JP2009223640A - Traveling safety device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling safety device for a vehicle, capable of effectively avoiding contact with a two-wheeler or bicycle even in such a case that the two-wheeler or the like accompanies near a crossing vehicle by accurately determining the probability of the contact with the two-wheeler or the like. <P>SOLUTION: In the traveling safety device for vehicle which calculates a correlation between an object such as a crossing vehicle detected based on a detection result of an object detection means and an own vehicle and predicts a deceleration of the crossing vehicle is predicted (S10-S16); determines a contact probability between the own vehicle and the crossing vehicle based on the calculated correlation and the predicted deceleration; and operates a contact avoidance support means such as an alarm device when the contact probability is determined (S18-S26), the vehicle width w of the crossing vehicle is calculated based on the detection result of the object detection means (S20), and when the calculated vehicle width is a predetermined value or more, the determination of contact probability is performed based on only the calculated correlation (S18). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle travel safety apparatus, and more specifically to an apparatus that avoids contact with an intersecting vehicle at an intersection or the like.

As a technique for avoiding contact between the own vehicle and the intersecting vehicle at an intersection or the like, a technique described in Patent Document 1 below can be cited. In the technique described in Patent Document 1, the crossing vehicle is estimated by estimating the traveling state of the crossing vehicle at the time when the self vehicle enters the intersection while taking into account changes in the traveling state of the own vehicle and the crossing vehicle. Configured to avoid contact with.
JP 2006-178664 A

  In the above-described conventional technology, the traveling state of the crossing vehicle at the time of entering the intersection is estimated from the vehicle speed, acceleration / deceleration, etc., and the contact is avoided, but each of the crossing vehicles is accurately detected. Is the premise.

  Note that “crossing” generally means crossing at right angles or obliquely, but in this specification, “crossing vehicle” means a vehicle in a position where it crosses the own vehicle, for example, the vehicle is not prioritized such as a T-junction. When on a road, it means a vehicle traveling on a priority road ahead.

  However, if a two-wheeled vehicle or a bicycle is traveling in close proximity to an intersecting four-wheeled vehicle, each may not be detected as a separate vehicle, and an event may occur in which each object is recognized as a single object. . When the crossing four-wheeled vehicle is traveling at a constant speed, the two-wheeled vehicle continues to be accompanied by the two-wheeled vehicle. If the vehicle cannot be detected as a separate vehicle, it may not be possible to accurately determine whether or not there is a possibility of contact, and contact with a motorcycle may not be effectively avoided.

  Therefore, the object of the present invention is to solve the above-mentioned problems, accurately determine the possibility of contact with a two-wheeled vehicle, even if a two-wheeled vehicle or a bicycle is accompanied in the vicinity of an intersecting vehicle, and It is an object of the present invention to provide a vehicle travel safety device that effectively avoids such contact.

  In order to solve the above-described object, in claim 1, an object detection unit that detects an object around the vehicle at predetermined time intervals, and the vehicle and the vehicle based on a detection result of the object detection unit A relative relationship calculating means for calculating a relative relationship with an object, and a deceleration prediction means for predicting a deceleration of the intersecting vehicle when an intersecting vehicle is detected as the object at a position that intersects with the own vehicle; Based on the calculated relative relationship and the predicted deceleration, contact possibility determination means for determining whether or not there is a possibility of contact between the own vehicle and the crossing vehicle, and determination that there is a possibility of contact A vehicle width safety means for calculating a vehicle width of the crossing vehicle based on a detection result of the object detection means in a vehicle travel safety device comprising an avoidance assistance operation means for activating the contact avoidance assistance means. Before and Contact possibility determination means, the calculated vehicle width when the predetermined value or more, was constructed as determining the likelihood of the contacts based only on the relative relationship the calculated.

  According to claim 2, an object detection unit that detects an object around the vehicle at a predetermined time interval, and a relative that calculates a relative relationship between the vehicle and the object based on a detection result of the object detection unit. A relationship calculating means; a deceleration predicting means for predicting a deceleration of the intersecting vehicle when an intersecting vehicle at a position intersecting with the host vehicle is detected as the object; and the calculated relative relationship and the prediction Contact possibility determining means for determining whether or not there is a possibility that the own vehicle and the crossing vehicle are in contact with each other based on the deceleration, and when it is determined that there is a possibility of contact, a contact avoidance assisting means is provided. In a vehicle travel safety device comprising an avoidance assist operating means for operating, a vehicle width calculating means for calculating a vehicle width of the intersecting vehicle based on a detection result of the object detecting means, and an increase in the calculated vehicle width Increase vehicle width to calculate rate The contact possibility determining means determines the possibility of contact based only on the calculated relative relationship when the calculated vehicle width increase rate is equal to or greater than a threshold value. It was configured as follows.

