A lateral deviation .delta.d which is a lateral distance between an intrinsic appropriate course R for a vehicle Ai and a contact position P at which the vehicle Ai will come into contact with an on-coming vehicle Ao, is calculated based on a relative angle .theta., a relative distance L and a relative speed Vs which are detected by a radar device, and based on a vehicle speed Vi of the vehicle Ai detected by vehicle speed sensors. When the lateral deviation .delta.d is in a range of .delta.dn<.delta.d<.delta.dx, it is determined that there is the possibility that the vehicle Ai will collide frontally with the on-coming vehicle Ao. The lateral deviation .delta.d can be calculated based on the relative angle .theta., the relative distance L and the relative speed Vs provided in one cycle of transmission and reception of beam by the radar device. Therefore, the possibility of collision can be determined immediately at a time point when the on-coming vehicle Ao is recognized, without continuous detection of the correlation between the vehicle Ai and the on-coming vehicle Ao by the radar device.

Ein seitliches Abweichung delta.d, das ein seitlicher Abstand zwischen einem tatsächlichen passenden Kurs R für einen Träger KI und einer Kontaktposition P ist, an denen der Träger KI in Kontakt mit einem kommenden Träger AO kommt, wird gründete auf einem relativen Winkel theta., einem relativen Abstand L und einer relativen Geschwindigkeit errechnet, gegen die durch eine Radarvorrichtung ermittelt werden und auf einer Trägergeschwindigkeit VI des Trägers basieren KI, der durch Trägerdrehzahlgeber ermittelt wird. Wenn das seitliche Abweichung delta.d in einer Strecke des delta.dn ist

 
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