JP4075701B2 - Collision avoidance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a collision avoidance equipment to avoid collision of the vehicle of the following vehicle.
[0002]
[Prior art]
Conventionally, what avoids that a vehicle collides is provided (for example, refer patent documents 1 and 2).
[0003]
[Patent Document 1]
Japanese Patent No. 2748287 [0004]
[Patent Document 2]
Japanese Patent Application Laid-Open No. 2002-157695
[Problems to be solved by the invention]
However, in what is described in Patent Document 1 described above, it is possible to avoid the collision of the host vehicle with a preceding vehicle traveling in front of the host vehicle. Since it cannot be avoided that the following vehicle collides with the own vehicle, the risk that the following vehicle collides with the own vehicle has not been solved. Moreover, in what is described in the above-mentioned patent document 2, since it is a premise that information for avoiding a collision is input to the vehicle side from roadside infrastructure equipment, roadside infrastructure equipment is required. In areas where roadside infrastructure facilities are not in place, it is impossible to avoid collision of vehicles.
[0006]
The present invention has been made in view of the above-described circumstances, and its object is to appropriately eliminate the danger of the following vehicle colliding with the host vehicle without requiring roadside infrastructure equipment, and to ensure safety. and to provide a collision avoidance equipment that can increase the resistance.
[0007]
[Means for Solving the Problems]
According to the collision avoidance device described in claim 1, when it is determined by the subsequent vehicle collision presence / absence determination means that the control unit has a possibility that the subsequent vehicle may collide with the own vehicle, The travel control means is controlled so as to avoid this collision, or the notification means notifies that there is a possibility of the collision of the following vehicle to the host vehicle. Thereby, the travel control means controls to avoid the collision of the succeeding vehicle to the own vehicle, or the notification means informs that there is a possibility of the collision of the succeeding vehicle to the own vehicle. Thus, when the driver controls the traveling (by performing a steering operation, a braking operation, or the like), the danger that the following vehicle collides with the host vehicle can be appropriately eliminated, and safety can be improved. In addition, in this case, the infrastructure equipment on the road side is not required, and the entire apparatus is not complicated.
The control means determines whether there is a space for retreating to the side when the following vehicle collision presence / absence determining means determines that there is a possibility that the following vehicle may collide with the own vehicle. If determined by the means, the traveling control means is controlled so as to retreat to the side, or the notification means notifies that there is a space for retreating to the side. As a result, the driving control unit controls the vehicle to retract to the side, or the driver controls the traveling in response to the notification unit reporting that there is a space to retract to the side. Thus, it is possible to appropriately eliminate the risk that the following vehicle collides with the own vehicle.
Furthermore, the control means is when the host vehicle and the following vehicle are running in series, and the subsequent vehicle collision presence / absence determining means determines that there is a possibility of a collision of the following vehicle with the host vehicle. In addition, it communicates with the collision avoidance device mounted on the succeeding vehicle, and information on the presence / absence of the retracted space determined by the retracting space presence / absence determining means of the own vehicle and the retreat determined by the retracting space presence / absence determining means of the following vehicle. By adjusting the control based on the information on the presence / absence of space, either one of the own vehicle and the following vehicle is controlled to be retracted to the side, or there is a space for retracting to the side To let you know .
According to the collision avoidance device described in claim 2, the control means indicates that there is a possibility that the following vehicle may collide with the own vehicle when the own vehicle and the following vehicle are running continuously. When it is determined by the following vehicle collision presence / absence determining means, it communicates with the collision avoidance device mounted on the following vehicle, and information on the presence / absence of the retreat space determined by the retreat space presence / absence determining means of the host vehicle and the following vehicle By adjusting the control based on the information on the presence / absence of the evacuation space determined by the evacuation space presence / absence determining means, each of the own vehicle and the succeeding vehicle is controlled to evacuate to different sides, or each other Notify that there is space to evacuate to different sides.
