Collision determination device and collision determination system

A collision avoidance system comprising:

• a collision determination device for determining a possibility of a collision between an own vehicle and a target in a determination area surrounding the own vehicle, the collision determination device comprising:
• an orientation detection unit for detecting orientation of the target relative to the own vehicle;
• an image sensor for capturing images surrounding the own vehicle;
• an angle calculation unit for calculating a first angle θ0 formed by a movement direction of the own vehicle and a movement direction of the target;
• and
• a collision determination unit for using image data acquired from the image sensor to
• determine a state of a lane compartment line on a road on which the own vehicle travels, and
• determine a probability of collision between the own vehicle and the target based on the first angle θ0 and the state of the lane compartment line, wherein the collision determination unit determines the probability of collision to be lower for a state in which the lane compartment line is located between the own vehicle and the target than for a state in which the lane compartment line is not located between the own vehicle and the target, and the collision determination unit determines the probability of collision to be lower for a state in which the lane compartment line indicates prohibition of a course change than for a state in which the lane compartment line does not indicate prohibition of the course change;
• and
• a collision avoidance device configured to reduce an extent of a collision avoidance process as the probability of collision decreases.