Crossing determination apparatus

A crossing determination apparatus comprising:

• an object detection unit which detects an object moving in a direction perpendicular to a traveling path of an own vehicle;
• a crossing speed calculation unit which calculates a crossing speed that is a speed at which the object detected by the objection detection unit is crossing a current traveling path of the own vehicle;
• a crossing determination unit which, when the crossing speed calculated by the crossing speed calculation unit is higher than a predetermined speed, determines that the object is crossing the traveling path of the own vehicle;
• and
• a yaw rate detection unit which detects a yaw rate of the own vehicle, wherein
• the crossing determination unit corrects the crossing speed of the object or the predetermined speed based on the yaw rate detected by the yaw rate detection unit,
• the crossing determination apparatus, further comprising
• a yaw rate rate-of-change calculation unit which calculates a time rate of change of the yaw rate detected by the yaw rate detection unit, wherein
• the crossing determination unit corrects the crossing speed or the predetermined speed to reduce a probability of determining the object as crossing on a condition that the own vehicle turns toward the object with respect to the current traveling path and the time rate of change calculated by the yaw rate rate-of-change calculation unit is higher than a predetermined rate of change.

A crossing determination apparatus comprising:

• an object detection unit which detects an object moving in a direction perpendicular to a traveling path of an own vehicle;
• a crossing speed calculation unit which calculates a crossing speed that is a speed at which the object detected by the objection detection unit is crossing a current traveling path of the own vehicle;
• a crossing determination unit which, when the crossing speed calculated by the crossing speed calculation unit is higher than a predetermined speed, determines that the object is crossing the traveling path of the own vehicle;
• and
• a yaw rate detection unit which detects a yaw rate of the own vehicle, wherein:
• the crossing determination unit corrects the crossing speed of the object or the predetermined speed based on the yaw rate detected by the yaw rate detection unit;
• and
• when the own vehicle turns in a direction away from the object, the crossing determination unit is more likely to determine that the object is crossing the traveling path of the own vehicle than when the own vehicle does not turn in the direction away from the object.

A crossing determination apparatus comprising:

• an object detection unit which detects an object moving in a direction perpendicular to a traveling path of an own vehicle;
• an amount-of-movement calculation unit which calculates an amount of movement of the object detected by the object detection unit, the object having moved in a direction crossing a current traveling path of the own vehicle with a lapse of a predetermined time;
• a crossing determination unit which, when the amount of movement of the object calculated by the amount-of-movement calculation unit is greater than a predetermined amount of movement, determines that the object is crossing the traveling path of the own vehicle;
• and
• a yaw rate detection unit which detects a yaw rate of the own vehicle, wherein:
• the crossing determination unit corrects the amount of movement of the object or the predetermined amount of movement based on the yaw rate detected by the yaw rate detection unit;
• and
• when the own vehicle turns in a direction away from the object, the crossing determination unit is more likely to determine that the object is crossing the traveling path of the own vehicle than when the own vehicle does not turn in the direction away from the object.