[0008]
According to the collision avoidance device described in claim 3 , when the control means determines that there is a possibility of collision of the host vehicle with the preceding vehicle, the control means determines whether the host vehicle has a collision or not. The travel control means is controlled so as to avoid this collision, or the notification means informs that there is a possibility of collision of the host vehicle with the preceding vehicle. Thereby, the travel control means controls to avoid the collision of the host vehicle with the preceding vehicle, or the notification means notifies that there is a possibility that the host vehicle will collide with the preceding vehicle. By controlling the driving, the driver can not only properly eliminate the danger of the following vehicle colliding with the own vehicle, but also can appropriately eliminate the danger of the own vehicle colliding with the preceding vehicle. , Can increase safety.
[0010]
According to the collision avoidance device described in claim 4, the evacuation space presence / absence determination means determines the presence / absence of a space to be evacuated to the side based on the analysis result obtained by analyzing the image captured by the imaging means by the image analysis means. To do. Accordingly, it is possible to accurately determine the presence / absence of a space to be evacuated to the side based on a real-time image actually taken.
[0011]
According to the collision avoidance device described in claim 5, the evacuation space presence / absence determining means determines the presence / absence of a space to be evacuated to the side based on the map data read by the map data reading means. Thereby, it is possible to determine whether or not there is a space for retreating to the side without requiring an imaging unit or an image analysis unit.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to the drawings. First, FIG. 1 shows the overall configuration of the collision avoidance apparatus as a functional block diagram. The collision avoidance device 1 is mounted on a vehicle, and includes a control device 2 (control means in the present invention), a front obstacle detection device 3 (own vehicle collision presence / absence determination means in the present invention), and a rear obstacle detection device 4. (Backward vehicle collision presence / absence judging means in the present invention), right-side obstacle detection device 5 (evacuation space presence / absence judging means in the present invention), left-side obstacle detection device 6 (evacuation space presence / absence judging means in the present invention) , A vehicle speed sensor 7, a car navigation device 8 (means for determining whether or not a retreat space is referred to in the present invention), an accelerator control device 9 (travel control means in the present invention), a brake control device 10 (travel control means in the present invention), a handle A control device 11 (running control means in the present invention), a display device 12, an audio output device 13 (informing means in the present invention), and a communication device 14 are interconnected through in-vehicle LANs 15a and 15b. It has been.
[0015]
The front obstacle detection device 3 includes an ultrasonic sensor 3a attached to the front end of the host vehicle, and is based on the time from when an ultrasonic wave is emitted in front of the host vehicle until a reflected wave arrives. The presence or absence of a preceding vehicle traveling in front of the host vehicle is detected, and if there is a preceding vehicle, the inter-vehicle distance to the preceding vehicle is detected, and the inter-vehicle distance per unit time is detected. Based on the degree of decrease, the presence / absence of a possibility that the host vehicle collides with the preceding vehicle is determined. In this case, if the degree of decrease in the inter-vehicle distance per unit time is greater than or equal to a predetermined level (if the inter-vehicle distance is rapidly decreasing), the forward obstacle detection device 3 causes the host vehicle to rapidly approach the preceding vehicle. And a detection signal indicating that the host vehicle may collide with the preceding vehicle is output to the control device 2.
[0016]
The rear obstacle detection device 4 is configured to include an ultrasonic sensor 4a attached to the rear end of the host vehicle. In the time from when the ultrasonic wave is emitted to the rear of the host vehicle until the reflected wave arrives. Based on this, the presence or absence of a following vehicle traveling behind the host vehicle is detected, and if there is a following vehicle, the distance between the following vehicles is detected and the distance between the vehicles per unit time is detected. Based on the degree of the decrease, it is determined whether or not there is a possibility that the following vehicle will collide with the own vehicle. In this case, if the degree of decrease in the inter-vehicle distance per unit time is greater than or equal to a predetermined level, the rear obstacle detection device 4 determines that the subsequent vehicle is approaching the own vehicle, and the subsequent vehicle becomes the own vehicle. A detection signal indicating that there is a possibility of collision is output to the control device 2.