  In the vehicle travel safety device according to claim 1, the vehicle width of the intersecting vehicle is calculated based on the detection result of the object detection means, and only the calculated relative relationship is obtained when the calculated vehicle width is equal to or greater than a predetermined value. In other words, since it is configured to determine the possibility of contact with an intersecting vehicle without considering the deceleration of the intersecting vehicle, even if a motorcycle or a bicycle accompanies the vicinity of the intersecting vehicle, The possibility of contact with a motorcycle or the like can be accurately determined, and contact with a motorcycle or the like can be effectively avoided.

  That is, by calculating the width of the crossing vehicle, it is possible to estimate the presence of a two-wheeled vehicle traveling in the vicinity of the crossing vehicle. When the presence of a two-wheeled vehicle is estimated, the deceleration of the crossing vehicle is not considered. Even if the crossing vehicle actually decelerates, it is considered that the vehicle will not decelerate, so the possibility of contact is judged, so even if a motorcycle passes through the side of a crossing vehicle that has decelerated, it can contact the motorcycle Sex can be accurately determined, and contact with them can be reliably avoided.

  In the vehicle travel safety device according to claim 2, the vehicle width of the intersecting vehicle is calculated based on the detection result of the object detection means, the increase rate of the calculated vehicle width is calculated, and the calculated vehicle width is calculated. When the rate of increase is equal to or greater than the threshold value, the motorcycle is configured to determine the possibility of contact with the intersecting vehicle based on only the calculated relative relationship, in other words, without considering the deceleration of the intersecting vehicle. It is possible to accurately determine the possibility of contact with the like and effectively avoid contact with them.

  That is, by calculating the rate of increase of the vehicle width of the intersecting vehicle, even if the calculated vehicle width is not equal to or greater than the predetermined value, if the rate of increase is equal to or greater than the threshold value, the two-wheeled vehicle traveling near the intersecting vehicle. Therefore, it is possible to accurately determine the possibility of contact with a motorcycle or the like, and to reliably avoid contact with them.

  The best mode for carrying out a vehicle travel safety device according to the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram generally showing a vehicle travel safety device according to an embodiment of the present invention.

  In FIG. 1, reference numeral 10 denotes a host vehicle (vehicle), and a four-cylinder internal combustion engine (shown as “ENG” in FIG. 1, hereinafter referred to as “engine”) 12 is mounted on the front portion thereof. The output of the engine 12 is input to an automatic transmission (shown as “T / M” in FIG. 1) 14. The output of the engine 12 is appropriately shifted by the automatic transmission 14 and transmitted to the left and right front wheels 16, while driving the left and right front wheels 16, the left and right rear wheels 20 are driven to drive the host vehicle 10.

  An alarm device 22 including an audio speaker and an indicator is provided in the driver's seat of the own vehicle 10, and the driver is warned by voice and vision. A brake pedal 24 disposed on the driver's seat floor of the host vehicle 10 includes brakes (disc brakes) mounted on the left and right front wheels 16 and the rear wheels 20 via a master back 26, a master cylinder 30 and a brake hydraulic mechanism 32, respectively. ) 34.

  When the driver operates (depresses) the brake pedal 24, the depressing force (depressing force) is increased by the master back 26, and the master cylinder 30 generates a braking pressure with the increased depressing force, via the brake hydraulic mechanism 32. Then, the brakes 34 attached to the front wheels 16 and the rear wheels 20 are operated to decelerate (brake) the host vehicle 10. A brake switch 36 is disposed in the vicinity of the brake pedal 24 and outputs an ON signal when the driver operates the brake pedal 24.

  The brake hydraulic mechanism 32 includes an electromagnetic solenoid valve group inserted in an oil passage connected to a reservoir, a hydraulic pump, and an electric motor (all not shown) that drives the hydraulic pump. The electromagnetic solenoid valve group is connected to an ECU (Electronic Control Unit) 40 via a drive circuit (not shown), and thus the four brakes 34 are mutually connected by the ECU 40 separately from the operation of the brake pedal 24 by the driver. Configured to operate independently.

