Collision avoidance apparatus, collision avoidance system, and driving support method

A collision avoidance system comprising:

• a first information transmitting apparatus configured to generate and transmit first information including a position, a speed, and an advancement direction of a first mobile body;
• and
• a collision avoidance apparatus comprising:
• a first information acquisition unit configured to acquire the first information from the first information transmitting apparatus;
• a second information acquisition unit configured to acquire second information including a position, a speed, and an advancement direction of a second mobile body;
• a first mobile body prediction unit configured to predict a position of the first mobile body at an at least one future time point, based on the first information;
• a second mobile body prediction unit configured to predict a position of the second mobile body at the at least one future time point, based on the second information;
• a judgement unit configured to judge whether or not the position of the first mobile body at the at least one future time point and the position of the second mobile body at the at least one future time point satisfy a predetermined condition;
• and
• a signal outputting unit configured to, in response to judgement unit judging that the predetermined condition is satisfied, output a signal which is specific to the predetermined condition,
• wherein the second mobile body is a vehicle,
• the collision avoidance apparatus is installed on the second mobile body, and
• the first information transmitting apparatus is installed on a vehicle that is a mobile body other than the first and second mobile bodies, or installed on roadside equipment installed on a roadside.

A driving support method of supporting execution of a right turn or a left turn of a host vehicle by a driver, comprising:

• a first step of setting a predicted advancement track line in response to the host vehicle making a right turn or a left turn from a current position,
• a second step of setting a plurality of respectively different regions that are disposed along the predicted advancement track line,
• a third step of judging, based on information about a mobile body that is obtained through inter-vehicle communication or through roadside-to-vehicle communication, whether or not there is the mobile body for which there is a possibility that the mobile body will intrude into one of the plurality of different regions at a time point when the host vehicle is positioned in the one of the plurality of different regions, and
• a fourth step of executing driving support control that has been respectively set for the plurality of different regions, in response to judging in the third step that there is a mobile body having a possibility of intruding into the one of the plurality of different regions.