[0017]
The right-side obstacle detection device 5 includes a camera 5a (photographing means referred to in the present invention) for photographing the right side of the host vehicle, and an image analysis module 5b (image analysis referred to in the present invention) for analyzing an image photographed by the camera 5a. The vehicle is retracted (moved) to the right side of the vehicle based on the analysis result obtained by analyzing the image captured by the camera 5a by the image analysis module 5b. The presence or absence of is determined. In this case, when the evacuation space determination request signal is input from the control device 2, the right-side obstacle detection device 5 determines whether or not the space in which the host vehicle is retracted is on the right side of the host vehicle. When it is detected that there is a space to evacuate, a evacuation space presence signal is output to the control device 2. On the other hand, when it is detected that there is no space for the host vehicle to evacuate, a no evacuation space signal is sent to the control device 2. Output.
[0018]
The left-side obstacle detection device 6 includes a camera 6a that captures the left side of the host vehicle (imaging means according to the present invention) and an image analysis module 6b that analyzes an image captured by the camera 6a (image analysis according to the present invention). And determining whether or not there is a space for the vehicle to evacuate on the left side of the vehicle based on the analysis result obtained by analyzing the image captured by the camera 6a by the image analysis module 6b. To do. In this case, when the evacuation space determination request signal is input from the control device 2, the left-side obstacle detection device 6 determines whether or not the space in which the host vehicle is retracted is on the left side of the host vehicle. When it is detected that there is a space to evacuate, a evacuation space presence signal is output to the control device 2. On the other hand, when it is detected that there is no space for the host vehicle to evacuate, a no evacuation space signal is sent to the control device 2. Output.
[0019]
The vehicle speed sensor 7 detects the vehicle speed. The car navigation device 8 has various functions such as a well-known position detection function, a route search function, a display function, and an audio output function, and also reads map data from a map data recording medium 16 such as a DVD. The module 8a (map data reading means in the present invention) is provided.
[0020]
The accelerator control device 9 controls the accelerator operation of the vehicle based on the control signal input from the control device 2, and the brake control device 10 controls the brake operation of the vehicle based on the control signal input from the control device 2. The steering wheel control device 11 controls the steering operation of the vehicle based on the control signal input from the control device 2.
[0021]
The display device 12 is composed of, for example, a liquid crystal display attached to a position where the driver can easily see the screen, and the sound output device 13 is composed of, for example, a speaker attached to a position where the driver can easily hear sound. . The display device 12 and the audio output device can be replaced by the car navigation device 8. The communication device 14 is configured to be capable of performing narrow area wireless communication (inter-vehicle communication) with another collision avoidance device 1 mounted on another vehicle.
[0022]
Next, the operation of the above configuration will be described with reference to FIGS. FIG. 2 is a flowchart showing processing performed by the control device 2. When the vehicle is running, the control device 2 monitors whether or not the detection signal is input from the front obstacle detection device 3, thereby monitoring whether the host vehicle may collide with the preceding vehicle. (Step S1), by monitoring whether or not a detection signal is input from the rear obstacle detection device 4, whether or not there is a possibility that the following vehicle collides with the own vehicle is monitored (Step S2).
[0023]
When the control device 2 receives a detection signal from the front obstacle detection device 3 and detects that the host vehicle may collide with the preceding vehicle ("YES" in step S1), the control device 2 notifies the driver. For example, a voice message (warning) that calls attention to the front is issued from the voice output device 13 (step S3). As a result, the driver can recognize the danger that the own vehicle will collide with the preceding vehicle by listening to the voice message output from the audio output device 13, and avoid the own vehicle colliding with the preceding vehicle. It is possible to perform an appropriate operation as much as possible.
[0024]
Next, the control device 2 determines whether or not there is no possibility that the own vehicle collides with the preceding vehicle (step S4), and determines whether or not there is a possibility that the following vehicle collides with the own vehicle (step S5). . Here, for example, when the control device 2 detects that there is no possibility that the host vehicle collides with the preceding vehicle due to the driver performing an appropriate action ("YES" in step S4), the control device 2 Return to the steps S1 and S2.
