Importance

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Abstract

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.

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First Claim