  In the above, the alarm device 22, the brake hydraulic mechanism 32 and the brake 34 correspond to contact avoidance support means, and the ECU 40 corresponds to avoidance support operation means.

  A radar (laser scan radar) 42 is provided in front of the host vehicle 10. The radar 42 transmits laser light (electromagnetic wave (carrier wave)) at a predetermined time interval in the traveling direction of the host vehicle 10 and crosses the host vehicle 10 from the side at a T-shaped road or a cross road in front of the host vehicle 10. An object is detected by receiving a reflected wave obtained by reflecting a laser beam to an object such as a crossing vehicle at such a position. Reference numeral 42a indicates a detection area (scan range).

  The output of the radar 42 is sent to a radar output processing ECU (electronic control unit) 44 composed of a microcomputer. The radar output processing ECU 44 recognizes a line segment constituting the contour of the object based on an array of point clouds obtained by projecting the reflection points onto a two-dimensional plane, and determines an end point of the object based on the recognized line segment. Extract. Further, the direction of the object is detected from the incident direction of the reflected wave, and two-dimensional information of the object is obtained.

  The radar output processing ECU 44 measures the time from when the laser beam is emitted until the reflected light at the extracted end point is received, calculates the relative distance (relative position) to the object, and further differentiates the relative distance. Thus, the relative speed to the object is obtained, that is, the radar output processing ECU 44 calculates a relative relationship with the object including the relative speed of the object with respect to the own vehicle 10 based on the extracted end point.

  The output of the radar output processing ECU 44 is sent to an ECU (electronic control unit) 40. Although illustration is omitted, the ECU 40 is constituted by a microcomputer including a CPU, a RAM, a ROM, an input / output circuit, and the like.

  A wheel speed sensor 46 is disposed in the vicinity of the front wheel 16 and the rear wheel 20 and outputs a pulse signal for each predetermined rotation angle of each wheel. A steering angle sensor 52 is disposed in the vicinity of the steering wheel 50 provided in the driver's seat of the host vehicle 10 and generates an output proportional to the steering angle of the steering wheel 50 input by the driver. Further, a yaw rate sensor 56 is disposed near the center position of the host vehicle 10, and an output corresponding to the yaw rate (angular velocity) around the gravity axis of the host vehicle 10 is generated.

  The output of the sensor group described above is also sent to the ECU 40. The ECU 40 counts the outputs of the four wheel speed sensors 46 and calculates the average value thereof to detect the traveling speed (vehicle speed) of the host vehicle 10.

  FIG. 2 is a flowchart showing the operation of the apparatus shown in FIG. This is executed in the ECU 40 every predetermined time, for example, every 100 msec.

  Explaining below, crossing vehicle information is acquired in S10.

  Specifically, this is based on the detection result of the object detection means including the radar 42 and the radar output processing ECU 44, specifically, based on the output of the radar output processing ECU 44, and is a T-shaped cross (as shown in FIG. 3). In other words, the crossing vehicle 100 at a position where it crosses the host vehicle 10 from the side with respect to the host vehicle 10 is detected. In the situation shown in FIG. 3, a two-wheeled vehicle or a bicycle (hereinafter collectively referred to as “two-wheeled vehicle”) 102 is accompanied in the vicinity of the crossing vehicle 100.

  The “crossing vehicle” in S10 means not only the four-wheeled crossing vehicle 100 shown in FIG. 3 but also all vehicles that should avoid contact with the own vehicle 10, such as the two-wheeled vehicle 102 or a large vehicle not shown. In the following description, however, the “crossing vehicle” in S10 is the crossing vehicle 100 shown in FIG.

  In S10, a relative relationship between the crossing vehicle 100 such as the relative distance from the crossing vehicle 100 to the own vehicle 10, the relative speed of the crossing vehicle 100 with respect to the own vehicle 10, and the traveling direction of the crossing vehicle 100 is calculated.

  In this embodiment, as shown in FIG. 3, the preceding vehicle 104 is stopped in front of the crossing vehicle 100, and the crossing vehicle 100 is starting to decelerate toward the position indicated by the broken line 100a. Since the two-wheeled vehicle 102 traveling in the vicinity of 100 can pass between the preceding vehicle 104 and the road shoulder, it is assumed that the motorcycle 102 is passing through the side of the crossing vehicle 100.

  Next, in S12, separation of the crossing vehicle 100 is detected.