[0025]
On the other hand, the control device 2 detects that the possibility that the own vehicle has collided with the preceding vehicle is not lost ("NO" in step S4), and a detection signal is input from the rear obstacle detection device 4. When it is detected that there is a possibility that the following vehicle may collide with the own vehicle (“YES” in step S5), a voice message such as “Please pay attention to the rear” is urged to alert the driver to the rear. (Warning) is output from the audio output device 13 (step S6). Thereby, the driver can recognize the danger that the following vehicle will collide with the own vehicle by listening to the voice message output from the voice output device 13, and avoid the collision of the following vehicle with the own vehicle. It is possible to perform an appropriate operation as much as possible.
[0026]
Next, the control device 2 determines whether or not there is no possibility that the following vehicle collides with the own vehicle (step S7). Here, when the control device 2 detects that the possibility that the following vehicle does not collide with the host vehicle is lost (“NO” in step S7), the control device 2 sends the evacuation space determination request signal to the right-side obstacle detection device 5 and By outputting to the left-side obstacle detection device 6, the right-side obstacle detection device 5 and the left-side obstacle detection device 6 determine whether or not there is a space for retreating to the side (step S8).
[0027]
Each of the right-side obstacle detection device 5 and the left-side obstacle detection device 6 determines whether or not there is a space for the host vehicle to retreat when the retreat space determination request signal is input from the control device 2. At this time, each of the right-side obstacle detection device 5 and the left-side obstacle detection device 6 does not simply determine whether or not there is a lane or a shoulder on the side of the own vehicle, but the traffic volume or, for example, a construction work. It is determined whether or not there is a space for the own vehicle to evacuate in consideration of various information such as whether or not the vehicle is on. Then, when each of the right-side obstacle detection device 5 and the left-side obstacle detection device 6 detects that there is a space for the own vehicle to retreat, it outputs a retreat space presence signal to the control device 2, When it is detected that there is no space for the host vehicle to retreat, a retreat space no signal is output to the control device 2.
[0028]
When the retracting space presence signal is input from either the right-side obstacle detecting device 5 or the left-side obstacle detecting device 6, the control device 2 detects that there is a space to retract to the side (in step S9). "YES"), for example, a voice message (guidance) indicating that there is a space to be evacuated to the side to the driver is output from the audio output device 13 (step S10). ). As a result, the driver can recognize that there is a space for retreating to the side by listening to the voice message output from the voice output device 13, and avoiding the own vehicle from colliding with the preceding vehicle. At the same time, it is possible to perform an appropriate operation to avoid the following vehicle colliding with the own vehicle.
[0029]
By performing the series of processes described above, as shown in FIGS. 3A to 3E, for example, the vehicles 21 to 23 are running continuously, and the collision avoidance device 1 is mounted on the vehicle 22. If the vehicle 21 that is the preceding vehicle performs a sudden braking operation, there is a possibility that the vehicle 22 approaches and collides with the vehicle 21, and the vehicle 23 that is the subsequent vehicle is the vehicle. Even if there is a possibility that the vehicle 22 may collide with the vehicle 22, if the vehicle 22 has a space for the vehicle 22 to retreat to the side, a voice message indicating that is output from the collision avoidance device 1. Thus, the vehicle 22 can be retreated to a safe space (in this case, the left lane). In this case, the space in which the vehicle 22 retreats is not limited to the lane but may be a road shoulder.
[0030]
By the way, when the preceding vehicle performs a sudden braking operation, the inter-vehicle distance between the host vehicle and the preceding vehicle decreases first, and then the inter-vehicle distance between the succeeding vehicle and the host vehicle decreases. As the following vehicle suddenly accelerated, the inter-vehicle distance between the succeeding vehicle and the host vehicle first decreases, and then the inter-vehicle distance between the host vehicle and the preceding vehicle decreases. If it is smaller, the control device 2 determines “YES” in the above-described step S2, and performs the processing of steps S11 to S18.
