| 摘要 |
When a diagnostic signal is not detected, an activation determination calculation unit 15B determines, on the basis of a calculation result (fusion information) of a fusion calculation unit 14 and a vehicle state of a host vehicle input by a vehicle state input unit 13, whether or not an object 16 to be controlled should be activated. An activation determination diagnosis unit 15C diagnoses whether or not the activation determination by the activation determination calculation unit 15B has been properly performed. When the diagnosis indicates that the activation determination by the activation determination calculation unit 15B has been properly performed, the activation determination diagnosis unit grants, on the basis of the activation determination, permission to control the object 16 to be controlled. By contrast, when the diagnosis indicates that the activation determination by the activation determination calculation unit 15B has not been properly performed, the activation determination diagnosis unit does not grant, on the basis of the activation determination, permission to control the object 16 to be controlled. |