  As described above, in the situation shown in FIG. 3, the two-wheeled vehicle 102 is accompanied in the vicinity of the crossing vehicle 100. In FIG. 3, since the own vehicle 10 is located obliquely forward of the crossing vehicle 100 and not in front of it, the radar output processing ECU 44, as shown in FIG. 4, is one object in which the crossing vehicle 100 and the two-wheeled vehicle 102 are integrated. May be falsely detected. Such an event is hereinafter referred to as “fusion”.

  On the other hand, when the positional relationship between the two changes as shown in FIG. 5, the crossing vehicle 100 and the two-wheeled vehicle 102 can be recognized as different objects and can be separated. In S12, the change from the time series of the output of the radar output processing ECU 44 to the change from FIG. 4 to FIG. 5, that is, the presence or absence of separation is detected.

  Next, the process proceeds to S14, where it is determined whether or not the two-wheeled vehicle 102 has been separated from the crossing vehicle 100 as shown in FIGS. 4 to 5 based on the detection result of S12. The deceleration of the crossing vehicle 100 is predicted from the temporal change in the relative speed with respect to the car 10, that is, the deceleration of the crossing vehicle 100 in the situation shown in FIG. 3 is predicted.

  Next, the process proceeds to S18, and the possibility that the own vehicle 10 and the crossing vehicle 100 come into contact with each other is determined.

  This will be described with reference to FIGS. 3 and 6. FIG. FIG. 6 is a time chart showing the time until the crossing vehicle 100 or the like reaches the host vehicle position 10a in the situation shown in FIG.

  In the process of S18, first, the time that is expected to be required for the host vehicle 10 to reach the position 10a is calculated, and then the time (arrival time) Tth for allowing the start of the host vehicle 10 is calculated by calculating backward.

  Next, the calculated relative distance to the intersecting vehicle 100 is divided by the relative speed, and the estimated arrival time T2 is calculated by taking into account the deceleration of the intersecting vehicle 100 by correcting with the deceleration calculated in S16. Next, the calculated time T2 is compared with the time Tth, and if the time T2 exceeds Tth, it is determined that there is no possibility that the own vehicle 10 and the crossing vehicle 100 will contact each other.

  Although not shown in the drawing, when proceeding to S16, the relative relationship including the relative position, the relative speed, and the traveling direction of the two-wheeled vehicle 102 that is detected separately is calculated and the deceleration is also calculated. Next, an estimated arrival time T2 in consideration of deceleration is calculated for the two-wheeled vehicle 102, and compared with Tth, it is determined whether or not there is a possibility of contact between the own vehicle 10 and the two-wheeled vehicle 102.

  Returning to the description of FIG. 2, when the result in S14 is negative, the process proceeds to S20, and the vehicle width w (shown in FIG. 4) of the intersecting vehicle 100 is calculated based on the detection result (output) of the radar output processing ECU 44. It is determined whether the vehicle width w is equal to or greater than a predetermined value. For example, when the width of the crossing vehicle 100 is 1.8 m, the width of the two-wheeled vehicle 102 is 0.7 m, and the distance between the two is 0.5 m, the predetermined value is 3 m.

  When the result in S20 is negative, it can be determined that the situation shown in FIG. 5 is not present, for example, because of the fusion shown in FIG. 4. Therefore, the process proceeds to S22, and the rate of increase of the vehicle width w calculated in S20, more precisely, time series. The increase rate is calculated, and it is determined whether or not the calculated increase rate is equal to or greater than a threshold value set as appropriate.

  That is, by calculating the increasing rate of the vehicle width w of the crossing vehicle 100 and comparing it with a threshold value set as appropriate, the width of the crossing vehicle 100 is less than 1.8 m and / or the inter-vehicle distance is less than 0.5 m, etc. Even when the calculated vehicle width w is not greater than or equal to the predetermined value, the presence of the two-wheeled vehicle 102 traveling in the vicinity of the crossing vehicle 100 can be estimated by detecting a change with time of the increase rate. When the result in S22 is negative, it is difficult to estimate the traveling of the two-wheeled vehicle 102, and the process proceeds to S16.

  On the other hand, if affirmative in S20 or S22 and proceeding in S18, there is a possibility of fusion with the motorcycle 102. Accordingly, in this case, in the process of S18, as shown in FIG. 6, the estimated arrival time T1 to the position 10a of the two-wheeled vehicle 102 when it is predicted that the two-wheeled vehicle 102 has slipped through is calculated. The time T1 is calculated on the assumption that the corrected deceleration is 0 and the two-wheeled vehicle 102 travels at a constant speed.