[0031]
As a result, as shown in FIGS. 4A to 4E, the vehicle 23 as the subsequent vehicle collides with the vehicle 22 as the vehicle 23 as the subsequent vehicle performs a rapid acceleration operation. Even if there is a possibility that the vehicle 22 may approach and collide with the vehicle 21, the driver of the vehicle 22 also needs to have a space for the vehicle 22 to evacuate to the side. By outputting a voice message to that effect from the collision avoidance device 1, the vehicle 22 can be retreated to a safe space.
[0032]
In addition, the control device 2 is not limited to outputting a voice message that prompts the driver to be aware of the forward direction when detecting that the own vehicle may collide with the preceding vehicle. Assuming that there is sufficient space behind the vehicle, that is, assuming that there is no other influence even if the host vehicle performs a braking operation, the control signal is output to the brake control device 10 so that the braking operation of the vehicle It is also possible to forcibly control. It is also possible for the driver to select in advance whether to output a voice message or to forcibly control the braking operation of the vehicle.
[0033]
Similarly, when the control device 2 detects that the following vehicle may collide with the host vehicle, the control device 2 outputs a voice message that prompts the driver to pay attention to the rear. The control signal is output to the accelerator controller 9 on the premise that there is sufficient space in front of the host vehicle, that is, on the assumption that there is no other influence even if the host vehicle performs the accelerator operation. Thus, the accelerator operation of the vehicle can be forcibly controlled. It is also possible for the driver to select in advance whether to output a voice message or to forcibly control the accelerator operation of the vehicle.
[0034]
Furthermore, when the control device 2 detects that there is a space for retreating to the side, the control device 2 is not limited to outputting a voice message indicating that there is a space for retreating to the side. It is also possible to forcibly control the steering operation of the vehicle. It is also possible for the driver to select in advance whether to output a voice message or to forcibly control the steering operation of the vehicle.
[0035]
Next, the case where the vehicle in which the collision avoidance device 1 described above is mounted is running will be described with reference to FIG. As shown in FIG. 5A, when the vehicles 31 to 35 on which the collision avoidance device 1 is mounted are traveling in two lanes, for example, in the right lane, the vehicles 31 to 35 approach each other and collide with each other. In this case, the collision avoidance devices 1 mounted on the vehicles 31 to 35 adjust the control by performing narrow-area wireless communication with the other collision avoidance devices 1.
[0036]
That is, as shown in FIG. 5B, even if the collision avoidance device 1 mounted on the vehicles 31, 33, 35 detects that there is a space for retreating to the side, the space for retreating to the side. A voice message indicating that the vehicle is present is not output, and the steering operation of the vehicle is not forcibly controlled. On the other hand, the collision avoidance device 1 mounted on the vehicles 32 and 34 outputs a voice message indicating that there is a space for retreating to the side when detecting that there is a space for retreating to the side. Or forcibly control the steering operation of the vehicle. Thereby, it can avoid beforehand that all the vehicles 31-35 retreat to the side, As a result, all the safety | security of the vehicles 31-35 can be ensured.
[0037]
Further, as shown in FIG. 5C, when the vehicles 31 to 35 on which the collision avoidance device 1 is mounted are traveling in a central lane of three lanes, for example, the vehicles 31 to 35 approach each other. In this case as well, each collision avoidance device 1 mounted on the vehicles 31 to 35 adjusts control by performing narrow-area wireless communication with other collision avoidance devices 1.
[0038]
That is, as shown in FIG. 5D, even if the collision avoidance device 1 mounted on the vehicles 31 and 34 detects that there is a space for retreating to the side, there is a space for retreating to the side. A voice message indicating that is not output, and the steering operation of the vehicle is not forcibly controlled. On the other hand, when the collision avoidance device 1 mounted on the vehicles 32 and 35 detects that the own vehicle has a space for retreating to the left and right sides, there is a space for retreating to the side. In this case, control is performed to prompt the user to evacuate to the left lane or to forcibly evacuate the steering operation of the vehicle to the left lane. In addition, when the collision avoidance device 1 mounted on the vehicle 33 detects that the vehicle has a space for retreating to the left and right sides, a voice message indicating that there is a space for retreating to the side is displayed. At this time, control is performed to prompt the user to retreat to the right lane or to forcibly retract the steering operation of the vehicle to the right lane. Thereby, also in this case, it is possible to prevent all of the vehicles 31 to 35 from retreating to the side, and as a result, it is possible to ensure all the safety of the vehicles 31 to 35.
