| 摘要 |
Disclosed is an obstacle determination device (1) including a driving assistance ECU (3) that determines collision with an obstacle detected by output of a radar (2) mounted on a vehicle and performs driving assistance for the vehicle. When a distance of a null-point zone divided by null points where the output of the radar (2) is low is represented as a distance between the null points, the driving assistance ECU (3) determines, in a distant zone that is away from a reference zone that is the null-point zone nearest to a host vehicle in a predetermined range, if the null-point zone of the distance between the null points shorter than the distance between the null points in the reference zone is detected by a predetermined number or more, that the host vehicle does not collide with the detected obstacle. |