  Subsequently, it progresses to S24 and it is determined whether there exists a possibility of a contact.

  As described above, when the process proceeds from S16 to S18, since the calculated time T2 exceeds Tth, it is determined that there is no possibility that the own vehicle 10 and the crossing vehicle 100 will contact each other, and the subsequent processing is skipped.

  On the other hand, when the process proceeds from S20 or S22 to S18, since the calculated time T1 is less than Tth, it is determined that there is a possibility that the own vehicle 10 and the crossing vehicle 100 are in contact with each other. Since the time T1 is calculated by assuming that the two-wheeled vehicle 102 travels at a constant speed with the corrected deceleration being 0, this is calculated when the calculated vehicle width w is equal to or greater than a predetermined value or the calculated vehicle width w. When the increase rate is equal to or greater than the threshold value, this corresponds to determining the possibility of contact based only on the calculated relative relationship.

  When the result in S24 is negative, the subsequent processing is skipped. When the result is affirmative, the process proceeds to S26, and either or both of the alarm device 22 and the contact avoidance support means including the brake hydraulic mechanism 32 and the brake 34 are operated. And avoidance support control is executed.

  In this embodiment, as described above, the object detection means (radar 42, radar output processing ECU 44, ECU 40), which detects an object (crossing vehicle 100, two-wheeled vehicle 102) around the own vehicle (vehicle) 10 at predetermined time intervals. S10), relative relationship calculation means (ECU 40, specifically S10) for calculating the relative relationship between the vehicle 10 and the object based on the detection result of the object detection means, and the vehicle as the object. When an intersecting vehicle 100 at a position where it intersects is detected, deceleration prediction means (ECU 40, specifically S12 to S16) for predicting the deceleration of the intersecting vehicle 100, and the calculated relative relationship Contact possibility determination means (ECU 40, specifically S18) for determining whether or not the own vehicle 10 and the crossing vehicle 100 may contact based on the predicted deceleration; When it is determined that there is a possibility of contact, in a vehicle travel safety device including contact avoidance support means (avoidance support operation means (ECU 40, specifically, S24, S26) for operating the alarm device 22) Vehicle width calculation means (ECU 40, specifically S20) for calculating the vehicle width w of the crossing vehicle 100 based on the detection result of the object detection means, and the contact possibility determination means includes the calculation When the determined vehicle width is equal to or greater than a predetermined value, the possibility of contact is determined based only on the calculated relative relationship (ECU 40, specifically S18). Even if the (or bicycle) 102 is accompanied, the possibility of contact with the two-wheeled vehicle 102 can be accurately determined, and contact with the two-wheeled vehicle 102 can be effectively avoided. .

  That is, by calculating the vehicle width w of the crossing vehicle 100, it is possible to estimate the presence of the two-wheeled vehicle 102 traveling in the vicinity of the crossing vehicle 100. When the presence of the two-wheeled vehicle 102 is estimated, the deceleration of the crossing vehicle 100 is set. Even if the crossing vehicle 100 actually decelerates, it is considered that the vehicle does not decelerate and the possibility of contact is determined. Therefore, even if the two-wheeled vehicle 102 passes through the side of the decelerating crossing vehicle 100, The possibility of contact with the vehicle 102 can be accurately determined, and contact with the two-wheeled vehicle 102 can be effectively avoided.

  Also, object detection means (radar 42, radar output processing ECU 44, ECU 40, specifically S10) for detecting objects (crossing vehicle 100, two-wheeled vehicle 102) around host vehicle (vehicle) 10 at a predetermined time interval; Relative relationship calculation means (ECU 40, specifically S10) for calculating the relative relationship between the vehicle 10 and the object based on the detection result of the object detection means, and a position that intersects the vehicle as the object. When a certain crossing vehicle 100 is detected, a deceleration prediction means (ECU 40, specifically S12 to S16) for predicting the deceleration of the crossing vehicle 100, the calculated relative relationship and the predicted deceleration The contact possibility determination means (ECU 40, specifically S18) for determining whether or not the own vehicle 10 and the crossing vehicle 100 may contact based on the In the vehicle travel safety device including the contact avoidance support means (the avoidance support operation means (ECU 40, specifically, S24, S26) for operating the alarm device 22). Vehicle width calculation means (ECU 40, specifically S20) for calculating the vehicle width w of the crossing vehicle 100 based on the detection result of the vehicle, and vehicle width increase rate calculation means for calculating the calculated vehicle width increase rate (ECU 40, specifically S22), and the contact possibility determination means, based on only the calculated relative relationship, when the calculated vehicle width increase rate is equal to or greater than a threshold value. Since the possibility of contact is determined (ECU 40, specifically S18), the possibility of contact with the two-wheeled vehicle 102 can be accurately determined, and contact with the two-wheeled vehicle 102 can be effectively avoided. Kill.