[0039]
In the configuration described above, if the number of road lanes and the presence or absence of road shoulders are recorded in the map data recorded in the map data recording medium 16, the map data is read from the map data recording medium 16 by the map data reading module 8a. It is also possible to determine the number of lanes and the presence / absence of a road shoulder based on the map data, and to determine the presence / absence of a space for retreating to the side. The determination by the cameras 5a and 6a and the determination by the map data recording medium 16 may be used in combination to determine the presence / absence of a space to be evacuated to the side.
[0040]
As described above, according to the present embodiment, when the collision avoidance device 1 determines that there is a possibility of the collision of the subsequent vehicle to the own vehicle, the possibility of the collision of the subsequent vehicle to the own vehicle. The system is configured to output a voice message indicating that there is a collision, and to control the traveling of the vehicle so as to avoid the collision of the following vehicle with the own vehicle. Therefore, safety can be improved, and in this case, roadside infrastructure facilities are not required, and the entire apparatus is not complicated.
[0041]
Further, when the collision avoidance device 1 determines that there is a possibility of collision of the host vehicle with the preceding vehicle, it outputs a voice message indicating that there is a possibility of collision of the own vehicle with the preceding vehicle. Since the vehicle travel is controlled so as to avoid the collision of the own vehicle with the preceding vehicle, the risk of the subsequent vehicle colliding with the own vehicle can be appropriately eliminated, and the The risk of the vehicle colliding with the preceding vehicle can also be appropriately eliminated, and safety can be further improved.
[0042]
Further, when the collision avoidance device 1 determines that there is a possibility that the following vehicle may collide with the own vehicle and determines that there is a possibility that the own vehicle may collide with the preceding vehicle, If there is space to evacuate to the side, output a voice message indicating that there is space to evacuate to the side, or control the vehicle to evacuate to the side Therefore, the danger that the following vehicle collides with the own vehicle and the danger that the own vehicle collides with the preceding vehicle can be appropriately eliminated.
[0043]
The present invention is not limited to the embodiments described above, and can be modified or expanded as follows.
Not only when it is determined that there is a possibility of a collision of the following vehicle with the own vehicle and it is determined that there is a possibility of a collision with the preceding vehicle of the own vehicle, but only to the own vehicle of the following vehicle. When it is determined that there is a possibility of collision, or when it is determined that there is a possibility of collision of the host vehicle with the preceding vehicle, it is determined whether there is a space to evacuate to the side. If there is a space for retreating to the side, a voice message indicating that there is a space for retreating to the side may be output, or the traveling of the vehicle may be controlled to retreat to the side.
[Brief description of the drawings]
FIG. 1 is a functional block diagram showing an embodiment of the present invention. FIG. 2 is a flowchart showing processing of a control device. FIG. 3 is a diagram schematically showing how a vehicle travels. Fig. 5 Equivalent to Fig. 3 [Explanation of symbols]
In the drawings, 1 is a collision avoidance device, 2 is a control device (control means), 3 is a front obstacle detection device (own vehicle collision presence / absence determination means), 4 is a rear obstacle detection device (rear vehicle collision presence / absence determination means), 5 is a right-side obstacle detection device (evacuation space presence / absence determination means), 5a is a camera (imaging means), 5b is an image analysis module (image analysis means), and 6 is a left-side obstacle detection device (evacuation space presence / absence determination means). , 6a is a camera (photographing means), 6b is an image analysis module (image analysis means), 8 is a car navigation device 8 (evacuation space presence / absence determination means), 8a is a map data reading module (map data reading means), and 9 is an accelerator. Control device (running control means), 10 is a brake control device (running control means), 11 is a steering wheel control device (running control means), 13 is an audio output device (notification means), and 16 is map data recording. It is a medium.

