Patent ID: 9601020
Date: 2017-03-21
CPC Classifications: B60W,G08G

Claim:
1. A collision determination device comprising: vehicle route candidate acquisition unit acquiring a route candidate of a host vehicle; traveling status acquisition unit acquiring ambient information; other object status acquisition unit acquiring the status of the other object from the ambient information; shortest arrival time calculation unit calculating a shortest arrival time, at which the other object can arrive at each point of the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit when moving with a predetermined first displacement, on the basis of the status of the other object acquired by the other object status acquisition unit; longest stopover time calculation unit calculating a longest stopover time, at which the other object passes through each point of the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit when reducing speed with a predetermined second displacement, on the basis of the status of the other object acquired by the other object status acquisition unit; and collision determination unit determining the possibility of collision between the host vehicle and the other object on the basis of the shortest arrival time calculated by the shortest arrival time calculation unit, the longest stopover time calculated by the longest stopover time calculation unit, and the passage time at each point of the host vehicle, wherein, when the shortest arrival time calculated by the shortest arrival time calculation unit is smaller than the passage time at each point of the route candidate of the host vehicle, and the longest stopover time calculated by the longest stopover time calculation unit is greater than the passage time at each point of the route candidate of the host vehicle, the collision determination unit determines that there is a possibility that the host vehicle collides with the other object.