  That is, by calculating the increasing rate of the vehicle width w of the intersecting vehicle 100, even if the calculated vehicle width w is not equal to or greater than the predetermined value, if the increasing rate is equal to or greater than the threshold value, the vicinity of the intersecting vehicle 100 Therefore, the possibility of contact with the motorcycle 102 can be accurately determined, and contact with the motorcycle 102 can be effectively avoided.

  In the above description, the object is detected from the output of the laser radar. However, instead of or in addition to this, a millimeter wave radar may be used.

  Further, although the alarm device 22 is alarmed by both sound and vision, the alarm device 22 may alarm only by either sound or vision. Further, instead of or in addition to the alarm device 22, a driver's seat (not shown) of the vehicle 10 may be vibrated by an appropriate means, or a seat belt (not shown) may be pulled in.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing an overall traveling safety device for a vehicle according to an embodiment of the present invention. It is a flowchart which shows operation | movement of the apparatus shown in FIG. FIG. 2 is an explanatory diagram showing a driving situation presupposed by the flow chart. Similarly, it is explanatory drawing explaining the condition by which the two-wheeled vehicle accompanying a crossing vehicle and a two-wheeled vehicle with a crossing vehicle premised on the flowchart of FIG. 2 is mistakenly detected as one object. Similarly, it is explanatory drawing explaining the condition which the two-wheeled vehicle accompanying the crossing vehicle based on the flowchart of FIG. 2 is isolate | separated, and is not mistakenly detected as one integral object. Similarly, it is a time chart showing an estimated time of crossing vehicle arrival used for contact possibility determination in the flow chart of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Vehicle (own vehicle), 12 engine (internal combustion engine), 16 front wheel, 20 rear wheel, 22 alarm device (contact avoidance support means), 34 brake (contact avoidance support means), 32 brake hydraulic mechanism (contact avoidance support means) , 40 ECU (electronic control unit; avoidance support operating means), 42 radar (object detection means), 44 radar output processing ECU (object detection means), 100 crossing vehicle, 102 two-wheeled vehicle

Claims (2)

  An object detection unit that detects an object around the vehicle at a predetermined time interval; a relative relationship calculation unit that calculates a relative relationship between the vehicle and the object based on a detection result of the object detection unit; When a crossing vehicle at a position where it crosses the host vehicle is detected, a deceleration predicting means for predicting the deceleration of the crossing vehicle, and the vehicle based on the calculated relative relationship and the predicted deceleration. Contact possibility determination means for determining whether or not there is a possibility that the vehicle and the crossing vehicle are in contact; and an avoidance support operation means for operating the contact avoidance support means when it is determined that there is a possibility of contact. The vehicle safety device includes a vehicle width calculation unit that calculates a vehicle width of the crossing vehicle based on a detection result of the object detection unit, and the contact possibility determination unit includes the calculated vehicle. Width is predetermined More time, travel safety device for a vehicle, characterized in that to determine the possibility of the contact based only on the relative relationship the calculated.   An object detection unit that detects an object around the vehicle at a predetermined time interval; a relative relationship calculation unit that calculates a relative relationship between the vehicle and the object based on a detection result of the object detection unit; When a crossing vehicle at a position where it crosses the host vehicle is detected, a deceleration predicting means for predicting the deceleration of the crossing vehicle, and the vehicle based on the calculated relative relationship and the predicted deceleration. Contact possibility determination means for determining whether or not there is a possibility that the vehicle and the crossing vehicle are in contact; and an avoidance support operation means for operating the contact avoidance support means when it is determined that there is a possibility of contact. A vehicle width calculating means for calculating a vehicle width of the crossing vehicle based on a detection result of the object detecting means; and a vehicle width increasing rate for calculating the increasing rate of the calculated vehicle width. A calculating means In both cases, the contact possibility determination means determines the possibility of contact based only on the calculated relative relationship when the calculated increase rate of the vehicle width is equal to or greater than a threshold value. Vehicle travel safety device.

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