Collision avoidance assist apparatus, collision avoidance assist method, and program

A collision avoidance assist apparatus comprising:

• an object detection part configured to detect a second moving object that crosses ahead in a travel direction of a first moving object;
• an estimation part configured to estimate a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the second moving object detected by the object detection part;
• and
• a drive assist part configured to perform a drive assist of the first moving object in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object and the relationship estimated by the estimation part satisfies a predetermined condition.

A collision avoidance assist method comprising:

• (a) detecting a second moving object that crosses ahead in a travel direction of a first moving object;
• (b) estimating a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the second moving object detected in (a);
• and
• (c) determining that there is a possibility that the first moving object and the second moving object will collide with each other in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object and the relationship estimated in (b) satisfies a predetermined condition.

A non-transitory computer-readable recording medium including a program for causing a computer to execute:

• (a) detecting a second moving object that crosses ahead in a travel direction of a first moving object;
• (b) estimating a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the second moving object detected in (a);
• and
• (c) determining that there is a possibility that the first moving object and the second moving object will collide with each other in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object and the relationship estimated in (b) satisfies a predetermined condition.