Claims (5)

Subsequent vehicle collision presence / absence determining means for determining whether or not there is a possibility of collision of the following vehicle with the host vehicle,
Retreat space presence / absence determining means for determining the presence / absence of space to be retreated to the side;
When it is determined by the subsequent vehicle collision presence / absence determining means that there is a possibility of a collision of the following vehicle with the own vehicle, the traveling control means is controlled so as to avoid the collision of the following vehicle with the own vehicle, Alternatively, when the notification means informs that there is a possibility that the subsequent vehicle may collide with the own vehicle, and when the subsequent vehicle collision existence determination means determines that there is a possibility that the subsequent vehicle may collide with the own vehicle. And, when it is determined by the retracting space presence / absence determining means that there is a space to be retracted to the side, the travel control means is controlled to retract to the side or retract to the side. Control means for informing from the notification means that there is a space ,
The control means determines that there is a possibility of collision of the following vehicle with the own vehicle when the own vehicle and the following vehicle are running in succession by the following vehicle collision determining means. When the vehicle is in communication with the collision avoidance device mounted on the succeeding vehicle, information on the presence / absence of the retracted space determined by the retracting space presence / absence determining means of the host vehicle and the presence / absence of the retracted space of the succeeding vehicle By adjusting the control based on the information on the presence or absence of the retreat space determined by the determination means, either one of the own vehicle and the following vehicle is controlled to retreat sideways, or A collision avoidance device that informs that there is a space for retreating to the side . Subsequent vehicle collision presence / absence determining means for determining whether or not there is a possibility of collision of the following vehicle with the host vehicle,
Retreat space presence / absence determining means for determining the presence / absence of space to be retreated to the side;
When it is determined by the subsequent vehicle collision presence / absence determining means that there is a possibility of a collision of the following vehicle with the own vehicle, the traveling control means is controlled so as to avoid the collision of the following vehicle with the own vehicle, Alternatively, when the notification means informs that there is a possibility that the subsequent vehicle may collide with the own vehicle, and when the subsequent vehicle collision existence determination means determines that there is a possibility that the subsequent vehicle may collide with the own vehicle. And, when it is determined by the retracting space presence / absence determining means that there is a space to be retracted to the side, the travel control means is controlled to retract to the side or retract to the side. Control means for informing from the notification means that there is a space,
The control means determines that there is a possibility of collision of the following vehicle with the own vehicle when the own vehicle and the following vehicle are running in succession by the following vehicle collision determining means. When the vehicle is in communication with the collision avoidance device mounted on the succeeding vehicle, the presence / absence information of the retracted space determined by the retracting space presence / absence determining means of the host vehicle and the retracted space presence / absence of the succeeding vehicle By adjusting the control based on the information on the presence / absence of the evacuation space determined by the determination means, each of the host vehicle and the following vehicle is controlled to evacuate to different sides, or different from each other. A collision avoidance device that notifies that there is a space to evacuate . The collision avoidance device according to claim 1 or 2,
A host vehicle collision presence / absence judging means for judging the presence or absence of a collision of the host vehicle with a preceding vehicle,
The control means controls the travel control so as to avoid a collision of the host vehicle with the preceding vehicle when the host vehicle collision presence / absence determining unit determines that there is a possibility of a collision of the host vehicle with the preceding vehicle. A collision avoidance apparatus characterized by controlling the means or notifying the fact that there is a possibility of collision of the host vehicle with a preceding vehicle . The collision avoidance device according to any one of claims 1 to 3,
Photographing means for photographing the side of the vehicle;
Image analysis means for analyzing an image photographed by the photographing means,
The collision avoidance device, wherein the retraction space presence / absence determination means determines the presence / absence of a space for retreating to the side based on an analysis result obtained by analyzing the image taken by the photographing means by the image analysis means. The collision avoidance device according to any one of claims 1 to 3,
Comprising map data reading means for reading map data from a map data recording medium;
The collision avoidance device, wherein the retreat space presence / absence determining means determines the presence / absence of a space retreating to the side based on the map data read by the map data reading means.

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