehicle predicted by the intersecting vehicle course predicting means. Determining whether there is a collision possibility between the crossing vehicle and the preceding vehicle,
The control unit executes the predetermined warning or the avoidance control when the collision possibility determination unit determines that there is a collision possibility between the intersecting vehicle and the preceding vehicle. Travel safety device. Side surface position estimating means for estimating a side surface position of the crossing vehicle along the route on the side close to the host vehicle based on the path of the crossing vehicle predicted by the crossing vehicle route prediction means;
Vehicle length estimation means for estimating the vehicle length of the preceding vehicle;
Front end position estimating means for estimating the front end position of the preceding vehicle based on the position of the preceding vehicle detected by the preceding vehicle detecting means and the vehicle length of the preceding vehicle estimated by the vehicle length estimating means; Prepared,
The collision possibility determination means is configured to determine whether the collision vehicle and the crossing vehicle based on the distance from the side position of the intersecting vehicle estimated by the side position estimation means to the front end position of the preceding vehicle estimated by the front end position estimation means. The travel safety device for a vehicle according to claim 1, wherein presence or absence of a collision possibility with the preceding vehicle is determined. A brake light lighting determining means for determining whether or not the brake light of the preceding vehicle has been lit,
The collision possibility determination means has a distance from the side position of the other vehicle estimated by the side position estimation means to the front end position of the preceding vehicle estimated by the front end position estimation means is a predetermined distance or less, In addition, when the brake light lighting determining unit determines that the brake light of the preceding vehicle is not lit, it is determined that there is a possibility of collision between the intersecting vehicle and the preceding vehicle. The vehicle travel safety device according to claim 1 or 2.

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